Assembly unit for the production of an assembly of injection pen components

Abstract

The application belongs to the technical field of automation equipment, and particularly relates to an assembly unit for assembling injection pen component production and assembly, which comprises a first assembly mechanism, a second assembly mechanism, a third assembly mechanism and a tray conveyed by a conveying mechanism. The tray is sent from front to back to the first assembly mechanism, the second assembly mechanism and the third assembly mechanism by the conveying mechanism. The parts of the injection pen component are assembled by the first assembly mechanism, the second assembly mechanism and the third assembly mechanism in turn, so that the purpose of automatic production is achieved. Compared with manual assembly, the assembly efficiency and assembly precision are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of automation equipment technology, and specifically relates to an assembly unit for assembling injection pen components. Background Technology

[0002] In several key medical areas, including insulin, smegglutide, liraglutide, growth hormone, thyroid hormone, osteoporosis treatments, and various anticancer drugs, patients typically require devices such as disposable injection pens, reusable injection pens, or smart injection pens to achieve precise drug injection. While the manufacturing and assembly processes of these injection pens are designed for convenience, they often face numerous challenges in actual operation.

[0003] First, because the internal structure of the injection pen is precise and contains a wide variety and large number of parts, the traditional manual assembly method is often time-consuming and labor-intensive, which not only significantly reduces the overall production efficiency, but also makes it difficult to guarantee assembly consistency due to operator fatigue.

[0004] Secondly, some parts are extremely small, making them very inconvenient to handle and place manually. A slight mistake could cause the surface of the parts to be scratched due to friction or improper handling, affecting their appearance or even functionality.

[0005] In addition, some key components require delicate actions such as rotation, pressing or lifting during assembly. Manual operation makes it difficult to accurately control the force and angle, which can easily lead to excessive or insufficient force, resulting in damage to parts, reduced assembly accuracy, and even affecting the safety and reliability of the final product.

[0006] Therefore, automating and intelligentizing the assembly of injection pens has become an important direction for improving production quality and efficiency. Summary of the Invention

[0007] The present invention addresses the above-mentioned technical problems by providing an assembly unit for assembling injection pen components during production.

[0008] An assembly unit for assembling injection pen components includes a first assembly mechanism, a second assembly mechanism, a third assembly mechanism, and a tray conveyed by a conveying mechanism. The conveying mechanism delivers the tray from front to back to the first assembly mechanism, the second assembly mechanism, and the third assembly mechanism. The first assembly mechanism checks the accuracy of the manual loading position and loads the rotor to a second target position on the tray. It then transfers the outer casing from a third target position on the tray to the second target position and presses the outer casing to form an outer casing assembly at the second target position. Finally, it applies injection cartridges to a fourth target position on the tray. Lubricating oil is applied to the dosage setting rotary drum, which is then transferred from the fourth target position and rotated into the threaded sleeve at the first target position, forming a dosage setting rotary drum assembly at the first target position. The second assembly mechanism is used to transfer and rotate the differential nut at the fourth target position into the housing assembly at the second target position, transfer the bushing screw assembly from the third target position into the housing assembly at the second target position, and rotate the screw. The third assembly mechanism is used to transfer the dosage setting rotary drum assembly from the first target position into the housing assembly at the second target position, unscrew the dosage setting rotary drum, press the threaded sleeve at the second target position, and feed the clutch teeth into the housing assembly at the second target position.

[0009] Beneficial effects: The present invention uses a conveying mechanism to sequentially transport the tray to the first assembly mechanism, the second assembly mechanism, and the third assembly mechanism. The parts of the injection pen are then assembled sequentially by the first assembly mechanism, the second assembly mechanism, and the third assembly mechanism, thereby achieving automated production. Compared with manual assembly, this invention greatly improves assembly efficiency and assembly accuracy. Attached Figure Description

[0010] Figure 1A This is a schematic diagram of a system structure according to the present invention;

[0011] Figure 1B This is a partial plan view of the assembly unit for the production and assembly of the injection pen components of the present invention.

[0012] Figure 2A and Figure 2B This is a schematic diagram of the structure of two sub-stations of the first detection station of the present invention;

[0013] Figure 2C for Figure 2A Partial main view;

[0014] Figure 2D for Figure 2A Partial side view;

[0015] Figure 3A This is a schematic diagram of a rotor loading station according to the present invention;

[0016] Figure 3B This is a schematic diagram of a rotor feeding device according to the present invention;

[0017] Figure 3C This is a partial side view of 3B;

[0018] Figure 3D This is a schematic diagram of one structure of the rotor loading gripper of the present invention;

[0019] Figure 3E This is a schematic diagram of a rotor conveying stabilization device according to the present invention;

[0020] Figure 4A This is a schematic diagram of a shell transfer pressing station according to the present invention;

[0021] Figure 4B This is a schematic diagram of the outer shell transfer device of the present invention;

[0022] Figure 4C for Figure 4B The main view;

[0023] Figure 4D for Figure 4C A sectional view;

[0024] Figure 5A This is a schematic diagram of a coating station according to the present invention;

[0025] Figure 5B This is a schematic diagram of the structure of the oiling nozzle of the present invention;

[0026] Figure 5C This is a schematic diagram of one structure of the oil wiping device of the present invention;

[0027] Figure 6A This is a schematic diagram of a rotary drum transfer station according to the present invention;

[0028] Figure 6B This is a diagram showing the connection relationship between the servo motor for rotating the drum and the drum transfer gripper of the present invention;

[0029] Figure 6C for Figure 6B A sectional view;

[0030] Figure 6D This is a schematic diagram of the structure of the oil coating detection device of the present invention;

[0031] Figure 6E This is a schematic diagram of a rotating guide device for a rotating drum according to the present invention;

[0032] Figure 7A This is a schematic diagram of the structure of the second detection station of the present invention;

[0033] Figure 7B This is a partial structural schematic diagram of the second detection device of the present invention;

[0034] Figure 8 This is a partial internal structure diagram of the fourth detection device of the present invention;

[0035] Figure 9A This is a schematic diagram of a nut transfer and rotation station according to the present invention;

[0036] Figure 9B This is a diagram showing the connection relationship between the servo motor for nut rotation and the nut transfer gripper of the present invention;

[0037] Figure 9C for Figure 9B A sectional view;

[0038] Figure 10A This is a schematic diagram of the structure of the third detection station of the present invention;

[0039] Figure 10B This is a diagram showing the connection relationship between the servo motor used for pre-detection rotation and the third detection head in this invention;

[0040] Figure 10C for Figure 10B A sectional view;

[0041] Figure 11 This is a schematic diagram of a bushing screw transfer station according to the present invention;

[0042] Figure 12A This is a schematic diagram of a screw rotation station according to the present invention;

[0043] Figure 12B This is a diagram showing the connection relationship between the servo motor for screw rotation and the screw clamping jaws of the present invention;

[0044] Figure 12C for Figure 12B A sectional view;

[0045] Figure 13A This is a schematic diagram of a component transfer and unspinning station of the present invention;

[0046] Figure 13B This diagram shows the connection relationships between the component transfer gripper, the servo motor for rotating the drum, and the rotating drum clamping gripper of the present invention.

[0047] Figure 13C for Figure 13B A sectional view;

[0048] Figure 13D A schematic diagram of a component delivery stabilization device of the present invention;

[0049] Figure 14A This is a schematic diagram of a threaded sleeve pressing station according to the present invention;

[0050] Figure 14B This is a diagram showing the connection relationship between the sleeve pressing cylinder and the sleeve clamping jaws of the present invention.

[0051] Figure 14C for Figure 14B A type of front view;

[0052] Figure 15 This is a schematic diagram of the structure of the fifth detection station of the present invention;

[0053] Figure 16A This is a schematic diagram of a defective product unloading station according to the present invention;

[0054] Figure 16B This is a cross-sectional view of the waste bin of the present invention;

[0055] Figure 17A This is a schematic diagram of a structure of the clutch gear loading station of the present invention;

[0056] Figure 17B This is a schematic diagram of the clutch tooth feeding device of the present invention. Detailed Implementation

[0057] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0058] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that the embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0059] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0060] In the following description, in order to clearly demonstrate the structure and operation of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0061] Reference Figure 1A and 1B This invention provides an assembly unit 1 for assembling injection pen components. This assembly unit 1 is used for assembling injection pens. It includes a first assembly mechanism 10, a second assembly mechanism 20, a third assembly mechanism 30, and a tray 9 transported by a conveying mechanism. The conveying mechanism delivers the tray 9 from front to back to the first assembly mechanism 10, the second assembly mechanism 20, and the third assembly mechanism 30 for injection pen assembly.

[0062] The first assembly mechanism 10 is used to check the accuracy of the manual station loading position and load the rotor to the second target position on the tray 9, transfer the outer shell from the third target position on the tray 9 to the second target position, press the outer shell to form an outer shell assembly at the second target position, apply lubricating oil to the dosage setting cylinder at the fourth target position on the tray 9, transfer the dosage setting cylinder from the fourth target position and rotate it into the threaded sleeve at the first target position to form a dosage setting cylinder assembly at the first target position.

[0063] The second assembly mechanism 20 is used to transfer and rotate the differential nut of the fourth target position into the housing assembly of the second target position, transfer the bushing screw assembly from the third target position into the housing assembly of the second target position, and rotate the screw.

[0064] The third assembly mechanism 30 is used to transfer the dose setting rotary cylinder assembly from the first target position to the housing assembly of the second target position, and to unscrew the dose setting rotary cylinder, press the threaded sleeve on the second target position, and feed the clutch teeth into the housing assembly of the second target position.

[0065] The tray 9 of the present invention is as follows Figure 1A The conveying mechanism shown circulates the conveyor. The tray 9 has four target positions arranged side by side, namely the first target position, the second target position, the third target position and the fourth target position. The first target position is located on the inside and the fourth target position is located on the outside. Each target position has one or more positioning parts for positioning the parts. The positioning parts are at least one of positioning groove, positioning protrusion and contour surface.

[0066] The injection pen of the present invention includes a pen cap, a refill holder, a cartridge, a rotor, a push plate, a housing, a threaded sleeve, a screw, a bushing, a differential nut, a dosage setting cylinder, a rotating shaft, clutch teeth, a spring, and an injection button. The assembly unit 1 for assembling the injection pen components of the present invention assembles all parts except the pen cap, refill holder, and cartridge to form a pen barrel assembly. The rotor and clutch teeth are fed by the assembly unit 1, while the remaining parts are fed by other units or seven manual workstations.

[0067] Preferably, the push plate is fed by other units, and the remaining parts are fed by seven manual stations. In one embodiment, the push plate is fed to the second target position by other units, and the remaining parts are fed by the seven manual stations respectively. Specifically: the cover plate is loaded to the second target position, the bushing is loaded to the third target position, the screw is loaded into the bushing of the third target position, the differential nut is loaded to the fourth target position, the dosage setting cylinder is loaded into the differential nut of the fourth target position, the threaded sleeve is loaded to the first target position, the outer shell is loaded to the third target position, and the two rotating shafts are loaded to the second target position in sequence.

[0068] The tray 9, already loaded with some parts, is conveyed from front to back by a conveying mechanism to the first assembly mechanism 10, the second assembly mechanism 20, and the third assembly mechanism 30 for the assembly of the injection pen, forming the outer shell assembly. The assembled outer shell assembly is then conveyed by the conveying mechanism to other units or manual workstations for subsequent post-assembly, which can be automated or manual.

[0069] In one embodiment, the first assembly mechanism 10 sequentially includes a first inspection station 110, a rotor loading station 120, a housing transfer pressing station 130, an oiling station 140, and a drum transfer rotation station 150.

[0070] The first inspection station 110 is used to detect at least one of the following using one or more first inspection sensors: the height of the threaded sleeve at the first target position, the height of the screw at the third target position, the height of the outer casing at the third target position, the height of the dosage setting drum at the fourth target position, the position of the cover plate at the second target position, the height of the bushing at the third target position, and the height of the differential nut at the fourth target position. The first inspection station 110 checks whether each part at each target position is in place and whether its position is correct. Parts that are marked as defective at this station will not undergo further assembly processing in subsequent stations. The first inspection station 110 is optional and can be turned off. If turned off, the inspection of parts will not be performed, and subsequent assembly work can proceed directly.

[0071] Rotor loading station 120 is used to load the rotor to the second target position.

[0072] The housing transfer pressing station 130 is used to transfer the housing from the third target position to the second target position and press the housing to form a housing assembly at the second target position.

[0073] The oiling station 140 is used to apply lubricating oil to the drum for setting the dosage at the fourth target position.

[0074] The rotary station 150 is used to transfer the dose setting rotary cylinder from the fourth target position to the first target position, and rotate the dose setting rotary cylinder into the threaded sleeve at the first target position to form a dose setting rotary cylinder assembly at the first target position.

[0075] In one embodiment, reference is made to Figures 2A to 2D The first inspection station 110 has two first inspection sub-stations, one of which is as follows: Figure 2A As shown, the device is used to detect the height of the threaded sleeve at the first target position, the height of the screw at the third target position, the height of the outer casing at the third target position, and the height of the dose setting drum at the fourth target position. Another first detection substation is shown below. Figure 2B As shown, it is used to detect the position of the cover plate at the second target position, the height position of the bushing at the third target position, and the height position of the differential nut at the fourth target position.

[0076] Therefore, there are seven first detection sensors 111 in the first detection station 110. The seven first detection sensors 111 are: a displacement sensor (LVDT) for detecting the height position of the threaded sleeve at the first target position, a displacement sensor (LVDT) for detecting the height of the screw at the third target position, a displacement sensor (LVDT) for detecting the height of the outer shell at the third target position, a displacement sensor (LVDT) for detecting the height of the dose setting drum at the fourth target position, a proximity sensor for detecting the position of the cover plate at the second target position, a displacement sensor (LVDT) for detecting the height position of the bushing at the third target position, and a displacement sensor (LVDT) for detecting the height position of the differential nut at the fourth target position.

[0077] Each first inspection substation is equipped with a first inspection device 112. Figure 2A The first detection device 112 on the first detection substation shown integrates four sets of first detection components. Figure 2B The first detection device 112 on the first detection substation shown integrates three sets of first detection components.

[0078] In one embodiment, reference is made to Figures 2A to 2DThe first detection device 112 includes a first detection frame 1121 and at least one set of first detection components. The first detection component includes two first detection rods with their axes pointing up and down, one of which is a first fixed rod 1122 and the other is a first movable rod 1123.

[0079] The first testing frame 1121 is capable of lifting and lowering. The first testing frame 1121 has at least a first testing top plate 1121a and a first testing bottom plate 1121b. The first testing frame 1121 may also include a testing housing connecting the first testing top plate 1121a and the first testing bottom plate 1121b, for protecting the components between the first testing top plate 1121a and the first testing bottom plate 1121b.

[0080] The first fixed rod 1122 and the first moving rod 1123 pass through the first detection top plate 1121a and the first detection bottom plate 1121b side by side. Two first detection limiting rings 1124 are respectively sleeved on the outside of the first fixed rod 1122 and the first moving rod 1123. The two first detection limiting rings 1124 are located between the first detection top plate 1121a and the first detection bottom plate 1121b. The lower first detection limiting ring 1124 abuts against the first detection bottom plate 1121b. The upper first detection limiting ring 1124 is sleeved with a first detection reset element 1125 at a preset distance from the first detection top plate 1121a. The top of the first fixed rod 1122 is fixed with a first detection sensor 111. The detection end of the first detection sensor 111 contacts or faces the top of the first moving rod 1123. The bottom of the first moving rod 1123 has a first detection head 1126.

[0081] When part inspection is required, the first inspection frame 1121 is driven to descend, which in turn drives the first inspection assembly to descend. During the descent, the first inspection head 1126 contacts the part, causing the first moving rod 1123 to move upward. The detection end of the first inspection sensor 111 detects the movement position of the top of the first moving rod 1123, thereby detecting whether the part is in place and whether its position is correct. If the part is not in place or its position is incorrect, the status of the tray 9 on the first inspection station 110 is set as unqualified, and the unqualified tray 9 will not be further assembled. If the part is in place and its position is correct, the status of the tray 9 on the first inspection station 110 is set as qualified, and the qualified tray 9 will be further assembled.

[0082] When the first inspection frame 1121 is driven down to the preset height, the first inspection frame 1121 is reset, and the first inspection component set on the first inspection frame 1121 is also reset, waiting for the next part to move to the first inspection station 110 for inspection.

[0083] The first detection and reset element 1125 is preferably a reset spring.

[0084] In this embodiment, the length of the first detection rod and the shape of the first detection head 1126 may be different in different groups of the first detection components, so as to be suitable for the detection of different parts.

[0085] In another embodiment, the first detection component may also be provided with only one first detection rod, namely the first moving rod 1123, without the first fixed rod 1122. In this case, the first detection sensor 111 can be fixed on the first detection top plate 1121a.

[0086] In one embodiment, reference is made to Figures 2C to 2D The first detection component also includes two first detection limiting blocks 1127, both of which are located between two first detection limiting rings 1124. One end of each first detection limiting block 1127 is provided with a detection fixing hole that is connected vertically, and the other end is provided with a detection limiting hole that is connected vertically. The two first detection limiting blocks 1127 are a fixed rod limiting block and a moving rod limiting block, respectively. The fixed rod limiting block is located above the moving rod limiting block. The fixed rod limiting block passes through the detection fixing hole and is fixed to the first fixed rod 1122. The first moving rod 1123 passes through the detection limiting hole of the fixed rod limiting block and can be raised and lowered. The moving rod limiting block passes through the detection fixing hole and is fixed to the first moving rod 1123. The first fixed rod 1122 passes through the detection limiting hole of the moving rod limiting block and can be raised and lowered.

[0087] When the first moving rod 1123 moves upward, it drives the moving rod limiting block to move upward. When the moving rod limiting block moves upward to abut against the fixed rod limiting block, it drives the fixed rod limiting block and the first fixed rod 1122 to move upward together, so as to protect the detection end of the first detection sensor 111 fixed on the first fixed rod 1122.

[0088] In another embodiment, when the first detection component is provided with only the first moving rod 1123 and without the first fixed rod 1122, the two first detection limiting blocks 1127 can be provided between two adjacent first moving rods 1123, and one of the first moving rods 1123 can be regarded as the first fixed rod 1122 for installation and use.

[0089] In one embodiment, reference is made to Figures 2C to 2D The bottom of the first fixing rod 1122 is provided with a calibration rod 1128, and the bottom of the calibration rod 1128 faces the calibration point on the tray 9 located at the first detection station 110.

[0090] When testing is required, the first testing frame 1121 is driven to descend, which in turn drives the first testing component to descend. During the descent, the calibration rod 1128 contacts the calibration point to calibrate the testing end of the first testing sensor 111.

[0091] When several sets of first detection components are set on the first detection frame 1121, there are two adjacent first fixing rods 1122 that are combined in pairs and connected at their bottom ends and share the same calibration rod 1128.

[0092] like Figure 2C As shown, four sets of first detection components are provided on the first detection frame 1121, with two adjacent first detection components combined in pairs, and a total of two calibration rods 1128 are provided.

[0093] like Figure 2B As shown, the first detection frame 1121 is equipped with four sets of first detection components. The rightmost set of first detection components is a reserved component and does not have a sensor. The two adjacent first detection components are combined in pairs, and a total of two calibration rods 1128 are provided.

[0094] In one embodiment, reference is made to Figure 2A The first inspection station 110 is provided with a first inspection drive mechanism 113. The first inspection drive mechanism 113 has a drive end that can perform lifting and lowering movements. The first inspection frames 1121 of the two first inspection devices 112 are respectively connected to the drive end of the first inspection drive mechanism 113, and the first inspection drive mechanism 113 simultaneously drives the two first inspection frames 1121 to perform lifting and lowering movements.

[0095] In practice, Figure 2B The first detection frame 1121 of the first detection device 112 shown can be connected to the location located via a connecting plate. Figure 2A The drive end of the first detection drive mechanism 113 shown.

[0096] In this embodiment, the first detection drive mechanism 113 preferably adopts a cam drive mechanism. Of course, the first detection drive mechanism 113 can also adopt other drive mechanisms capable of lifting and lowering.

[0097] In one embodiment, reference is made to Figures 3A to 3D The rotor loading station 120 is equipped with a rotor feeding device 121 and a rotor loading gripper 122. The rotor feeding device 121 is used to supply the rotor, and the rotor loading gripper 122 can move up and down and horizontally. The rotor is sent from the rotor feeding device 121 to the second target position on the tray 9 located at the rotor loading station 120 through the rotor loading gripper 122.

[0098] Reference Figure 3D In this embodiment, the rotor loading gripper 122 is a pneumatic gripper, and the two clamping parts 1221 of the rotor loading gripper 122 have clamping surfaces suitable for clamping the rotor.

[0099] In one embodiment, reference is made to Figure 3AThe rotor loading station 120 is also equipped with a rotor loading drive mechanism 123. The rotor loading drive mechanism 123 has a drive end that can perform lifting and horizontal movement. The rotor loading gripper 122 is connected to the drive end of the rotor loading drive mechanism 123, and the rotor loading drive mechanism 123 drives the rotor loading gripper 122 to perform lifting and horizontal movement.

[0100] The rotor feeding drive mechanism 123 preferably adopts a cam drive mechanism. Of course, the rotor feeding drive mechanism 123 can also adopt other drive mechanisms that can perform lifting and horizontal movements.

[0101] In one embodiment, the rotor feeding device 121 includes a rotor vibratory disc, a rotor direct vibration, and a rotor dispensing system connected in sequence.

[0102] In this embodiment, the operator manually places the rotor 4a into the rotor vibratory feeder. The rotor 4a is then conveyed to the rotor distribution system via rotor direct vibration. The rotor distribution system distributes the material to the single rotor 4a at the front, awaiting gripping by the rotor loading jaws 122. Because the rotors are small and have a positional difference between narrower at the top and wider at the bottom, this embodiment achieves automatic feeding and position determination through the rotor vibratory feeder and rotor direct vibration of the rotor feeding device 121. Automatic material distribution is achieved through the rotor distribution system, resulting in high accuracy and efficiency in rotor loading.

[0103] Reference Figures 3B to 3C The rotor material distribution system includes a rotor material distribution frame 1211, a rotor receiving block 1212, a rotor stopper 1213, a rotor stopper cylinder 1214, a rotor material distribution cylinder 1215, and a rotor material distribution gripper 1216.

[0104] The rotor receiving block 1212 is horizontally movably mounted on the rotor distribution frame 1211. In specific implementation, a moving slide groove can be provided on the rotor distribution frame 1211 in the horizontal direction, and the rotor receiving block 1212 can move horizontally on the moving slide groove. The rotor receiving block 1212 is provided with a rotor receiving groove in the horizontal direction, one end of which opens towards the outlet of the rotor direct vibration and is used to receive the rotor 4a delivered from the rotor direct vibration.

[0105] One end of the rotor stopper 1213 is connected to the rotor stopper cylinder 1214. The rotor stopper cylinder 1214 drives one end of the rotor stopper 1213 to rotate in the horizontal direction relative to the rotor feeder 1211, so that the other end of the rotor stopper 1213 is close to or away from the top of the rotor receiving groove, so as to abut or move away from other rotors on the rotor receiving groove except for the material to be distributed.

[0106] The rotor dispensing cylinder 1215 is mounted on the rotor dispensing frame 1211, and the piston rod of the rotor dispensing cylinder 1215 is axially horizontal.

[0107] The rotor distributing gripper 1216 is mounted on the piston rod of the rotor distributing cylinder 1215. The rotor distributing cylinder 1215 drives the rotor distributing gripper 1216 to move horizontally. There is a rotor receiving block 1212 between several gripping parts of the rotor distributing gripper 1216. The rotor distributing gripper 1216 grips the rotor receiving block 1212 and moves horizontally under the drive of the rotor distributing cylinder 1215, so as to distribute the rotor 4a away from the rotor direct vibration end on the rotor receiving groove.

[0108] In practical implementation, it should be ensured that the rotor receiving block 1212 and the rotor receiving groove have a preset sufficient length. After the rotor receiving block 1212 is moved horizontally, one end of the rotor receiving groove on the rotor receiving block 1212 is still connected to the outlet of the rotor direct vibration. The two should not be disconnected due to the movement of the rotor receiving block 1212, so as to avoid the rotor at the front of the rotor direct vibration from falling off.

[0109] In one embodiment, reference is made to Figures 3B to 3C The rotor material distribution system also includes a blocking status sensor 1217, which is used to detect the extension and retraction of the piston rod of the rotor blocking cylinder 1214 to determine whether the rotor blocker 1213 is abutting or moving away from other rotors on the rotor receiving groove except for the material to be distributed.

[0110] The blocking state sensor 1217 can be any one of a magnetic switch, a proximity switch, or a photoelectric switch. Of course, other sensors in the prior art can also be used, as long as they can detect the extension and retraction of the cylinder piston rod.

[0111] Two blocking status sensors 1217 can be provided. One blocking status sensor 1217 is used to detect the extension of the piston rod of the rotor blocking cylinder 1214, and the other blocking status sensor 1217 is used to detect the retraction of the piston rod of the rotor blocking cylinder 1214.

[0112] In this embodiment, the rotor dispensing gripper 1216 clamps the rotor receiving block 1212. The extension and retraction of the piston rod of the rotor blocking cylinder 1214 is detected by the blocking status sensor 1217 to determine whether the rotor blocker 1213 is abutting or moving away from other rotors on the rotor receiving groove except for the one to be dispensed. When the rotor blocker 1213 abuts against other rotors on the rotor receiving groove except for the one to be dispensed, the rotor dispensing cylinder 1215 is driven to move the rotor dispensing gripper 1216 and the rotor receiving block 1212 horizontally, separating the rotor 4a away from the rotor direct vibration end on the rotor receiving groove from other rotors. The rotor loading gripper 122 then clamps the separated rotor 4a and sends it to the second target position on the tray 9 located at the rotor loading station 120. Then, the rotor dispensing cylinder 1215 resets, causing the rotor dispensing gripper 1216 and the rotor receiving block 1212 to reset as well. The rotor blocking cylinder 1214 resets, causing the rotor blocking device 1213 to move away from the other rotors on the rotor receiving slot, except for those to be dispensed. As the rotor continuously vibrates and delivers the rotor, the rotor on the rotor receiving slot moves to the front, waiting for the next separation.

[0113] When the rotor is delivered to the second target position, the rotor loading gripper 122 moves above the rotor receiving groove, descends, and clamps the rotor 4a that has been divided at the front. After the rotor 4a is raised with the rotor 4a, the rotor loading gripper 122 moves horizontally above the second target position. The rotor loading gripper 122 descends with the rotor 4a to the second target position, releases the rotor 4a, puts the rotor 4a into the second target position, and resets to wait for the next clamping and feeding action.

[0114] In one embodiment, reference is made to Figure 3C The rotor feeding gripper 1216 is provided with a rotor limiting block 1218. The end of the rotor limiting block 1218 is located on the rotor receiving groove away from the end of the rotor direct vibration. The rotor limiting block 1218 abuts against the rotor 4a on the rotor receiving groove away from the end of the rotor direct vibration, so as to limit the rotor 4a.

[0115] The rotor limiting block 1218 may not be provided on the rotor dispensing gripper 1216, but may be directly connected to the rotor receiving block 1212 or integrally formed with the rotor receiving block 1212. The rotor limiting block 1218 has a contoured limiting surface that matches the side of the rotor facing the rotor receiving groove, so as to abut against the side of the rotor 4a.

[0116] In one embodiment, reference is made to Figure 3A and Figure 3EThe rotor loading station 120 is also equipped with a rotor conveying stabilizing device 124. The rotor conveying stabilizing device 124 includes a rotor conveying gripper 1241. The rotor conveying gripper 1241 can move horizontally. The gripping parts of the rotor conveying gripper 1241 are located at the second target position on the tray 9 at the rotor loading station 120.

[0117] After the rotor feeding device delivers the rotor to the second target position, the rotor is held by the rotor conveying gripper 1241 and moves to the next station along with the tray 9. When the tray 9 reaches the next station, the rotor conveying gripper 1241 releases the rotor and returns to the rotor feeding station 120.

[0118] In this embodiment, a separate rotor conveying drive mechanism can be used to drive the rotor conveying gripper 1241 to move horizontally. The rotor conveying drive mechanism has a drive end capable of horizontal movement, and the rotor conveying gripper 1241 is connected to the drive end of the rotor conveying drive mechanism. Preferably, this rotor conveying drive mechanism is a cam-driven mechanism.

[0119] In this embodiment, the rotor conveying gripper 1241 can also be connected to the station conveying drive mechanism of the pallet 9. Each station in the conveying mechanism for the pallet 9 is equipped with a station conveying drive mechanism. The station conveying drive mechanism has a drive end capable of horizontal movement. The station conveying drive mechanism is used to transport the pallet 9 delivered to the station to the next station and then reset, waiting to transport the pallet 9 to the next station. At this time, the rotor conveying gripper 1241 can be connected to the drive end of the station conveying drive mechanism. The station conveying drive mechanism then sends the rotor conveying gripper 1241 to the next station and back to the rotor loading station 120.

[0120] The preferred method for driving the workstation conveyor is a cam-driven mechanism.

[0121] In one embodiment, reference is made to Figure 3E The rotor conveying stabilizing device 124 also includes a rotor conveying guide rail 1242 and a rotor conveying slider 1243. The rotor conveying guide rail 1242 is located at the rotor loading station 120, and its length direction is consistent with the conveying direction of the tray 9. The rotor conveying slider 1243 is slidably connected to the rotor conveying guide rail 1242, and a rotor conveying gripper 1241 is provided on the rotor conveying slider 1243.

[0122] In one embodiment, reference is made to Figure 4AThe outer shell transfer and pressing station 130 is equipped with an outer shell transfer gripper 131, an outer shell transfer device 132, and an outer shell pressing device 133. The outer shell transfer device 132 can move up and down and horizontally. The outer shell transfer gripper 131 is located at the bottom of the outer shell transfer device 132. The outer shell transfer device 132 drives the outer shell transfer gripper 131 to clamp the outer shell at the third target position on the tray 9 and send it to the second target position. The outer shell pressing device 133 is located above the second target position on the tray 9 at the outer shell transfer and pressing station 130. The outer shell transfer device 132 and the outer shell transfer gripper 131 are located between the outer shell pressing device 133 and the tray 9. The outer shell pressing device 133 presses the outer shell at the second target position on the tray 9 through the outer shell transfer device 132 and the outer shell transfer gripper 131.

[0123] In this embodiment, the outer shell transfer device 132 drives the outer shell transfer jaws 131 to descend to the third target position. The outer shell transfer jaws 131 hold the outer shell. The outer shell transfer device 132 drives the outer shell transfer jaws 131 and the outer shell to rise and move horizontally above the second target position, and then descend to place the outer shell into the second target position. The outer shell pressing device 133 is driven to press the outer shell transfer device 132 downward. The outer shell transfer jaws 131 and the outer shell follow downward, pressing the outer shell into place. The outer shell pressing device 133 is driven to reset, the outer shell transfer jaws 131 open, releasing the outer shell. The outer shell transfer device 132 resets, driving the outer shell transfer jaws 131 to reset, waiting for the next outer shell transfer and pressing.

[0124] In one embodiment, reference is made to Figures 4A to 4D The outer shell transfer pressing station 130 is equipped with an outer shell transfer drive mechanism 134, which has a drive end that can perform lifting and horizontal movements.

[0125] The housing transfer device 132 includes a housing transfer guide rail 1321, a housing transfer slider 1322, a housing pressing and resetting cylinder 1323, a housing transfer frame 1324, a top pressing head 1325 for pressing the housing, and a bottom pressing head 1326 for pressing the housing.

[0126] The housing transfer guide rail 1321 is mounted on the drive end of the housing transfer drive mechanism 134, and the length direction of the housing transfer guide rail 1321 is vertical. The housing transfer slider 1322 is slidably connected to the housing transfer guide rail 1321.

[0127] The piston rod of the housing pressing and resetting cylinder 1323 is axially in the up-down direction and is connected to the drive end of the housing transfer drive mechanism 134. The housing pressing and resetting cylinder 1323 is mounted on the housing transfer slider 1322.

[0128] The outer shell transfer frame 1324 is mounted on the outer shell transfer slider 1322. The outer shell transfer drive mechanism 134 drives the outer shell transfer frame 1324 to move up and down and horizontally. The bottom end of the outer shell transfer frame 1324 is provided with an outer shell transfer gripper 131.

[0129] A top pressing head 1325 for pressing the outer casing is disposed at the top of the outer casing transfer frame 1324, and an outer casing pressing device 133 is disposed above the top pressing head 1325. A bottom pressing head 1326 for pressing the outer casing is disposed at the bottom of the outer casing transfer frame 1324 and is located above the clamping part of the outer casing transfer gripper 131.

[0130] The outer shell transfer drive mechanism 134 drives the outer shell transfer device 132 to move, the outer shell transfer frame 1324 and the outer shell transfer gripper 131 move, the outer shell transfer gripper 131 clamps the outer shell at the third target position on the tray 9 and sends it to the second target position. When the outer shell transfer gripper 131 clamps the outer shell, the bottom end of the outer shell pressing head 1326 abuts against the outer shell.

[0131] The drive housing pressing device 133 presses the top pressing head 1325 of the housing downwards. The downward pressing force drives the housing transfer frame 1324, the bottom pressing head 1326 of the housing, the housing transfer gripper 131 and the housing to move downwards at the same time, pressing the housing so that the housing is pressed and connected to the rotor at the second target position.

[0132] While the outer shell pressing device 133 presses down on the top pressing head 1325 of the outer shell, the outer shell transfer slider 1322 moves downward relative to the outer shell transfer guide rail 1321. The piston rod of the outer shell pressing reset cylinder 1323 performs synchronous extension or retraction. After the outer shell is pressed, the outer shell pressing device 133 resets, the outer shell transfer gripper 131 opens and releases the outer shell, the outer shell transfer drive mechanism 134 resets, driving the outer shell transfer device 132 to reset, and the outer shell pressing reset cylinder 1323 resets. When the outer shell pressing reset cylinder 1323 resets, it drives the outer shell transfer slider 1322, the outer shell transfer frame 1324 and the devices on it to reset.

[0133] In this embodiment, the housing transfer drive mechanism 134 is preferably a cam drive mechanism.

[0134] In one embodiment, reference is made to Figure 4D The outer casing transfer device 132 also includes an outer casing pressing auxiliary cylinder 1327 and an outer casing pressing auxiliary pressure head 1328.

[0135] The outer casing pressing auxiliary cylinder 1327 is mounted on the outer casing transfer frame 1324, and the piston rod of the outer casing pressing auxiliary cylinder 1327 is axially oriented vertically. The top end of the outer casing pressing auxiliary pressure head 1328 is connected to the piston rod of the outer casing pressing auxiliary cylinder 1327, and the outer casing pressing auxiliary cylinder 1327 drives the outer casing pressing auxiliary pressure head 1328 to move up and down. The bottom end of the outer casing pressing auxiliary pressure head 1328 passes through the outer casing pressing bottom pressure head 1326.

[0136] Before the housing pressing device 133 presses down on the top pressing head 1325 of the housing, the housing pressing auxiliary cylinder 1327 drives the housing pressing auxiliary pressing head 1328 to extend downward and abut against the rotor at the second target position before performing the housing pressing action. This is to prevent pressing failure or incomplete pressing due to rotor shaking during housing pressing. After the housing pressing is completed, the housing pressing auxiliary cylinder 1327 resets.

[0137] In one embodiment, the outer casing pressing device 133 is an outer casing pressing cylinder, and the piston rod of the outer casing pressing cylinder is axially in the up-down direction.

[0138] In one embodiment, an insulator pressure head 1331 is connected to the bottom end of the piston rod of the housing pressing cylinder.

[0139] In one embodiment, reference is made to Figures 5A to 5B The oiling station 140 is equipped with an oiling nozzle 141, which can move up and down and horizontally. The oiling nozzle 141 applies a quantitative amount of lubricating oil to the fourth target position on the tray 9 using a rotary drum.

[0140] In this embodiment, after the oiling nozzle 141 is driven down to a position close to the first point of the dosage setting rotating cylinder, the oiling nozzle 141 sprays lubricating oil in a metered manner. After the oiling nozzle 141 is driven up to a position close to the second point of the dosage setting rotating cylinder, the oiling nozzle 141 sprays lubricating oil in a metered manner. After the oiling is completed, the oiling nozzle 141 returns to its original position.

[0141] The oiling nozzle 141 in this embodiment can be a nozzle capable of quantitatively spraying liquid from the prior art.

[0142] In one embodiment, reference is made to Figures 5A to 5C The oiling station 140 is also equipped with an oil wiping device 142. The oil wiping device 142 includes a movable oil wiping cloth 1421. The oil wiping cloth 1421 is located on the side of the oiling nozzle 141. When the oiling nozzle 141 sprays oil to a preset number of times, it drives the oiling nozzle 141 to move and contact the oil wiping cloth 1421 to wipe away excess oil on the oiling nozzle 141.

[0143] The material of the wiping cloth 1421 in this embodiment is not limited. For example, it can be non-woven fabric or other materials, such as wiping sponge layer, as long as it can wipe away excess lubricating oil on the oiling nozzle 141.

[0144] In one embodiment, reference is made to Figures 5A to 5C The oil wiping device 142 includes an oil wiping frame 1422, an oil wiping drive mechanism, an oil wiping drive shaft 1423, an oil wiping driven shaft 1424, and an oil wiping support rod 1425.

[0145] An oiling frame 1422 is disposed at the oiling station 140 and located beside the oiling nozzle 141. An oiling drive mechanism is mounted on the oiling frame 1422 and has a drive end that can rotate horizontally. The axial direction of the oiling drive shaft 1423 is horizontal and connected to the drive end of the oiling drive mechanism, which drives the oiling drive shaft 1423 to rotate horizontally. The axial direction of the oiling driven shaft 1424 is horizontal and rotatably mounted on the oiling frame 1422, and the oiling driven shaft 1424 is located above or below the oiling drive shaft 1423. An oiling support rod 1425 is fixed on the oiling frame 1422 and is located on the side between the oiling drive shaft 1423 and the oiling driven shaft 1424.

[0146] The wiping cloth 1421 is a roll-type wiping cloth 1421, which is sleeved on the wiping driven shaft 1424. The end of the roll-type wiping cloth 1421 passes over the wiping support rod 1425 and is fixed to the wiping drive shaft 1423, so that part of the wiping cloth 1421 is wrapped around the wiping support rod 1425 for wiping oil with the oiling nozzle 141.

[0147] When the oil wiping drive mechanism rotates, it drives the oil wiping drive shaft 1423 and the end of the oil wiping cloth 1421 to rotate and wrap around the oil wiping drive shaft 1423, so that the oil wiping driven shaft 1424 rotates along with it and rotates the oil wiping cloth 1421 on it out of the oil wiping support rod 1425.

[0148] like Figure 5C As shown, since the oil wiping support rod 1425 is located on the side between the oil wiping drive shaft 1423 and the oil wiping driven shaft 1424, the roll-type oil wiping cloth 1421 forms a V-shaped structure, and its protruding part is wrapped around the oil wiping support rod 1425 for oiling the oiling nozzle 141.

[0149] In this embodiment, the oil wiping drive mechanism is driven to rotate to replace the oil wiping cloth 1421 of the oiling nozzle 141, ensuring the quality of oil wiping.

[0150] In one embodiment, the oil wiping drive mechanism adopts a servo motor, and the motor shaft of the servo motor is connected to the oil wiping drive shaft 1423.

[0151] In one embodiment, the oil-wiping drive mechanism rotates periodically or in conjunction with the oiling nozzle 141. When the oil-wiping drive mechanism rotates periodically, it rotates according to a preset cycle. When the oil-wiping drive mechanism rotates in conjunction with the oiling nozzle 141, the oiling nozzle 141 drives the oil-wiping drive mechanism to rotate after wiping the oil a preset number of times.

[0152] In one embodiment, reference is made to Figure 5A The oiling station 140 is equipped with a nozzle moving drive mechanism 143. The nozzle moving drive mechanism 143 has a drive end that can move up and down and horizontally. The oiling nozzle 141 is connected to the drive end of the nozzle moving drive mechanism 143, and the nozzle moving drive mechanism 143 drives the oiling nozzle 141 to move up and down and horizontally.

[0153] In this embodiment, the nozzle moving drive mechanism 143 drives the oiling nozzle 141 to move to the first point and the second point for oil spraying.

[0154] In this embodiment, the nozzle movement drive mechanism 143 is preferably a cam drive mechanism.

[0155] In one embodiment, reference is made to Figure 5A and 5B The drive end of the nozzle moving drive mechanism 143 is connected to the nozzle wiping cylinder 144. The piston rod of the nozzle wiping cylinder 144 is axially in the up-down direction and is connected to the oiling nozzle 141. That is to say, the oiling nozzle 141 is not directly connected to the nozzle moving drive mechanism 143, but is indirectly connected through the nozzle wiping cylinder 144.

[0156] The nozzle moving drive mechanism 143 moves the nozzle wiping cylinder 144 and the oiling nozzle 141 above the wiping device 142. The nozzle wiping cylinder 144 then drives the oiling nozzle 141 to contact the wiping cloth 1421. At this time, the nozzle moving drive mechanism 143 remains stationary, while the nozzle wiping cylinder 144 drives the oiling nozzle 141 to perform the wiping action once or repeatedly, depending on the actual situation. After wiping is completed, the nozzle wiping cylinder 144 resets, and the nozzle moving drive mechanism 143 resets or drives the oiling nozzle 141 to apply a quantitative amount of lubricating oil to the next dose-set rotating drum.

[0157] In one embodiment, lubricating oil is quantitatively applied to two points along the vertical direction of the dosage setting rotary cylinder by the oiling nozzle 141. At this time, refer to... Figure 5A The oiling station 140 is also equipped with an oil spray height adjustment cylinder 145. The drive end of the nozzle movement drive mechanism 143 is connected to the oil spray height adjustment cylinder 145. The piston rod of the oil spray height adjustment cylinder 145 is axially in the up-down direction and is connected to the oiling nozzle 141. That is to say, the oiling nozzle 141 is not directly connected to the nozzle movement drive mechanism 143, but is indirectly connected through the oil spray height adjustment cylinder 145.

[0158] Before applying lubricating oil to the second point of the dosage setting cylinder by the oiling nozzle 141, the height of the oiling nozzle 141 is adjusted by the oiling height adjusting cylinder 145 so that the oiling nozzle 141 can be used to apply oil to the second point of the dosage setting cylinder of different specifications.

[0159] In some specific implementation scenarios, the dosage setting rotary drum has various specifications. Usually, the first spray point is the same, but the second point is different for different specifications. In this case, the spray height adjustment cylinder 145 in this embodiment compensates for the height difference. After the spray height adjustment cylinder 145 extends a preset distance to control the height of the oiling nozzle 141, the nozzle movement drive mechanism 143 drives the spray height adjustment cylinder 145 and the oiling nozzle 141 to rise to the same height to reach the second point for spraying. After completing the spraying action at the second point, the spray height adjustment cylinder 145 resets to ensure the oiling action for the next dosage setting rotary drum.

[0160] In one embodiment, when the oiling station 140 is simultaneously equipped with a nozzle wiping cylinder 144 and an oil spray height adjusting cylinder 145, the drive end of the nozzle movement drive mechanism 143 is connected to the oil spray height adjusting cylinder 145, the piston rod of the oil spray height adjusting cylinder 145 is connected to the nozzle wiping cylinder 144, and the piston rod of the nozzle wiping cylinder 144 is connected to the oiling nozzle 141. That is, the oiling nozzle 141 is connected to the drive end of the nozzle movement drive mechanism 143 in sequence through the nozzle wiping cylinder 144 and the oil spray height adjusting cylinder 145.

[0161] In one embodiment, reference is made to Figure 6A The rotary drum transfer station 150 is equipped with a rotary drum rotation servo motor 151 and a rotary drum transfer gripper 152. The rotary drum rotation servo motor 151 can perform lifting and horizontal movements. The motor shaft of the rotary drum rotation servo motor 151 is axially in the up-down direction and is connected to the rotary drum transfer gripper 152. The rotary drum transfer gripper 152 holds the dosage setting rotary drum and transfers it from the fourth target position to the first target position. The rotary drum rotation servo motor 151 rotates during the descent, driving the rotary drum transfer gripper 152 to descend and rotate, so as to drive the dosage setting rotary drum held by the rotary drum transfer gripper 152 to rotate into the threaded sleeve.

[0162] Specifically, the servo motor 151 for rotating the drum and the drum transfer gripper 152 descend together to the fourth target position. After the drum transfer gripper 152 grips the dose setting drum, they rise together and move horizontally above the first target position. After the drum transfer gripper 152 grips the dose setting drum, they descend together to the first target position. The servo motor 151 for rotating the drum rotates, driving the drum transfer gripper 152 to descend and rotate, rotating the dose setting drum into the threaded sleeve. The drum transfer gripper 152 releases, releasing the dose setting drum, and all devices reset, waiting for the next dose setting drum transfer and rotation operation.

[0163] In one embodiment, reference is made to Figure 6A The rotary drum transfer station 150 is equipped with a rotary drum transfer drive mechanism 153. The rotary drum transfer drive mechanism 153 has a drive end that can perform lifting and horizontal movements. The rotary drum rotation servo motor 151 is connected to the drive end of the rotary drum transfer drive mechanism 153 through the rotary drum transfer mounting bracket 154. The rotary drum transfer drive mechanism 153 drives the rotary drum transfer mounting bracket 154, the rotary drum rotation servo motor 151 and the connected rotary drum transfer gripper 152 to perform lifting and horizontal movements.

[0164] In this embodiment, the rotary drum transfer drive mechanism 153 is preferably a cam drive mechanism.

[0165] In one embodiment, reference is made to Figures 6A to 6C The motor shaft of the servo motor 151 for rotating the drum is connected to the drum transfer gripper 152 via the drum rotation coupling assembly 155. The drum rotation coupling assembly 155 includes a drum rotation coupling 1551, a first connecting shaft 1552 for rotating the drum, a second connecting shaft 1553 for rotating the drum, a camshaft 1554 for rotating the drum, and a guide sleeve 1555 for rotating the drum.

[0166] The top end of the rotating drum coupling 1551 is connected to the motor shaft of the rotating drum servo motor 151, and the bottom end of the rotating drum coupling 1551 is connected to the top end of the rotating drum first connecting shaft 1552.

[0167] The lower part of the first connecting shaft 1552 for rotating the drum is a hollow structure with an opening at the bottom. The upper part of the second connecting shaft 1553 for rotating the drum can move up and down within the hollow structure at the bottom of the first connecting shaft 1552 and rotates along with the first connecting shaft 1552. The top end of the camshaft 1554 for rotating the drum is connected to the bottom end of the second connecting shaft 1553, and the bottom end of the camshaft 1554 is connected to the drum transfer gripper 152. The surface of the camshaft 1554 for rotating the drum is provided with an external thread 1554a for rotating the drum in the vertical direction. The external thread for rotating the drum has the same size as the external thread on the surface of the dosage setting drum.

[0168] The rotating guide sleeve 1555 is mounted on the rotating transfer mounting bracket 154. The inner wall of the rotating guide sleeve 1555 is provided with an internal thread for rotating the drum in the vertical direction. The rotating guide sleeve 1555 and the rotating camshaft 1554 are threaded together by connecting the internal thread for rotating the drum with the external thread for rotating the drum.

[0169] When the servo motor 151 for driving the rotating drum rotates in the forward direction, the camshaft 1554 for rotating the drum rotates in the forward direction and moves downward relative to the guide sleeve 1555 for rotating the drum, causing the rotating drum transfer gripper 152 to descend and rotate, so as to rotate the dose setting drum held by the rotating drum transfer gripper 152 into the threaded sleeve. At this time, the upper part of the second connecting shaft 1553 for rotating the drum descends in the hollow structure of the lower part of the first connecting shaft 1552 for rotating the drum.

[0170] When the dose setting drum rotates to the threaded sleeve, the drum transfer gripper 152 releases the dose setting drum, and the servo motor 151 driving the drum rotation rotates in the opposite direction. The camshaft 1554 rotating the drum follows the reverse rotation and moves upward relative to the guide sleeve 1555. At this time, the upper part of the second connecting shaft 1553 for drum rotation rises in the hollow structure below the first connecting shaft 1552 for drum rotation, thus achieving a reset.

[0171] In this embodiment, the design of the rotating drum coupling assembly 155 eliminates the need for the rotating drum transfer drive mechanism 153 to drive the lifting and lowering during the drum rotation process for dose setting. Instead, the rotation, lowering, and resetting of the rotating drum transfer gripper 152 can be achieved by the forward and reverse rotation of the rotating drum servo motor 151.

[0172] In one embodiment, a key for rotating the drum is provided on one of the lower inner wall of the first connecting shaft 1552 for rotating the drum and an upper outer wall of the second connecting shaft 1553 for rotating the drum, and a keyway for rotating the drum is provided on the other. The length direction of the keyway for rotating the drum is vertical. The key for rotating the drum and the keyway for rotating the drum are connected by insertion, so that the second connecting shaft 1553 for rotating the drum rotates with the first connecting shaft 1552 for rotating the drum and can move up and down along the first connecting shaft 1552 for rotating the drum.

[0173] The connection between the first connecting shaft 1552 and the second connecting shaft 1553 for rotating the drum can also be achieved by other methods in the prior art, such as limiting guide grooves and pin sliding methods, as long as the upper part of the second connecting shaft 1553 for rotating the drum can be raised and lowered and rotated in the hollow structure of the lower part of the first connecting shaft 1552 for rotating the drum.

[0174] In one embodiment, reference is made to Figures 6B to 6CThe first connecting shaft 1552 for rotating the drum is fitted with a first rotating bearing 1556a, which is fixed on the rotating drum transfer mounting bracket 154.

[0175] In one embodiment, reference is made to Figures 6B to 6C The first connecting shaft 1552 for rotating the drum is fitted with a rotating drum rotation detection ring 1557, and the surface of the rotating drum rotation detection ring 1557 is provided with at least one rotating drum rotation detection protrusion. The rotating drum transfer mounting bracket 154 is provided with a rotating drum rotation proximity sensor 1558. When the rotating drum rotation servo motor 151 is not rotating or reset, the sensing end of the rotating drum rotation proximity sensor 1558 faces the rotating drum rotation detection protrusion.

[0176] By using the proximity sensor 1558 for drum rotation and the detection protrusion for drum rotation in conjunction, the initial position of the servo motor 151 for drum rotation can be determined. If the servo motor 151 for drum rotation is not in the initial position, an alarm can be triggered or the machine can be stopped to wait for detection.

[0177] Of course, the detection protrusion for rotating the drum can also be set on the motor shaft of the servo motor 151 for rotating the drum.

[0178] In one embodiment, reference is made to Figures 6A to 6C The rotary drum transfer station 150 is also equipped with a rotary drum transfer adjustment device 156, which includes a rotary drum transfer adjustment bracket 1561, a rotary drum transfer adjustment cylinder 1562, and a second rotary drum rotation bearing 1563.

[0179] The second rotating drum bearing 1563 is sleeved outside the second rotating drum connecting shaft 1553.

[0180] The piston rod of the rotary drum transfer adjusting cylinder 1562 is axially oriented vertically and is connected to the rotary drum transfer adjusting bracket 1561. The rotary drum transfer adjusting cylinder 1562 is mounted on the rotary drum transfer mounting frame 154. The rotary drum transfer adjusting bracket 1561 connects the second rotary drum rotation bearing 1563 and the rotary drum rotation guide sleeve 1555. That is to say, the rotary drum rotation guide sleeve 1555 is not directly mounted on the rotary drum transfer mounting frame 154, but is indirectly connected through the rotary drum transfer adjusting bracket 1561 and the rotary drum transfer adjusting cylinder 1562.

[0181] The rotary drum transfer adjustment cylinder 1562 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the rotary drum transfer adjustment cylinder 1562 is driven to drive the rotary drum transfer adjustment bracket 1561 to rise and fall, which in turn drives the second connecting shaft 1553 for rotary drum rotation, the bearing 1563 for second rotary drum rotation, the camshaft 1554 for rotary drum rotation, the guide sleeve 1555 for rotary drum rotation, and the rotary drum transfer gripper 152 to rise and fall.

[0182] In one embodiment, reference is made to Figure 6B The rotary drum transfer adjustment device 156 also includes a rotary drum transfer adjustment guide rail 1564 and a rotary drum transfer adjustment slider 1565. The rotary drum transfer adjustment guide rail 1564 is mounted on the rotary drum transfer mounting bracket 154, and its length direction is vertical. The rotary drum transfer adjustment slider 1565 is slidably connected to the rotary drum transfer adjustment guide rail 1564, and a rotary drum transfer adjustment bracket 1561 is provided on the rotary drum transfer adjustment slider 1565.

[0183] In one embodiment, reference is made to Figure 6C The bottom end of the camshaft 1554 for rotating the drum is connected to the drum transfer gripper 152 via the third connecting shaft 1559 for rotating the drum.

[0184] In one embodiment, reference is made to Figure 6B and Figure 6C The rotating drum is connected to the rotating drum sleeve 1559a via several third rotating drum bearings 1556b. The rotating drum sleeve 1559a is connected to the rotating drum transfer adjustment bracket 1561.

[0185] In one embodiment, reference is made to Figure 6A and Figure 6D The rotary drum transfer station 150 is also equipped with an oiling detection device 157, which includes an oiling detection frame 1571 and a vision camera 1572. The oiling detection frame 1571 is installed on the rotary drum transfer station 150. The vision camera 1572 is installed on the oiling detection frame 1571, and the camera end of the vision camera 1572 is directed towards the dose setting rotary drum at the fourth target position of the tray 9.

[0186] Before transferring the dose setting cylinder, the dose setting cylinder is photographed by the vision camera 1572 to obtain the current image. The current image is compared with the preset image to determine whether the lubricating oil applied on the dose setting cylinder is qualified. If it is not qualified, the status of tray 9 is set to unqualified and no further assembly work is performed on unqualified tray 9. If it is qualified, the status of tray 9 is set to qualified and subsequent assembly work is performed on qualified tray 9.

[0187] In this embodiment, when comparing the current image with the preset image, the determination is whether there is lubricating oil at the two points in the current image that need to be oiled.

[0188] In one embodiment, when comparing the current image with a preset image to determine whether the lubricating oil applied to the dose setting drum is qualified, if several consecutive dose setting drums on tray 9 are unqualified, the machine is stopped and an alarm message is displayed, waiting for the operator to start it.

[0189] In one embodiment, reference is made to Figure 6D The oiling inspection device 157 also includes an inspection light source 1573, which is mounted on the oiling inspection frame 1571 and is located between the camera end of the vision camera 1572 and the tray 9 at the rotary drum transfer station 150.

[0190] In one embodiment, reference is made to Figure 6A and Figure 6E The rotary transfer station 150 is also equipped with a rotary drum rotation guide device 158, which includes a rotary drum rotation guide cylinder 1581 and a rotary drum rotation guide block 1582.

[0191] The piston rod of the rotary guide cylinder 1581 is axially horizontal. The rotary guide block 1582 is provided with a rotary guide groove 1583 that is vertically connected. The rotary guide block 1582 is connected to the piston rod of the rotary guide cylinder 1581. The rotary guide cylinder 1581 drives the rotary guide block 1582 to move horizontally, thereby causing the rotary guide groove 1583 to be located above or away from the threaded sleeve at the first target position.

[0192] Before the dose setting rotary cylinder held by the rotary transfer gripper 152 rotates to the threaded sleeve, the drive cylinder rotation guide cylinder drives the rotary cylinder rotation guide block 1582 to move horizontally, thereby causing the rotary cylinder guide groove 1583 to be located above the threaded sleeve. During the descent and rotation of the dose setting rotary cylinder held by the rotary transfer gripper 152, the dose setting rotary cylinder passes through the rotary cylinder guide groove 1583 and then rotates into the threaded sleeve.

[0193] In this embodiment, during the process of the dose setting cylinder descending and rotating into the threaded sleeve, the cylinder guide groove 1583 guides and limits the dose setting cylinder.

[0194] The rotary drum guide channel 1583 preferably adopts a channel with a trapezoidal cross-section, and the trapezoidal structure is wider at the top and narrower at the bottom.

[0195] In one embodiment, the second assembly mechanism 20 sequentially includes a second inspection station 210, a nut transfer and rotation station 220, a third inspection station 230, a bushing screw transfer station 240, a fourth inspection station 250, and a screw rotation station 260.

[0196] The second inspection station 210 is used to detect, through one or more second inspection sensors, at least one of the following: whether the dose setting drum at the first target position has rotated into place and whether the outer casing at the second target position has been pressed into place. The second inspection station 210 is used to check whether each part at each target position is in place and whether its position is correct. Parts that are marked as defective at this station will not undergo further assembly processing in subsequent stations. The second inspection station 210 is optional and can be turned off. If turned off, the part inspection will be stopped, and subsequent assembly work can proceed directly.

[0197] Nut transfer rotary station 220 is used to transfer and rotate the differential nut of the fourth target position into the housing assembly of the second target position.

[0198] The third inspection station 230 is used to rotate the differential nut to the second target position and detect whether the differential nut has been rotated into place using a third inspection sensor. The third inspection station 230 checks whether the differential nut is in place and whether its position is correct. Parts marked as defective at this station will not undergo further assembly processing in subsequent stations. The detection of the differential nut using the third inspection sensor at the third inspection station 230 is an optional step and can be disabled. If disabled, the differential nut will not be detected, and subsequent assembly work can proceed directly.

[0199] The bushing screw transfer station 240 is used to transfer the bushing screw assembly from the third target position to the housing assembly at the second target position.

[0200] The fourth inspection station 250 is used to detect, through one or more fourth inspection sensors, at least one of the following: whether the bushing at the second target position is pressed into place and whether the screw height at the second target position is correct. The fourth inspection station 250 checks whether each part at each target position is in place and whether its position is correct. Parts marked as defective at this station will not undergo further assembly processing in subsequent stations. The fourth inspection station 250 is optional and can be turned off. If turned off, part inspection will be stopped, and subsequent assembly work can proceed directly.

[0201] The screw rotation station 260 is used to rotate the screw at the second target position.

[0202] In one embodiment, reference is made to Figures 7A to 8 The second inspection station 210 is equipped with a second inspection device 212, and the fourth inspection station 250 is equipped with a fourth inspection device 252. The second inspection device 212 and the fourth inspection device 252 have some identical structures. Specifically, both the second inspection device 212 and the fourth inspection device 252 include an inspection frame 2711 and at least one set of inspection components. The inspection components include an inspection rod 2712 with its axial direction being vertical.

[0203] The testing frame 2711 is capable of lifting and lowering. The testing frame 2711 has at least a top testing plate 2711a and a bottom testing plate 2711b. A second testing sensor 211 or a fourth testing sensor 251 is fixed above the top testing plate 2711a. The testing frame 2711 may also include a testing housing connecting the top testing plate 2711a and the bottom testing plate 2711b, for protecting the components between the top testing plate 2711a and the bottom testing plate 2711b.

[0204] The detection rod 2712 passes through the detection top plate 2711a and the detection bottom plate 2711b. Two detection limiting rings 2713 are sleeved on the detection rod 2712 between the detection top plate 2711a and the detection bottom plate 2711b. The detection limiting ring 2713 located below abuts against the detection bottom plate 2711b. The detection limiting ring 2713 located above has a preset distance from the detection top plate 2711a and is sleeved with a detection reset element 3324. The bottom of the detection rod 2712 has a detection head 2715. The top of the detection rod 2712 contacts or faces the detection end of the second detection sensor 211 or the fourth detection sensor 251.

[0205] When part inspection is required, the drive inspection frame 2711 descends, causing the inspection assembly to descend as well. During the descent, the inspection head 2715 contacts the part, causing the inspection rod 2712 to move upward. The inspection end of the second inspection sensor 211 or the fourth inspection sensor 251 detects the movement position of the top of the inspection rod 2712, thereby detecting whether the part is in place. If the part is not in place or is in an incorrect position, the status of the tray 9 on the second inspection station 210 or the fourth inspection station 250 is set as unqualified, and subsequent assembly work is not performed on the unqualified tray 9. If the part is in place and in the correct position, the status of the tray 9 on the second inspection station 210 or the fourth inspection station 250 is set as qualified, and subsequent assembly work is performed on the qualified tray 9.

[0206] When the drive inspection frame 2711 descends to the preset height, the inspection frame 2711 is reset, and the inspection components set on the inspection frame 2711 are also reset, waiting for the next part to move to the second inspection station 210 or the fourth inspection station 250 for inspection.

[0207] The reset element 3324 is preferably a reset spring.

[0208] In this embodiment, the length of the detection rod 2712 and the shape of the detection head 2715 may be different in different groups of detection components, so as to be suitable for the detection of different parts.

[0209] In one embodiment, reference is made to Figures 7A to 8When at least two sets of detection components are integrated on the detection frame 2711 of the second detection device 212 or the fourth detection device 252, that is, when the detection frame 2711 of the second detection device 212 or the fourth detection device 252 has at least two detection rods 2712, two adjacent detection rods 2712 are the left detection rod and the right detection rod, respectively. Two detection limiting blocks 2716 are also provided between two adjacent detection rods 2712. Both detection limiting blocks 2716 are located between two detection limiting rings 2713. One end of 2716 is provided with a detection fixing hole that is connected vertically, and the other end is provided with a detection limiting hole that is connected vertically. The two detection limiting blocks 2716 are an upper detection limiting block and a lower detection limiting block, respectively. The upper detection limiting block is located above the lower detection limiting block. The upper detection limiting block passes through the detection fixing hole and is fixed to the left detection rod. The right detection rod passes through the detection limiting hole of the upper detection limiting block and can be raised and lowered. The lower detection limiting block passes through the detection fixing hole and is fixed to the right detection rod. The left detection rod passes through the detection limiting hole of the lower detection limiting block and can be raised and lowered.

[0210] When the right detection rod moves upward, it causes the lower detection limit block to move upward. When the lower detection limit block moves upward to abut against the upper detection limit block, it causes the upper detection limit block and the left detection rod to move upward together. When the left detection rod moves upward, it causes the upper detection limit block to move upward. When the upper detection limit block moves upward to abut against the detection limit ring 2713 on the right detection rod, it causes the right detection rod and the lower detection limit block to move upward together.

[0211] In one embodiment, reference is made to Figure 7A The second inspection station 210 and the fourth inspection station 250 are also equipped with an inspection drive mechanism, an inspection lifting rod 273 and an inspection adjustment cylinder 274. The inspection drive mechanism has a drive end for lifting and lowering. The drive end of the inspection drive mechanism is connected to the inspection lifting rod 273. The inspection adjustment cylinder 274 is connected to the inspection lifting rod 273. The piston rod of the inspection adjustment cylinder 274 is axially in the up and down direction and is connected to the inspection frame 2711. The inspection drive mechanism drives the inspection lifting rod 273 to lift and lower, which in turn drives the inspection adjustment cylinder 274 and the inspection frame 2711 to lift and lower.

[0212] The detection adjustment cylinder 274 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the detection adjustment cylinder 274 is driven to move the detection frame 2711 up and down.

[0213] In this embodiment, the detection drive mechanism is preferably a cam drive mechanism.

[0214] In one embodiment, reference is made to Figure 7AThe second detection station 210 has two second detection sensors 211. One sensor detects whether the dose setting cylinder at the first target position has rotated into place, and the other detects whether the outer casing at the second target position has been pressed into place. Both sensors are fixed to the detection top plate 2711a. Therefore, the detection frame 2711 of the second detection device 212 integrates two sets of detection components.

[0215] In one embodiment, reference is made to Figure 7A The second detection sensor 211 has at least one rotary drum detection proximity sensor for detecting whether the dose setting rotary drum at the first target position has rotated into place. The detection head 2715 corresponding to the rotary drum detection proximity sensor includes a rotary drum detection bearing and a rotary drum detection sleeve. The inner ring of the rotary drum detection bearing is connected to the bottom of the detection rod 2712, and the outer ring of the rotary drum detection bearing is connected to the rotary drum detection sleeve. The bottom of the rotary drum detection sleeve has a tapered structure that is narrower at the bottom and wider at the top.

[0216] When a part needs to be inspected, the drive inspection frame 2711 descends, which in turn drives the inspection assembly to descend. During the descent, the inspection sleeve for the rotating drum inspection contacts the dose setting rotating drum. The conical structure at the bottom of the inspection sleeve for the rotating drum inspection is inserted into the dose setting rotating drum. If the dose setting rotating drum has not rotated to the correct position, the inspection sleeve for the rotating drum inspection will drive the dose setting rotating drum to continue descending and rotate to the correct position during the descent.

[0217] The detection head 2715 in this embodiment implements a remedial measure when the dose setting cylinder is not rotated into position.

[0218] In one embodiment, reference is made to Figure 8 The fourth detection device 252 has two sets of detection components integrated on the detection frame 2711. There are two fourth detection sensors 251. The two fourth detection sensors 251 are a proximity sensor for detecting whether the bushing on the second target position is pressed into place and a displacement sensor (LVDT) for detecting whether the screw height on the second target position is correct. The proximity sensor is fixed on the detection top plate 2711a.

[0219] In this embodiment, the displacement sensor is not fixed to the detection top plate 2711a, but is fixed using the following design:

[0220] One set of detection components in the fourth detection device 252 includes two detection rods 2712, one of which is a fourth fixed rod 2712a and the other is a fourth movable rod 2712b. Both the fourth fixed rod 2712a and the fourth movable rod 2712b are equipped with two detection limiting rings 2713 and a detection reset element 3324. A displacement sensor is fixed to the top of the fourth fixed rod 2712a, and a detection head 2715 is located at the bottom of the fourth movable rod 2712b.

[0221] In one embodiment, reference is made to Figure 8 Both the fourth fixed rod 2712a and the fourth moving rod 2712b are provided with a fourth detection limit block 2716a. The fourth detection limit block 2716a is located between the two detection limit rings 2713. One end of the fourth detection limit block 2716a is provided with a detection fixing hole that is connected vertically, and the other end is provided with a detection limit hole that is connected vertically. The two fourth detection limit blocks 2716a are a fixed rod limit block and a moving rod limit block, respectively. The fixed rod limit block is located above the moving rod limit block. The fixed rod limit block passes through the detection fixing hole and is fixed on the fourth fixed rod 2712a. The fourth moving rod 2712b passes through the detection limit hole of the fixed rod limit block and can be raised and lowered. The moving rod limit block passes through the detection fixing hole and is fixed on the fourth moving rod 2712b.

[0222] When the fourth moving rod 2712b moves upward, it drives the moving rod limiting block to move upward. When the moving rod limiting block moves upward to abut against the fixed rod limiting block, it drives the fixed rod limiting block and the fourth fixed rod 2712a to move upward together, so as to protect the detection end of the fourth detection sensor 251 fixed on the fourth fixed rod 2712a.

[0223] In one embodiment, reference is made to Figure 8 In the fourth detection device 252, one of the two detection heads 2715 is a bushing detection head 2715a and the other is a screw detection head 2715b. The bushing detection head 2715a has a bushing detection ring 2715c at the bottom, which is located below the screw detection head 2715b. The screw detection head 2715b has a screw detection rod 2715d at the bottom, which passes through the bushing detection ring 2715c.

[0224] Since one of the two detection heads 2715 of the four detection devices 252 is a bushing detection head 2715a for detecting bushings and the other is a screw detection head 2715b for detecting screws, and the screw is located inside the bushing, when performing bushing and screw detection, through the design of this embodiment, when the driving detection frame 2711 descends, it drives the detection components to descend. During the descent, it can simultaneously detect whether the bushing and screw are in place and in position.

[0225] In one embodiment, reference is made to Figures 9A to 9C The nut transfer and rotation station 220 is equipped with a nut rotation servo motor 221 and a nut transfer gripper 222. The nut rotation servo motor 221 can perform lifting and horizontal movements. The motor shaft of the nut rotation servo motor 221 is axially in the up-down direction and is connected to the nut transfer gripper 222. The differential nut is held by the nut transfer gripper 222 and transferred from the fourth target position to the housing assembly of the second target position. The rotation of the nut rotation servo motor 221 and the descent of the nut transfer gripper 222 drive the differential nut held by the nut transfer gripper 222 to rotate into the housing assembly.

[0226] After the differential nut transfer and rotation are completed, the nut transfer gripper 222 releases, releasing the differential nut. The nut rotation is reset by the servo motor 221 and the nut transfer gripper 222, waiting for the next differential nut transfer and rotation.

[0227] In one embodiment, reference is made to Figure 9A The nut transfer and rotation station 220 is equipped with a nut transfer drive mechanism 223. The nut transfer drive mechanism 223 has a drive end that can perform lifting and horizontal movements. The nut rotation servo motor 221 is connected to the drive end of the nut transfer drive mechanism 223 through the nut transfer mounting bracket 224. The nut transfer drive mechanism 223 drives the nut transfer mounting bracket 224, the nut rotation servo motor 221 and the nut transfer gripper 222 connected to it to perform lifting and horizontal movements.

[0228] In this embodiment, the nut transfer drive mechanism 223 preferably adopts a cam drive mechanism.

[0229] In one embodiment, reference is made to Figures 9A to 9C The motor shaft of the servo motor 221 for rotating the nut is connected to the nut transfer gripper 222 via the nut rotation coupling assembly 225. The nut rotation coupling assembly 225 includes a nut rotation coupling 2251, a first connecting shaft 2252 for rotating the nut, a second connecting shaft 2253 for rotating the nut, a bracket 2254 for rotating the nut, and a cylinder 2255 for rotating the nut.

[0230] The top end of the nut rotation coupling 2251 is connected to the motor shaft of the nut rotation servo motor 221, and the bottom end of the nut rotation coupling 2251 is connected to the top end of the nut rotation first connecting shaft 2252.

[0231] The lower part of the first connecting shaft 2252 for rotating the nut is a hollow structure with an opening at the bottom. The upper part of the second connecting shaft 2253 for rotating the nut can move up and down within the hollow structure at the bottom of the first connecting shaft 2252 for rotating the nut and rotates with the rotation of the first connecting shaft 2252 for rotating the nut. The bottom end of the second connecting shaft 2253 for rotating the nut is connected to the nut transfer gripper 222.

[0232] The nut rotation bracket 2254 is connected to the nut rotation second connecting shaft 2253 via the first nut rotation bearing 2256a. The piston rod of the nut rotation cylinder 2255 is axially in the up-down direction and is connected to the nut rotation bracket 2254. The nut rotation cylinder 2255 is mounted on the nut transfer mounting bracket 224.

[0233] When the differential nut needs to be rotated into the housing assembly, the servo motor 221 for driving the nut rotation rotates, which drives the nut transfer gripper 222 to rotate through the nut rotation coupling assembly 225. At the same time, the piston rod of the nut rotation cylinder 2255 drives the nut rotation bracket 2254 to descend, which in turn drives the second connecting shaft 2253 for nut rotation and the nut transfer gripper 222 to descend, so that the nut transfer gripper 222 descends and rotates, driving the differential nut held by the nut transfer gripper 222 to rotate into the housing assembly.

[0234] When the differential nut rotates into the housing assembly, the servo motor 221 for nut rotation stops rotating, the nut transfer gripper 222 releases, releasing the differential nut, and the cylinder 2255 for driving nut rotation rises and resets, driving the second connecting shaft 2253 for nut rotation and the nut transfer gripper 222 to rise, the nut transfer drive mechanism 223 resets, and drives the servo motor 221 for nut rotation, the coupling assembly 225 for nut rotation, and the nut transfer gripper 222 to reset.

[0235] Of course, when the nut transfer gripper 222 descends, it is not necessary to use the nut rotation cylinder 2255 to drive the nut transfer gripper 222 to descend. Instead, the nut transfer drive mechanism 223 can drive the nut rotation servo motor 221, the nut rotation coupling assembly 225, and the nut transfer gripper 222 to descend together.

[0236] The nut-rotating cylinder 2255 is also used to compensate for the height difference between products of different specifications. When height difference compensation is required, the nut-rotating cylinder 2255 is driven to move the nut-rotating bracket 2254 up and down, which in turn moves the second connecting shaft 2253 and the nut transfer gripper 222 up and down.

[0237] In one embodiment, reference is made to Figure 9B The lower part of the first connecting shaft 2252 for nut rotation is provided with a nut rotation limiting guide groove 22521 that is internally and externally connected, and the length direction of the nut rotation limiting guide groove 22521 is the vertical direction.

[0238] Reference Figure 9CThe second connecting shaft 2253 for nut rotation is provided with a nut rotation limiting guide hole 22531. The nut rotation limiting guide hole 22531 is used to insert a nut rotation limiting guide pin. The nut rotation limiting guide hole 22531 is located inside the lower part of the first connecting shaft 2252 for nut rotation. One end of the nut rotation limiting guide pin is inserted into the nut rotation limiting guide hole 22531, and the other end of the nut rotation limiting guide pin extends out of the nut rotation limiting guide groove 22521 and can move up and down along the nut rotation limiting guide groove 22521.

[0239] With the above design, under the guidance of the limiting guide pin for nut rotation, the second connecting shaft 2253 for nut rotation can move up and down in the vertical direction while rotating with the first connecting shaft 2252 for nut rotation. Thus, the nut transfer gripper 222 connected to the second connecting shaft 2253 for nut rotation can move up and down and rotate.

[0240] In one embodiment, reference is made to Figures 9B to 9C The first connecting shaft 2252 for nut rotation is fitted with a nut rotation detection ring 22571, and the surface of the nut rotation detection ring 22571 is provided with at least one nut rotation detection protrusion. A nut rotation proximity sensor 22572 is provided on the nut transfer mounting bracket 224. When the nut rotation servo motor 221 is not rotating or reset, the sensing end of the nut rotation proximity sensor 22572 faces the nut rotation detection protrusion.

[0241] By using the proximity sensor 22572 for nut rotation and the detection protrusion for nut rotation in conjunction, the initial position of the servo motor 221 for nut rotation can be determined. If the servo motor 221 for nut rotation is not in the initial position, an alarm can be triggered or the machine can be stopped to wait for detection.

[0242] Of course, the detection protrusion for nut rotation can also be set on the motor shaft of the nut rotation servo motor 221.

[0243] In one embodiment, reference is made to Figure 9B The coupling assembly 225 for rotating the nut also includes a guide rail 22581 for rotating the nut and a slider 22582 for rotating the nut.

[0244] The nut rotation guide rail 22581 is mounted on the nut transfer mounting bracket 224, and the length direction of the nut rotation guide rail 22581 is vertical. The nut rotation slider 22582 is slidably connected to the nut rotation guide rail 22581, and the nut rotation bracket 2254 is mounted on the nut rotation slider 22582.

[0245] In one embodiment, reference is made to Figures 9B to 9CThe second connecting shaft 2253 for nut rotation is connected to the nut rotating sleeve 22532 via several second nut rotating bearings 2256b. The nut rotating sleeve 22532 is connected to the nut rotating bracket 2254.

[0246] In one embodiment, reference is made to Figure 9C The first connecting shaft 2252 for nut rotation is connected to the bracket 2254 for nut rotation via several third bearings 2256c for nut rotation.

[0247] In one embodiment, reference is made to Figure 9A The nut transfer and rotation station 220 is also equipped with an anti-sway device for nut rotation. The anti-sway device for nut rotation includes an anti-sway gripper for nut rotation. The anti-sway gripper for nut rotation can move horizontally. Before or after the nut transfer gripper 222 clamps the differential nut and transfers it from the fourth target position to the second target position housing assembly, the gripping part of the drive nut rotation anti-sway gripper is moved to the outside of the housing assembly. The housing assembly is clamped by the nut rotation anti-sway gripper to prevent the housing assembly from swinging, and then the differential nut is rotated into the housing assembly.

[0248] After the differential nut rotates into the housing assembly, the anti-sway gripper releases the housing assembly, and the anti-sway gripper retracts away from the housing assembly to reset, ready to clamp the next housing assembly.

[0249] In one embodiment, reference is made to Figure 9A The anti-sway device for nut rotation also includes an anti-sway cylinder drive mechanism. The anti-sway cylinder drive mechanism has a drive end that can move horizontally. The anti-sway gripper for nut rotation is connected to the drive end of the anti-sway cylinder drive mechanism, and the anti-sway gripper for nut rotation is driven by the anti-sway cylinder drive mechanism to move horizontally.

[0250] In this embodiment, the anti-sway cylinder drive mechanism is preferably a cam drive mechanism.

[0251] In one embodiment, reference is made to Figures 10A to 10C The third inspection station 230 is equipped with a pre-inspection rotation servo motor 231 and a third inspection head 232. The pre-inspection rotation servo motor 231 can perform lifting and lowering movements. The motor shaft of the pre-inspection rotation servo motor 231 is axially in the up-down direction and is connected to the third inspection head 232. The pre-inspection rotation servo motor 231 rotates during the descent, driving the third inspection head 232 to descend and rotate, thereby driving the differential nut that abuts against the third inspection head 232 to rotate within the housing assembly.

[0252] The outer surface of the third detection head 232 is provided with a detection groove 2321. The third detection sensor 233 is an infrared beam sensor. When the differential nut that abuts against the third detection head 232 rotates into position within the housing assembly, the beam-facing ends of the infrared beam sensor form the detection groove 2321.

[0253] The infrared beam sensor is used to detect whether the differential nut has been rotated into place. When there is no obstruction between the beams of the infrared beam sensor, that is, a signal can be detected, it is considered that the differential nut has been rotated into place. Otherwise, if there is an obstruction between the beams of the infrared beam sensor and the third detection head 232, a signal cannot be detected, and it is considered that the differential nut has not been rotated into place.

[0254] In this embodiment, an infrared beam sensor is used to detect whether the differential nut is rotated into place. If the differential nut is not in place or has not been rotated into place, the status of the tray at the third detection station is set as unqualified, and the unqualified tray will not be further assembled. If the differential nut is in place and rotated into place, the status of the tray at the third detection station is set as qualified, and the qualified tray will be further assembled.

[0255] After the differential nut has rotated and been inspected, the servo motor 231 used for pre-inspection rotation stops rotating and resets, which in turn drives the third inspection head 232 to reset.

[0256] In one embodiment, reference is made to Figure 10C The servo motor 231 for rotating before detection is connected to the third detection head 232 via the coupling assembly 234 for rotating before detection. The coupling assembly 234 for rotating before detection includes a coupling 2341 for rotating before detection, a first connecting shaft 2342 for rotating before detection, a second connecting shaft 2343 for rotating before detection, and an elastic unit 2344 for rotating before detection.

[0257] The top end of the detection front rotation coupling 2341 is connected to the motor shaft of the detection front rotation servo motor 231, and the bottom end of the detection front rotation coupling 2341 is connected to the top end of the detection front rotation first connecting shaft 2342.

[0258] The lower part of the first connecting shaft 2342 for pre-detection rotation is a hollow structure with an opening at the bottom. The upper part of the second connecting shaft 2343 for pre-detection rotation can move up and down within the hollow structure at the bottom of the first connecting shaft 2342 for pre-detection rotation and rotates with the rotation of the first connecting shaft 2342 for pre-detection rotation. The bottom end of the second connecting shaft 2343 for pre-detection rotation is the third detection head 232.

[0259] The elastic unit 2344 for pre-detection rotation is located within the hollow structure at the lower part of the first connecting shaft 2342 for pre-detection rotation. The top end of the elastic unit 2344 is connected to or abuts against the inner wall of the hollow structure at the lower part of the first connecting shaft 2342 for pre-detection rotation, and the bottom end of the elastic unit 2344 is connected to or abuts against the top of the second connecting shaft 2343 for pre-detection rotation. The elastic unit 2344 for pre-detection rotation is preferably a spring.

[0260] When the differential nut needs to be rotated into the housing assembly, the servo motor 231 for pre-detection rotation is driven to rotate, which in turn drives the third detection head 232 to rotate via the coupling assembly 234 for pre-detection rotation. Simultaneously, the servo motor 231 for pre-detection rotation is driven to descend, which in turn drives the coupling assembly 234 for pre-detection rotation and the third detection head 232 to descend. After the third detection head 232 descends and abuts against the differential nut, the second connecting shaft 2343 for pre-detection rotation rises within the hollow structure below the first connecting shaft 2342 for pre-detection rotation, compressing the elastic unit 2344 for pre-detection rotation. This causes the elastic unit 2344 to exert downward pressure on the second connecting shaft 2343 for pre-detection rotation and the third detection head 232, causing the third detection head 232 to abut against and rotate the differential nut.

[0261] Through the above design, this embodiment ensures that the third detection head 232 abuts against the differential nut under a preset pressure, thus avoiding excessive pressure being applied to the differential nut.

[0262] After the rotation and inspection of the differential nut are completed, the servo motor 231 for pre-inspection rotation stops rotating and rises to reset. At this time, under the action of the elastic unit 2344 for pre-inspection rotation, the second connecting shaft 2343 and the third inspection head 232 for pre-inspection rotation descend to reset.

[0263] In one embodiment, reference is made to Figure 10B The lower part of the first connecting shaft 2342 for pre-detection rotation is provided with a pre-detection rotation limiting guide groove 23421 that is internally and externally connected, and the length direction of the pre-detection rotation limiting guide groove 23421 is the vertical direction.

[0264] Reference Figure 10C The second connecting shaft 2343 for pre-detection rotation is provided with a pre-detection rotation limiting guide hole 23431. The pre-detection rotation limiting guide hole 23431 is used to insert a pre-detection rotation limiting guide pin. The pre-detection rotation limiting guide hole 23431 is located inside the lower part of the first connecting shaft 2342 for pre-detection rotation. One end of the pre-detection rotation limiting guide pin is inserted into the pre-detection rotation limiting guide hole 23431, and the other end of the pre-detection rotation limiting guide pin extends out of the pre-detection rotation limiting guide groove 23421 and can move up and down along the pre-detection rotation limiting guide groove 23421.

[0265] The pre-detection rotation limiting guide groove 23421 is preferably not connected to the bottom of the pre-detection rotation first connecting shaft 2342, so that under the limiting of the pre-detection rotation limiting guide pin, the upper part of the pre-detection rotation second connecting shaft 2343 is restricted to the lower part of the pre-detection rotation first connecting shaft 2342.

[0266] In one embodiment, reference is made to Figures 10A to 10C The servo motor 231 for pre-test rotation is mounted on the pre-test rotation mounting bracket 235, which is capable of lifting and lowering. The servo motor 231 is driven by the pre-test rotation mounting bracket 235 to perform the lifting and lowering motion. The first connecting shaft 2342 for pre-test rotation is connected to the pre-test rotation mounting bracket 235 through one or more pre-test rotation bearings 2345.

[0267] In one embodiment, reference is made to Figures 10A to 10C A servo motor 231 for pre-detection rotation is mounted on a pre-detection rotation mounting bracket 235. The pre-detection rotation mounting bracket 235 can move up and down, and the servo motor 231 is driven by the pre-detection rotation mounting bracket 235 to move up and down. The third detection sensor 233 is connected to the pre-detection rotation mounting bracket 235 through a third detection sensor bracket 2331, which is inclinedly set on the side of the third detection head 232.

[0268] In one embodiment, reference is made to Figure 10A A servo motor 231 for rotating before inspection is mounted on a rotating mounting bracket 235 before inspection. The third inspection station 230 is equipped with a third inspection drive mechanism, a third inspection lifting rod 236, and a third inspection adjusting cylinder 237. The third inspection drive mechanism has a drive end for lifting and lowering. The drive end of the third inspection drive mechanism is connected to the third inspection lifting rod 236. The third inspection adjusting cylinder 237 is connected to the third inspection lifting rod 236. The piston rod of the third inspection adjusting cylinder 237 is axially in the up-down direction and is connected to the rotating mounting bracket 235 before inspection. The third inspection drive mechanism drives the third inspection lifting rod 236 to move up and down, which in turn drives the third inspection adjusting cylinder 237 and the rotating mounting bracket 235 before inspection to move up and down.

[0269] The third detection adjustment cylinder 237 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the third detection adjustment cylinder 237 is driven to drive the front rotating mounting bracket 235 to rise and fall.

[0270] In this embodiment, the third detection drive mechanism is preferably a cam drive mechanism.

[0271] In one embodiment, reference is made to Figure 11The bushing screw transfer station 240 is equipped with a bushing screw transfer gripper 241, which can move up and down and horizontally. The bushing screw assembly is transferred from the third target position to the housing assembly at the second target position through the bushing screw transfer gripper 241.

[0272] Specifically, the bushing screw transfer jaw 241 moves horizontally above the third target position, then descends, clamps the bushing screw assembly, rises, moves horizontally above the second target position, descends, releases, and allows the bushing screw assembly to move into the housing assembly. The bushing screw transfer jaw 241 then resets, awaiting the movement of the next bushing screw assembly.

[0273] In one embodiment, reference is made to Figure 11 The bushing screw transfer station 240 is also equipped with a bushing screw transfer drive mechanism 242. The bushing screw transfer drive mechanism 242 has a drive end that can perform lifting and horizontal movements. The bushing screw transfer gripper 241 is connected to the drive end of the bushing screw transfer drive mechanism 242, and the bushing screw transfer drive mechanism 242 drives the bushing screw transfer gripper 241 to perform lifting and horizontal movements.

[0274] The bushing screw transfer drive mechanism 242 preferably adopts a cam drive mechanism.

[0275] In one embodiment, reference is made to Figure 11 The bushing screw transfer station 240 is also equipped with a bushing screw transfer adjusting cylinder 243. The bushing screw transfer adjusting cylinder 243 is connected to the drive end of the bushing screw transfer drive mechanism 242. The piston rod of the bushing screw transfer adjusting cylinder 243 is axially in the up-down direction and is connected to the bushing screw transfer gripper 241. The bushing screw transfer gripper 241 is connected to the drive end of the bushing screw transfer drive mechanism 242 through the bushing screw transfer adjusting cylinder 243. The bushing screw transfer drive mechanism 242 drives the bushing screw transfer adjusting cylinder 243 to move up and down and horizontally, thereby driving the bushing screw transfer gripper 241 to move up and down and horizontally.

[0276] The bushing screw transfer adjustment cylinder 243 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the bushing screw transfer adjustment cylinder 243 is driven to move the bushing screw transfer gripper 241 up and down.

[0277] In one embodiment, reference is made to Figure 9AThe bushing screw transfer station 240 is also equipped with an anti-sway device for bushing screw transfer. The anti-sway device for bushing screw transfer includes an anti-sway gripper for bushing screw transfer. The anti-sway gripper for bushing screw transfer can move horizontally. Before the bushing screw transfer gripper 241 clamps the bushing screw assembly and transfers it into the housing assembly at the second target position, the gripping part of the anti-sway gripper for bushing screw transfer is driven to move to the outside of the housing assembly. The housing assembly is clamped by the anti-sway gripper for bushing screw transfer to prevent the housing assembly from swinging, and then the bushing screw assembly is transferred into the housing assembly.

[0278] After the bushing screw assembly is transferred into the housing assembly, the bushing screw transfer anti-sway gripper releases, releasing the housing assembly. The bushing screw transfer anti-sway gripper then retracts away from the housing assembly, resetting and preparing to grip the next housing assembly.

[0279] In one embodiment, the anti-sway device for bushing screw transfer further includes an anti-sway cylinder drive mechanism. The anti-sway cylinder drive mechanism has a drive end capable of horizontal movement. The anti-sway gripper for bushing screw transfer is connected to the drive end of the anti-sway cylinder drive mechanism, and the anti-sway gripper for bushing screw transfer is driven by the anti-sway cylinder drive mechanism to perform horizontal movement.

[0280] The anti-sway cylinder drive mechanism preferably adopts a cam drive mechanism.

[0281] In one embodiment, reference is made to Figure 9A When the nut transfer and rotation station 220 has an anti-sway device for nut rotation, the anti-sway device for bushing screw transfer and the anti-sway device for nut rotation share the same anti-sway cylinder drive mechanism. The anti-sway cylinder drive mechanism drives the anti-sway gripper for bushing screw transfer and the anti-sway gripper for nut rotation of the anti-sway device for nut rotation to move horizontally at the same time.

[0282] In one embodiment, reference is made to Figures 12A to 12C The screw rotation station 260 is equipped with a screw rotation servo motor 261 and a screw clamping jaw 262. The screw rotation servo motor 261 can perform lifting and lowering movements. The motor shaft of the screw rotation servo motor 261 is axially in the up-down direction and is connected to the screw clamping jaw 262. The screw is clamped by the screw clamping jaw 262. The screw rotation servo motor 261 rotates during the descent, driving the screw clamping jaw 262 to descend and rotate, thereby driving the screw clamped by the screw clamping jaw 262 to rotate into the bushing.

[0283] After the screw rotates into the bushing, the screw rotation servo motor 261 stops rotating, the screw clamping jaws 262 loosen, releasing the screw. The screw rotation servo motor 261 then rises and resets, causing the screw clamping jaws 262 to rise and reset, waiting for the next screw to rotate.

[0284] In one embodiment, reference is made to Figure 12CThe screw rotation station 260 is also equipped with a screw rotation positioning cylinder 263. The piston rod of the screw rotation positioning cylinder 263 is axially in the up-down direction and its bottom end is connected to a screw rotation positioning block 2631. The screw rotation positioning block 2631 is located above the clamping part of the screw clamping jaw 262.

[0285] Before the screw is gripped and rotated into the bushing by the screw clamping jaws 262, the screw rotation positioning cylinder 263 drives the screw rotation positioning block 2631 to extend downward and abut against the top of the screw to prevent the screw from shaking during rotation.

[0286] In specific implementation, the screw rotation positioning cylinder 263 is preferably positioned above the screw clamping jaw 262, and the piston rod of the screw rotation positioning cylinder 263 and the screw rotation positioning block 2631 can pass through the clamping part of the screw clamping jaw 262.

[0287] In one embodiment, reference is made to Figure 12A The screw rotation station 260 is also equipped with a screw rotation drive mechanism 264. The screw rotation drive mechanism 264 has a drive end that can perform lifting and lowering movements. The screw rotation servo motor 261 is connected to the drive end of the screw rotation drive mechanism 264 through the screw rotation mounting bracket 265. The screw rotation drive mechanism 264 drives the screw rotation mounting bracket 265, the screw rotation servo motor 261, and the screw clamping jaw 262 to perform lifting and lowering movements.

[0288] The screw rotation drive mechanism 264 preferably adopts a cam drive mechanism.

[0289] In one embodiment, reference is made to Figures 12A to 12C The motor shaft of the servo motor 261 for screw rotation is connected to the screw clamping jaw 262 via the screw rotation coupling assembly 266. The screw rotation coupling assembly 266 includes a screw rotation coupling 2661 and a screw rotation connecting shaft 2662.

[0290] The top end of the screw rotation coupling 2661 is connected to the motor shaft of the screw rotation servo motor 261, and the bottom end of the screw rotation coupling 2661 is connected to the top end of the screw rotation connecting shaft 2662. The bottom end of the screw rotation connecting shaft 2662 is connected to the screw clamping jaw 262. When the screw rotation station 260 is also equipped with a screw rotation positioning cylinder 263, the bottom end of the screw rotation connecting shaft 2662 is also connected to the screw rotation positioning cylinder 263.

[0291] In one embodiment, reference is made to Figure 12C The connecting shaft 2662 for screw rotation is provided with several connecting shaft air inlets 26621, and several connecting shaft air passages are provided inside the connecting shaft 2662, with one end of each connecting shaft air passage connected to the connecting shaft air inlet 26621.

[0292] The air inlet and outlet of the screw clamping jaw 262 are each independently connected to the other end of the shaft air passage.

[0293] When the screw rotation station 260 is also equipped with a screw rotation positioning cylinder 263, the air inlet of the screw rotation positioning cylinder 263 is connected to the other end of another connecting shaft air circuit.

[0294] In one embodiment, a screw rotation detection ring is sleeved on the connecting shaft 2662 for screw rotation, and at least one screw rotation detection protrusion is provided on the surface of the screw rotation detection ring. (Refer to...) Figure 12B The screw rotation mounting bracket 265 is equipped with a screw rotation proximity sensor 2663. When the screw rotation servo motor 261 is not rotating or is reset, the sensing end of the screw rotation proximity sensor 2663 faces the screw rotation detection protrusion.

[0295] By using the proximity sensor 2663 for screw rotation and the detection protrusion for screw rotation in a coordinated design, the initial position of the servo motor 261 for screw rotation can be determined. If the servo motor 261 for screw rotation is not in the initial position, an alarm can be triggered or the machine can be stopped to wait for detection.

[0296] Of course, the detection protrusion for screw rotation can also be set on the motor shaft of the servo motor 261 for screw rotation.

[0297] In one embodiment, reference is made to Figures 12B to 12C The connecting shaft 2662 for screw rotation is connected to the screw rotation sleeve 2665 via several screw rotation bearings 2664. The screw rotation sleeve 2665 is connected to the screw rotation mounting bracket 265.

[0298] In one embodiment, reference is made to Figure 12A The screw rotation station 260 is also equipped with a screw rotation adjustment cylinder 267. The screw rotation adjustment cylinder 267 is connected to the drive end of the screw rotation drive mechanism 264. The piston rod of the screw rotation adjustment cylinder 267 is axially in the up-down direction and is connected to the screw rotation mounting bracket 265. The screw rotation servo motor 261 is connected to the drive end of the screw rotation drive mechanism 264 through the screw rotation mounting bracket 265 and the screw rotation adjustment cylinder 267. The screw rotation drive mechanism 264 drives the screw rotation adjustment cylinder 267 to perform lifting and lowering movements, which in turn drives the screw rotation mounting bracket 265, the screw rotation servo motor 261, and the screw clamping jaw 262 to perform lifting and lowering movements.

[0299] The screw rotation adjustment cylinder 267 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the screw rotation adjustment cylinder 267 is driven to drive the screw rotation mounting bracket 265, the screw rotation servo motor 261 and the screw clamping jaw 262 to lift and lower.

[0300] In one embodiment, reference is made to Figure 12A The screw rotation station 260 is also equipped with a screw rotation guide rail 268 and a screw rotation slider.

[0301] A guide rail 268 for screw rotation is located at the drive end of the screw rotation drive mechanism 264, and the length direction of the guide rail 268 is vertical. A slider for screw rotation is slidably connected to the guide rail 268, and a screw rotation mounting bracket 265 is provided on the slider.

[0302] In practice, a portion of the screw rotation mounting bracket 265 can also be directly slidably connected to the screw rotation guide rail 268 as a slider for screw rotation.

[0303] In one embodiment, the third assembly mechanism 30 sequentially includes a component transfer and unscrewing station 310, a threaded sleeve pressing station 320, a fifth inspection station 330, a defective product unloading station 340, and a clutch gear loading station 350.

[0304] The component transfer and unscrewing station 310 is used to transfer the dose setting rotary cylinder assembly from the first target position to the housing assembly of the second target position, and to unscrew the dose setting rotary cylinder.

[0305] The threaded sleeve pressing station 320 is used to press the threaded sleeve at the second target position.

[0306] The fifth inspection station 330 is used to detect whether the dosage setting cylinder is pressed into place using a fifth inspection sensor. Parts that are marked as defective at this station will not undergo further assembly processing in subsequent stations. The fifth inspection station 330 is optional and can be turned off. If turned off, the inspection of parts will be stopped, and subsequent assembly work can proceed directly.

[0307] The defective parts unloading station 340 is used to unload parts from the tray 9 marked as defective. The defective parts unloading station 340 handles defective parts, and when rejecting defective parts, it does not mistakenly reject adjacent products. During rejection, counting can be performed; a batch counter for defective parts can be set on the defective parts unloading station 340 to display the reading. The defective parts unloading station 340 is an optional station and can be turned off. If turned off, defective parts will no longer be rejected in the third assembly mechanism 30.

[0308] The clutch gear loading station 350 is used to load the clutch gear into the housing assembly at the second target position.

[0309] In one embodiment, reference is made to Figures 13A to 13CThe component transfer and unloading station 310 is equipped with a component transfer gripper 311, a rotary drum unloading servo motor 312, and a rotary drum clamping gripper 313. The gripping part of the component transfer gripper 311 is located below the rotary drum clamping gripper 313. Both the rotary drum unloading servo motor 312 and the component transfer gripper 311 can move up and down and horizontally. The motor shaft of the rotary drum unloading servo motor 312 is axially in the up and down direction and is connected to the rotary drum clamping gripper 313. The component transfer gripper 311 clamps the dosage setting rotary drum assembly and transfers it from the first target position to the outer shell assembly of the second target position. The rotary drum clamping gripper 313 clamps the dosage setting rotary drum in the dosage setting rotary drum assembly. The rotation of the rotary drum unloading servo motor 312 and the rise of the rotary drum clamping gripper 313 drive the dosage setting rotary drum clamped by the rotary drum clamping gripper 313 to unload.

[0310] After the dose setting rotary drum rotates out of the threaded sleeve in the dose setting rotary drum assembly, the rotary drum rotation servo motor 312 stops rotating, the rotary drum clamping jaw 313 loosens, releasing the dose setting rotary drum, the assembly transfer jaw 311 loosens, releasing the threaded sleeve, the assembly transfer jaw 311 and the rotary drum rotation servo motor 312 reset, and the rotary drum clamping jaw 313 resets along with the rotary drum rotation servo motor 312, waiting for the next transfer of the dose setting rotary drum assembly and the rotation out of the dose setting rotary drum.

[0311] In one embodiment, reference is made to Figure 13A The component transfer and unloading station 310 is equipped with a component transfer drive mechanism 314. The component transfer drive mechanism 314 has a drive end that can perform lifting and horizontal movements. The rotary drum unloading servo motor 312 and the component transfer gripper 311 are connected to the drive end of the component transfer drive mechanism 314 through the component transfer mounting frame 315. The component transfer drive mechanism 314 simultaneously drives the component transfer mounting frame 315, the component transfer gripper 311, the rotary drum unloading servo motor 312 and its connected rotary drum clamping gripper 313 to perform lifting and horizontal movements.

[0312] The component transfer drive mechanism 314 preferably adopts a cam drive mechanism.

[0313] In one embodiment, reference is made to Figures 13A to 13C The motor shaft of the servo motor 312 for rotating drum is connected to the rotating drum clamping jaw 313 via the rotating drum rotating coupling assembly 316. The rotating drum rotating coupling assembly 316 includes a rotating drum rotating coupling 3161, a rotating drum rotating first connecting shaft 3162, a rotating drum rotating second connecting shaft 3163, a rotating drum rotating bracket 3164, and a rotating drum rotating cylinder 3165.

[0314] The top end of the rotating drum screw-out coupling 3161 is connected to the motor shaft of the rotating drum screw-out servo motor 312, and the bottom end of the rotating drum screw-out coupling 3161 is connected to the top end of the rotating drum screw-out first connecting shaft 3162.

[0315] The lower part of the first connecting shaft 3162 for rotating the drum is a hollow structure with an opening at the bottom. The upper part of the second connecting shaft 3163 for rotating the drum can move up and down within the hollow structure at the bottom of the first connecting shaft 3162 and rotates with the rotation of the first connecting shaft 3162. The bottom end of the second connecting shaft 3163 for rotating the drum is connected to the rotating drum clamping jaw 313.

[0316] The rotating drum unscrewing bracket 3164 is connected to the rotating drum unscrewing second connecting shaft 3163 via the first rotating drum unscrewing bearing 3166a. The piston rod of the rotating drum unscrewing cylinder 3165 is axially in the up-down direction and is connected to the rotating drum unscrewing bracket 3164. The rotating drum unscrewing cylinder 3165 is mounted on the component transfer mounting bracket 315.

[0317] When the dosage setting rotary drum needs to be rotated out, the servo motor 312 for rotating the rotary drum rotates to rotate, and the rotary drum clamping jaw 313 rotates through the rotary drum rotating coupling assembly 316. At the same time, the piston rod of the rotary drum rotating cylinder 3165 drives the rotary drum rotating bracket 3164 to rise, which in turn drives the second connecting shaft 3163 for rotating the rotary drum and the rotary drum clamping jaw 313 to rise, so that the rotary drum clamping jaw 313 rises and rotates, causing the dosage setting rotary drum held by the rotary drum clamping jaw 313 to rotate out.

[0318] When the dosage setting drum is rotated out, the servo motor 312 for rotating the drum stops rotating, the cylinder 3165 for rotating the drum descends and resets, driving the second connecting shaft 3163 for rotating the drum and the drum clamping jaws 313 to descend and reset, the component transfer drive mechanism 314 resets, and drives all components connected to its drive end to reset.

[0319] The rotary cylinder 3165 is also used to compensate for the height difference between products of different specifications. When height difference compensation is required, the rotary cylinder 3165 is driven to drive the rotary support 3164 to move up and down, which in turn drives the second connecting shaft 3163 and the rotary clamping jaw 313 to move up and down.

[0320] In one embodiment, the lower part of the first connecting shaft 3162 for rotating drum is provided with a rotating drum rotating limit guide groove that is internally and externally connected. The length direction of the rotating drum rotating limit guide groove is vertical and the bottom is preferably open.

[0321] Reference Figure 13CThe second connecting shaft 3163 for rotating the drum is provided with a rotating drum rotating limit guide hole 31631. The rotating drum rotating limit guide hole 31631 is used to insert the rotating drum rotating limit guide pin. The rotating drum rotating limit guide hole 31631 is located in the lower part of the first connecting shaft 3162 for rotating the drum. One end of the rotating drum rotating limit guide pin is inserted into the rotating drum rotating limit guide hole 31631, and the other end of the rotating drum rotating limit guide pin extends out of the rotating drum rotating limit guide groove and can move up and down along the rotating drum rotating limit guide groove.

[0322] With the above design, under the guidance of the limiting guide pin for rotating the drum, the second connecting shaft 3163 for rotating the drum can move up and down in the vertical direction and rotate with the first connecting shaft 3162 for rotating the drum. Thus, the rotating drum clamping jaw 313 connected to the second connecting shaft 3163 for rotating the drum can move up and down and rotate.

[0323] In one embodiment, reference is made to Figures 13A to 13C A rotating drum rotation detection ring 31671 is sleeved on the first connecting shaft 3162 for rotating drum rotation, and at least one rotating drum rotation detection protrusion is provided on the surface of the rotating drum rotation detection ring 31671. A rotating drum rotation proximity sensor 31672 is provided on the component transfer mounting bracket 315. When the rotating drum rotation servo motor 312 is not rotating or reset, the sensing end of the rotating drum rotation proximity sensor 31672 faces the rotating drum rotation detection protrusion.

[0324] By using the proximity sensor 31672 for rotating drum and the detection protrusion for rotating drum in conjunction, the initial position of the servo motor 312 for rotating drum can be determined. If the servo motor 312 for rotating drum is not in the initial position, an alarm can be triggered or the machine can be stopped to wait for detection.

[0325] Of course, the detection protrusion for rotating the drum can also be set on the motor shaft of the servo motor 312 for rotating the drum.

[0326] In one embodiment, reference is made to Figure 13B The rotating drum unscrewing coupling assembly 316 also includes a rotating drum unscrewing guide rail 31681 and a rotating drum unscrewing slider 31682.

[0327] The rotary drum unscrewing guide rail 31681 is mounted on the component transfer mounting frame 315, and the length direction of the rotary drum unscrewing guide rail 31681 is vertical. The rotary drum unscrewing slider 31682 is slidably connected to the rotary drum unscrewing guide rail 31681, and the rotary drum unscrewing bracket 3164 is provided on the rotary drum unscrewing slider 31682.

[0328] In one embodiment, reference is made to Figures 13B to 13CThe rotating drum is connected to the rotating drum sleeve 31632 via a number of second rotating drum sleeve bearings 3166b outside the rotating drum rotating shaft 3163. The rotating drum sleeve 31632 is connected to the rotating drum rotating bracket 3164.

[0329] In one embodiment, reference is made to Figure 13A The component transfer and unscrewing station 310 is also provided with a rotary drum unscrewing anti-screwing device 317. The rotary drum unscrewing anti-screwing device 317 includes a rotary drum unscrewing anti-screwing gripper 3171. The rotary drum unscrewing anti-screwing gripper 3171 can move horizontally. Before the component transfer gripper 311 clamps the dosage setting rotary drum component and transfers it from the first target position to the housing component at the second target position, the gripping part of the rotary drum unscrewing anti-screwing gripper 3171 is driven to move to the outside of the housing component. The housing component is clamped by the rotary drum unscrewing anti-screwing gripper 3171 to prevent the housing component from swinging. Then the dosage setting rotary drum component is placed into the housing component and the dosage setting rotary drum is unscrewed.

[0330] After the dose setting rotary cylinder assembly is placed into the housing assembly and the dose setting rotary cylinder is rotated out, the anti-sway gripper 3171 of the rotary cylinder is released, releasing the housing assembly. The anti-sway gripper 3171 of the rotary cylinder is then moved away from the housing assembly to achieve a reset, waiting for the next housing assembly to clamp.

[0331] In one embodiment, reference is made to Figure 13A The anti-sway device 317 for rotating drum also includes an anti-sway cylinder drive mechanism. The anti-sway cylinder drive mechanism has a drive end that can move horizontally. The anti-sway gripper 3171 for rotating drum is connected to the drive end of the anti-sway cylinder drive mechanism. The anti-sway gripper 3171 for rotating drum is driven by the anti-sway cylinder drive mechanism to move horizontally.

[0332] The anti-sway cylinder drive mechanism preferably adopts a cam drive mechanism.

[0333] In one embodiment, reference is made to Figure 13A and Figure 13D The component transfer and unspinning station 310 is also equipped with a component conveying stabilizing device 318. The component conveying stabilizing device 318 includes a component conveying gripper 3181, which can move horizontally and is used to hold the dosage setting rotary drum component.

[0334] After the dosage setting rotary drum completes its rotation, the rotary drum clamping jaw 313 releases the dosage setting rotary drum, the component transfer jaw 311 releases the dosage setting rotary drum component, and the component transport jaw 3181 clamps the dosage setting rotary drum component and moves with the tray 9 to the next station. When the tray 9 reaches the next station, the component transport jaw 3181 releases the dosage setting rotary drum component and returns to the component transfer and rotation station 310.

[0335] In this embodiment, a separate component conveying drive mechanism can be used to drive the component conveying gripper 3181 to move horizontally. In this case, the component conveying drive mechanism has a drive end capable of horizontal movement, and the component conveying gripper 3181 is connected to the drive end of the component conveying drive mechanism. Preferably, this component conveying drive mechanism is a cam-driven mechanism.

[0336] In this embodiment, the component conveying gripper 3181 can also be connected to the station conveying drive mechanism of the pallet 9. Each station in the conveying mechanism of the pallet 9 is equipped with a station conveying drive mechanism, which has a drive end capable of horizontal movement. The station conveying drive mechanism is used to transport the pallet 9 delivered to the station to the next station and then reset, waiting to transport the pallet 9 to the next station. At this time, the component conveying gripper 3181 can be connected to the drive end of the station conveying drive mechanism, and the component conveying gripper 3181 can be sent to the next station via the station conveying drive mechanism and then return to the component transfer and unloading station 310.

[0337] The preferred method for driving the workstation conveyor is a cam-driven mechanism.

[0338] In one embodiment, reference is made to Figure 13D The component conveying stabilizing device 318 also includes a component conveying height adjusting cylinder 3182. The piston rod of the component conveying height adjusting cylinder 3182 is axially in the up-down direction and is connected to the component conveying gripper 3181. The component conveying height adjusting cylinder 3182 drives the component conveying gripper 3181 to perform lifting and lowering movements.

[0339] The component conveying height adjustment cylinder 3182 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the component conveying height adjustment cylinder 3182 is driven to drive the component conveying gripper 3181 to rise and fall.

[0340] In one embodiment, reference is made to Figure 13D The component conveying stabilizing device 318 also includes a component conveying guide rail 3183 and a component conveying slider 3184.

[0341] The component conveying guide rail 3183 is set at the component transfer and unloading station 310, and the length direction of the component conveying guide rail 3183 is consistent with the conveying direction of the tray 9. The component conveying slider 3184 is slidably connected to the component conveying guide rail 3183, and the component conveying slider 3184 is provided with component conveying grippers 3181.

[0342] In one embodiment, reference is made to Figures 14A to 14CThe threaded sleeve pressing station 320 is equipped with a sleeve pressing cylinder 321 and a sleeve clamping jaw 322. The piston rod of the sleeve pressing cylinder 321 is axially in the up-down direction and is connected to the sleeve clamping jaw 322. The sleeve pressing cylinder 321 drives the sleeve clamping jaw 322 to move up and down, pressing the threaded sleeve held by the sleeve clamping jaw 322 into place inside the outer shell assembly.

[0343] Once the threaded sleeve is pressed into place within the housing assembly, the sleeve clamping jaws 322 release, releasing the threaded sleeve. The sleeve pressing cylinder 321 rises and resets, and the sleeve clamping jaws 322 follow suit, waiting for the clamping and pressing of the next threaded sleeve.

[0344] In one embodiment, reference is made to Figures 14A to 14C The sleeve pressing cylinder 321 is installed on the threaded sleeve pressing station 320 via the sleeve pressing mounting bracket 323. One or more sleeve pressing guide rods 324 are mounted on the sleeve pressing mounting bracket 323 via sleeve pressing bearings. The length direction of the sleeve pressing guide rods 324 is vertical. The bottom end of one or more sleeve pressing guide rods 324 is connected to the sleeve pressing base plate 325. The piston rod of the sleeve pressing cylinder 321 is connected to the sleeve pressing base plate 325. The sleeve pressing base plate 325 is equipped with sleeve clamping claws 322. The sleeve pressing cylinder 321 drives the sleeve pressing base plate 325 to move up and down, which in turn drives the sleeve pressing guide rods 324 and the sleeve clamping claws 322 to move up and down.

[0345] In one embodiment, reference is made to Figures 14A to 14C One or more sleeve pressing guide rods 324 are connected to a sleeve pressing top plate 326 at their top ends. A sleeve pressing proximity sensor 327 is provided on the sleeve pressing mounting bracket 323. The detection end of the sleeve pressing proximity sensor 327 faces the sleeve pressing top plate 326. The sleeve pressing proximity sensor 327 is used to detect whether the sleeve pressing cylinder 321 presses the threaded sleeve into place.

[0346] If the threaded sleeve is not pressed into place, the status of the tray at the threaded sleeve pressing station is set as unqualified, and no further assembly work is performed on the unqualified tray. If the threaded sleeve is pressed into place, the status of the tray at the threaded sleeve pressing station is set as qualified, and subsequent assembly work is performed on the qualified tray.

[0347] Specifically, when the sleeve pressing cylinder 321 drives the sleeve pressing base plate 325 to move downward, which in turn drives the sleeve pressing guide rod 324 and the sleeve clamping jaw 322 to move downward, the threaded sleeve held by the sleeve clamping jaw 322 is pressed downward within the housing assembly. When the pressing is in place, the sleeve pressing top plate 326 moves downward to a position away from the detection end of the sleeve pressing proximity sensor 327. The detection end of the sleeve pressing proximity sensor 327 is unobstructed, and a pressing signal is obtained. Otherwise, when the sleeve pressing top plate 326 moves downward, it will still partially obstruct the detection end of the sleeve pressing proximity sensor 327, and a pressing incomplete signal is obtained.

[0348] The detection of sleeve pressing using proximity sensor 327 is an optional step. This function can be turned off. If turned off, the part will no longer be detected, and subsequent assembly work can proceed directly.

[0349] In one embodiment, reference is made to Figure 14B The threaded sleeve pressing station 320 is also equipped with a sleeve pressing adjustment cylinder 328. The sleeve pressing adjustment cylinder 328 is connected to the piston rod of the sleeve pressing cylinder 321. The piston rod of the sleeve pressing adjustment cylinder 328 is axially in the up-down direction and is connected to the sleeve clamping jaw 322. The sleeve clamping jaw 322 is connected to the piston rod of the sleeve pressing cylinder 321 through the sleeve pressing adjustment cylinder 328.

[0350] The adjusting cylinder 328 for pressing the sleeve is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the adjusting cylinder 328 for pressing the sleeve is driven, which in turn drives the pressing cylinder 321.

[0351] When the threaded sleeve pressing station 320 is equipped with a sleeve pressing mounting bracket 323, a sleeve pressing guide rod 324, and a sleeve pressing base plate 325, the sleeve pressing adjusting cylinder 328 is installed on the sleeve pressing base plate 325, and the sleeve pressing adjusting cylinder 328 is connected to the piston rod of the sleeve pressing cylinder 321 through the sleeve pressing base plate 325.

[0352] In one embodiment, reference is made to Figure 15 The fifth inspection station 330 is equipped with a fifth inspection device 332, which includes a fifth inspection frame 3321 and a fifth inspection component.

[0353] The fifth detection frame 3321 can be lifted and lowered. The fifth detection frame 3321 has at least a fifth detection top plate 3321a and a fifth detection bottom plate 3321b. The fifth detection sensor 331 is fixed on the fifth detection top plate 3321a.

[0354] The fifth detection component includes a fifth detection rod 3322 with its axial direction in the up-down direction. The fifth detection rod 3322 passes through the fifth detection top plate 3321a and the fifth detection bottom plate 3321b. Two fifth detection limiting rings 3323 are sleeved on the fifth detection rod 3322 between the fifth detection top plate 3321a and the fifth detection bottom plate 3321b. The fifth detection limiting ring 3323 located below abuts against the fifth detection bottom plate 3321b. The fifth detection limiting ring 3323 located above has a preset distance from the fifth detection top plate 3321a and is sleeved with a fifth detection reset element 3324. The bottom of the fifth detection rod 3322 has a fifth detection head 3325. The top of the fifth detection rod 3322 contacts or faces the detection end of the fifth detection sensor 331.

[0355] When part inspection is required, the fifth inspection frame 3321 is driven to descend, which in turn drives the fifth inspection assembly to descend. During the descent, the fifth inspection head 3325 contacts the part, causing the fifth inspection rod 3322 to move upward. The detection end of the fifth inspection sensor 331 detects the movement position of the top of the fifth inspection rod 3322, thereby detecting whether the part is in the correct position. If the part is not in the correct position, the status of the tray 9 on the fifth inspection station 330 is set as unqualified, and the unqualified tray 9 will not be further assembled. If the part is in the correct position, the status of the tray 9 on the fifth inspection station 330 is set as qualified, and the qualified tray 9 will be further assembled.

[0356] When the fifth inspection frame 3321 is driven down to the preset height, it is reset. The fifth inspection component set on the fifth inspection frame 3321 is also reset and waits for the next part to move to the fifth inspection station 330 for inspection.

[0357] The fifth detection reset element 3324 is preferably a reset spring.

[0358] In one embodiment, reference is made to Figure 15 The fifth inspection station 330 is also equipped with a fifth inspection drive mechanism, a fifth inspection lifting rod 333, and a fifth inspection adjusting cylinder 334. The fifth inspection drive mechanism has a drive end for lifting and lowering. The drive end of the fifth inspection drive mechanism is connected to the fifth inspection lifting rod 333. The fifth inspection adjusting cylinder 334 is connected to the fifth inspection lifting rod 333. The piston rod of the fifth inspection adjusting cylinder 334 is axially in the up-down direction and is connected to the fifth inspection frame 3321. The fifth inspection drive mechanism drives the fifth inspection lifting rod 333 to lift and lower, which in turn drives the fifth inspection adjusting cylinder 334 and the fifth inspection frame 3321 to lift and lower.

[0359] The fifth detection adjustment cylinder 334 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the fifth detection adjustment cylinder 334 is driven to drive the fifth detection frame 3321 to rise and fall.

[0360] The fifth detection drive mechanism preferably adopts a cam drive mechanism.

[0361] In one embodiment, the fifth detection sensor 331 is a proximity sensor used to detect whether the dose setting drum is pressed into place.

[0362] In one embodiment, the fifth detection head 3325 includes a fifth detection bearing and a fifth detection sleeve. The inner ring of the fifth detection bearing is connected to the bottom of the fifth detection rod 3322. The fifth detection sleeve is connected to the outer ring of the fifth detection bearing, and the bottom of the fifth detection sleeve has a tapered structure that is narrower at the bottom and wider at the top.

[0363] When a part needs to be inspected, the fifth inspection frame 3321 is driven to descend, which in turn drives the fifth inspection assembly to descend. During the descent, the fifth inspection sleeve contacts the dose setting cylinder. The conical structure at the bottom of the fifth inspection sleeve is inserted into the dose setting cylinder. If the dose setting cylinder has not rotated into place, the fifth inspection sleeve will drive the dose setting cylinder to continue to descend and rotate into place during the descent.

[0364] The fifth detection head 3325 in this embodiment implements a remedial measure when the dose setting cylinder does not rotate into position.

[0365] In one embodiment, reference is made to Figure 16A The defective product unloading station 340 is equipped with several defective product unloading grippers 341, a chute 342 and a waste bin 343. The defective product unloading grippers 341 can move up and down and horizontally. The upper opening of the chute 342 is located on the side of the tray 9 at the defective product unloading station 340, and the lower opening of the chute 342 is connected to the feed port of the waste bin 343.

[0366] When the pallet 9, which is conveyed to the defective part unloading station 340, is marked as defective, the defective part unloading claw 341 is driven to clamp the corresponding defective part and send it to the chute 342. The defective part is then sent to the scrap bin 343 through the chute 342.

[0367] Specifically, the defective part unloading jaw 341 moves to the part marked as defective and clamps it, moving it above the chute 342. The defective part unloading jaw 341 then releases, releasing the part, which automatically falls into the scrap bin 343 via the chute 342. After completing the defective part unloading, the defective part unloading jaw 341 resets, awaiting the unloading of the next defective part.

[0368] In this embodiment, defective parts are removed into the waste bin 343. The parts can be sorted by manual judgment to find usable products and put back into use.

[0369] In one embodiment, a radio frequency identification (RFID) tag is provided on the tray 9, and each station or assembly mechanism of the assembly unit for assembling injection pen components is equipped with a tag reading device. The tag reading device is used to read the RFID tag in order to identify and mark the tray 9.

[0370] In one embodiment, reference is made to Figure 16A and Figure 16B The defective product unloading station 340 is equipped with a blockage sensor 344. The blockage sensor 344 is an infrared through-beam sensor. The lower end opening of the slide 342 is between the through-beam ends 3441 of the infrared through-beam sensor.

[0371] In this embodiment, the blockage sensor 344 is used to detect whether the waste bin 343 is full. If it is full, alarm and / or shutdown measures can be taken.

[0372] In one embodiment, reference is made to Figure 16B The defective product unloading station 340 is equipped with a waste bin detection sensor 345. The waste bin detection sensor 345 is a proximity sensor. The detection end of the waste bin detection sensor 345 faces one side wall of the waste bin 343, preferably facing the rear wall of the waste bin 343.

[0373] In this embodiment, the waste bin detection sensor 345 is used to detect whether the waste bin 343 is in place. If the waste bin 343 is not in place, alarm and / or shutdown measures can be taken.

[0374] In one embodiment, reference is made to Figure 16A and Figure 16B The defective product unloading station 340 is equipped with a waste bin bracket 346, a waste bin slide rail 347 is installed on the waste bin bracket 346, a waste bin 343 is slidably connected to the waste bin slide rail 347, and a waste bin detection sensor 345 is installed on the waste bin bracket 346.

[0375] In practical use, a handle can be installed on the front side of the waste bin 343. The waste bin 343 is mounted on the waste bin bracket 346 along the waste bin slide rail 347 from front to back. When the rear end of the waste bin 343 abuts against the waste bin detection sensor 345, it is considered that the waste bin 343 is in position.

[0376] In one embodiment, the waste bin 343 is provided with a cushioning pad to prevent falling products from impacting or breaking.

[0377] In one embodiment, reference is made to Figure 17A and Figure 17BThe clutch tooth loading station 350 is equipped with a clutch tooth feeding device 351 and a clutch tooth loading gripper 352. The clutch tooth feeding device 351 is used to provide clutch teeth, and the clutch tooth loading gripper 352 can move up and down and horizontally. The clutch teeth are sent from the clutch tooth feeding device 351 to the second target position on the tray 9 located at the clutch tooth loading station 350 through the clutch tooth loading gripper 352.

[0378] In one embodiment, reference is made to Figure 17A The clutch gear loading station 350 is also equipped with a clutch gear loading drive mechanism 353. The clutch gear loading drive mechanism 353 has a drive end that can perform lifting and horizontal movements. The clutch gear loading gripper 352 is connected to the drive end of the clutch gear loading drive mechanism 353, and the clutch gear loading drive mechanism 353 drives the clutch gear loading gripper 352 to perform lifting and horizontal movements.

[0379] In practical implementation, the clutch tooth feeding gripper 352 and the drive end of the clutch tooth feeding drive mechanism 353 can be connected via a clutch tooth feeding adjustment cylinder 354. That is, the clutch tooth feeding adjustment cylinder 354 is installed on the drive end of the clutch tooth feeding drive mechanism 353. The piston rod of the clutch tooth feeding adjustment cylinder 354 is axially vertical and connected to the clutch tooth feeding gripper 352. The clutch tooth feeding drive mechanism 353 drives the clutch tooth feeding adjustment cylinder 354 to move vertically and horizontally, thereby driving the clutch tooth feeding gripper 352 to move vertically and horizontally. At this time, the clutch tooth feeding adjustment cylinder 354 is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the clutch tooth feeding adjustment cylinder 354 is driven, causing the clutch tooth feeding gripper 352 to move vertically and horizontally.

[0380] In one embodiment, the clutch tooth feeding device 351 includes a clutch tooth vibratory plate, a clutch tooth direct vibration plate, and a clutch tooth dispensing system connected in sequence.

[0381] In this embodiment, the operator manually places the clutch tooth 13a into the clutch tooth vibratory plate. The clutch tooth 13a is then transmitted to the clutch tooth distribution system via clutch tooth direct vibration. The clutch tooth distribution system distributes the material to the foremost individual clutch tooth 13a, awaiting gripping by the clutch tooth loading gripper 352. Because the clutch tooth 13a is relatively small, this embodiment achieves automatic feeding through the clutch tooth vibratory plate and clutch tooth direct vibration of the clutch tooth feeding device 351, and automatic distribution through the clutch tooth distribution system, resulting in high accuracy and efficiency in clutch tooth loading.

[0382] Reference Figure 17B The clutch gear material distribution system includes a clutch gear material distribution frame 3511, a clutch gear receiving block 3512, a clutch gear material distribution block 3513, and a clutch gear material distribution cylinder 3514.

[0383] The clutch tooth receiving block 3512 is set on the clutch tooth distribution frame 3511. The clutch tooth receiving block 3512 is provided with a clutch tooth receiving groove in the horizontal direction. Both ends of the clutch tooth receiving groove have openings. One end of the clutch tooth receiving groove is connected to the outlet of the clutch tooth direct vibration and is used to receive the clutch tooth sent out by the clutch tooth direct vibration.

[0384] The clutch tooth distribution block 3513 is horizontally movable on the clutch tooth distribution frame 3511, and the horizontal movement direction of the clutch tooth distribution block 3513 is perpendicular to the length direction of the clutch tooth receiving groove. The clutch tooth distribution block 3513 is located on the side of the clutch tooth receiving block 3512 away from the direct vibration of the clutch tooth. The clutch tooth distribution block 3513 is provided with a clutch tooth distribution groove. One end of the clutch tooth distribution groove has an opening and connects to the other end of the clutch tooth receiving groove to receive a single clutch tooth 13a delivered from the clutch tooth receiving groove.

[0385] The clutch gear material distribution cylinder 3514 is mounted on the clutch gear material distribution frame 3511. The piston rod of the clutch gear material distribution cylinder 3514 is axially horizontal and connected to the clutch gear material distribution block 3513.

[0386] The clutch tooth distribution cylinder 3514 drives the clutch tooth distribution block 3513 to move horizontally, separating the individual clutch tooth 13a in the clutch tooth distribution groove from other clutch teeth. At this time, the side wall of the clutch tooth distribution block 3513 near the clutch tooth receiving block 3512 blocks the other end of the clutch tooth receiving groove. After the clutch tooth loading claw 352 clamps and removes the individual clutch tooth 13a from the clutch tooth distribution groove, the clutch tooth distribution cylinder 3514 drives the clutch tooth distribution block 3513 to reset. At this time, one end of the clutch tooth distribution groove opens to connect with the other end of the clutch tooth receiving groove and receives the individual clutch tooth 13a sent out from the clutch tooth receiving groove.

[0387] In one embodiment, the clutch tooth material distribution system further includes a clutch tooth material distribution status sensor 3515, which is used to detect whether there are clutch teeth in the clutch tooth material distribution groove. When there are clutch teeth in the clutch tooth material distribution groove, a single clutch tooth separation action is performed. When there are no clutch teeth in the clutch tooth material distribution groove, a reset action is performed after the single clutch tooth separation.

[0388] In one embodiment, reference is made to Figure 17B The clutch gear material distribution system also includes a clutch gear material distribution cover plate 3516. The clutch gear material distribution cover plate 3516 is disposed on the clutch gear receiving block 3512 and covers the clutch gear receiving groove. The clutch gear material distribution cover plate 3516 has a cover plate extension on the side near the clutch gear material distribution block 3513. The cover plate extension covers the area above the clutch gear material distribution groove when it is not moving horizontally.

[0389] In other words, when the clutch tooth distribution groove is connected to the other end of the clutch tooth receiving groove, the cover plate extension covers the upper part of the clutch tooth distribution groove. When the clutch tooth distribution cylinder 3514 drives the clutch tooth distribution block 3513 to move horizontally so that the individual clutch tooth 13a in the clutch tooth distribution groove is separated from other clutch teeth, the cover plate extension is located above the side of the clutch tooth distribution groove. The cover plate extension does not cover the clutch tooth distribution groove, and the upper part of the clutch tooth distribution groove is an open structure for the clutch tooth loading claw 352 to grip.

[0390] In the above embodiments of the present invention, each gripper is preferably a pneumatic gripper, and the two gripping parts of the pneumatic gripper have gripping surfaces suitable for gripping each part.

[0391] In the above embodiments of the present invention, the driving mechanisms used are preferably cam-driven mechanisms. Of course, other driving mechanisms can also be used, such as lead screw mechanisms, unidirectional or bidirectional linear motion modules, etc.

[0392] The assembly unit 1 for assembling injection pen components of the present invention performs the assembly of injection pens through a first assembly mechanism 10, a second assembly mechanism 20, and a third assembly mechanism 30. Relying on an automatic motion control mode and appropriate action logic, it ensures the consistency and quality stability of mass-produced products.

[0393] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings, those skilled in the art can make various alterations or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims.

Claims

1. An assembly unit for assembling injection pen components, characterized in that, The assembly unit for assembling injection pen components includes a first assembly mechanism, a second assembly mechanism, a third assembly mechanism, and a tray conveyed by a conveying mechanism. The conveying mechanism delivers the tray from front to back to the first assembly mechanism, the second assembly mechanism, and the third assembly mechanism. The first assembly mechanism is used to check the accuracy of the manual station loading position and load the rotor to the second target position on the tray, transfer the outer shell from the third target position on the tray to the second target position, press the outer shell to form an outer shell assembly at the second target position, apply lubricating oil to the dosage setting cylinder at the fourth target position on the tray, transfer the dosage setting cylinder from the fourth target position and rotate it into the threaded sleeve at the first target position to form a dosage setting cylinder assembly at the first target position; The second assembly mechanism is used to transfer and rotate the differential nut of the fourth target position into the housing assembly of the second target position, transfer the bushing screw assembly from the third target position into the housing assembly of the second target position and rotate the screw; The third assembly mechanism is used to transfer the dose setting rotary cylinder assembly from the first target position to the housing assembly of the second target position, and to unscrew the dose setting rotary cylinder, press the threaded sleeve on the second target position, and feed the clutch teeth into the housing assembly of the second target position.

2. The assembly unit for assembling injection pen components as described in claim 1, characterized in that, The first assembly mechanism includes, in sequence: A rotor loading station, which is used to load the rotor to the second target position; The outer casing transfer and pressing station is used to transfer the outer casing from the third target position to the second target position and press the outer casing to form an outer casing assembly at the second target position; The oiling station is used to apply lubricating oil to the dosage setting rotary drum of the fourth target position. The rotary drum transfer station is used to transfer the dose setting rotary drum from the fourth target position to the first target position, and rotate the dose setting rotary drum into the threaded sleeve at the first target position to form a dose setting rotary drum assembly at the first target position.

3. The assembly unit for assembling injection pen components as described in claim 2, characterized in that, The rotor loading station is equipped with a rotor feeding device and a rotor loading gripper. The rotor feeding device is used to supply the rotor, and the rotor loading gripper can move up and down and horizontally. The rotor is sent from the rotor feeding device to the second target position on the tray located at the rotor loading station through the rotor loading gripper.

4. The assembly unit for assembling injection pen components as described in claim 2, characterized in that, The outer shell transfer and pressing station is equipped with an outer shell transfer gripper, an outer shell transfer device, and an outer shell pressing device. The outer shell transfer device can move up and down and horizontally. The outer shell transfer gripper is located at the bottom of the outer shell transfer device. The outer shell transfer device drives the outer shell transfer gripper to clamp the outer shell at the third target position on the tray at the outer shell transfer and pressing station and send it to the second target position. The outer shell pressing device is located above the second target position on the tray at the outer shell transfer and pressing station. The outer shell transfer device and the outer shell transfer gripper are located between the outer shell pressing device and the tray at the outer shell transfer and pressing station. The outer shell pressing device presses the outer shell at the second target position on the tray through the outer shell transfer device and the outer shell transfer gripper.

5. The assembly unit for assembling injection pen components as described in claim 2, characterized in that, The oiling station is equipped with an oiling nozzle, which can move up and down and horizontally. The oiling nozzle applies a quantitative amount of lubricating oil to the fourth target position on the tray at the oiling station using a dosage setting rotary drum.

6. The assembly unit for assembling injection pen components as described in claim 2, characterized in that, The rotary drum transfer station is equipped with a rotary drum rotation servo motor and a rotary drum transfer gripper. The rotary drum rotation servo motor can perform lifting and horizontal movements. The motor shaft of the rotary drum rotation servo motor is axially in the up-down direction and is connected to the rotary drum transfer gripper. The rotary drum transfer gripper holds the dosage setting rotary drum and transfers it from the fourth target position to the first target position. The rotary drum rotation servo motor rotates during the descent, driving the rotary drum transfer gripper to descend and rotate, thereby driving the dosage setting rotary drum held by the rotary drum transfer gripper to rotate into the threaded sleeve.

7. The assembly unit for assembling injection pen components as described in any one of claims 2 to 6, characterized in that, The first assembly mechanism further includes: The first detection station is located before the rotor loading station. The first detection station is used to detect at least one of the following by one or more first detection sensors: the height position of the threaded sleeve at the first target position, the height of the screw at the third target position, the height of the outer shell at the third target position, the height of the dosage setting drum at the fourth target position, the position of the cover plate at the second target position, the height position of the bushing at the third target position, and the height position of the differential nut at the fourth target position.

8. The assembly unit for assembling injection pen components as described in claim 1, characterized in that, The second assembly mechanism includes, in sequence: Nut transfer and rotation station, the nut transfer and rotation station is used to transfer and rotate the differential nut of the fourth target position into the housing assembly of the second target position; A bushing screw transfer station is used to transfer the bushing screw assembly from a third target position to the housing assembly at a second target position. A screw rotation station is used to rotate the screw at the second target position.

9. The assembly unit for assembling injection pen components as described in claim 8, characterized in that, The nut transfer and rotation station is equipped with a servo motor for nut rotation and a nut transfer gripper. The servo motor for nut rotation can perform lifting and horizontal movements. The motor shaft of the servo motor for nut rotation is axially in the up-down direction and is connected to the nut transfer gripper. The nut transfer gripper holds the differential nut and transfers it from the fourth target position to the housing assembly of the second target position. The rotation of the servo motor for nut rotation and the descent of the nut transfer gripper drive the differential nut held by the nut transfer gripper to rotate into the housing assembly.

10. The assembly unit for assembling injection pen components as described in claim 8, characterized in that, The bushing screw transfer station is equipped with bushing screw transfer grippers, which can move up and down and horizontally. The bushing screw assembly is transferred from the third target position to the housing assembly at the second target position through the bushing screw transfer grippers.

11. The assembly unit for assembling injection pen components as described in claim 8, characterized in that, The screw rotation station is equipped with a screw rotation servo motor and a screw clamping jaw. The screw rotation servo motor can perform lifting and lowering movements. The motor shaft of the screw rotation servo motor is axially in the up-down direction and is connected to the screw clamping jaw. The screw is clamped by the screw clamping jaw. During the descent, the screw rotation servo motor rotates, driving the screw clamping jaw to descend and rotate, thereby rotating the screw held by the screw clamping jaw into the bushing.

12. The assembly unit for assembling injection pen components as described in any one of claims 8 to 11, characterized in that, The second assembly mechanism also includes: The second detection station is located before the nut transfer and rotation station. The second detection station is used to detect, by one or more second detection sensors, at least one of whether the dose setting drum at the first target position has been rotated into place and whether the outer shell at the second target position has been pressed into place.

13. The assembly unit for assembling injection pen components as described in any one of claims 8 to 11, characterized in that, The second assembly mechanism also includes: The third detection station is located between the nut transfer and rotation station and the bushing screw transfer station. The third detection station is used to rotate the differential nut of the second target position into place and detect whether the differential nut has been rotated into place by the third detection sensor.

14. The assembly unit for assembling injection pen components as described in any one of claims 8 to 11, characterized in that, The second assembly mechanism also includes: The fourth detection station is located between the bushing screw transfer station and the screw rotation station. The fourth detection station is used to detect, through one or more fourth detection sensors, at least one of whether the bushing at the second target position is pressed into place and whether the screw height at the second target position is correct.

15. The assembly unit for assembling injection pen components as described in claim 1, characterized in that, The third assembly mechanism includes, in sequence: The component transfer and unscrewing station is used to transfer the dose setting rotary cylinder assembly from the first target position to the housing assembly of the second target position, and to unscrew the dose setting rotary cylinder. The threaded sleeve pressing station is used to press the threaded sleeve at the second target position. The clutch gear loading station is used to load the clutch gear into the housing assembly at the second target position.

16. The assembly unit for assembling injection pen components as described in claim 15, characterized in that, The component transfer and unloading station is equipped with a component transfer gripper, a servo motor for rotating the drum, and a rotating drum clamping gripper. The clamping part of the component transfer gripper is located below the rotating drum clamping gripper. Both the servo motor for rotating the drum and the component transfer gripper can move up and down and horizontally. The motor shaft of the servo motor for rotating the drum is axially in the up and down direction and is connected to the rotating drum clamping gripper. The component transfer gripper clamps the dosage setting rotating drum assembly and transfers it from the first target position to the outer shell assembly at the second target position. The rotating drum clamping gripper clamps the dosage setting rotating drum in the dosage setting rotating drum assembly. The rotation of the servo motor for rotating the drum and the rise of the rotating drum clamping gripper drive the dosage setting rotating drum clamped by the rotating drum clamping gripper to rotate out.

17. The assembly unit for assembling injection pen components as described in claim 15, characterized in that, The threaded sleeve pressing station is equipped with a sleeve pressing cylinder and a sleeve clamping jaw. The piston rod of the sleeve pressing cylinder is axially in the up-down direction and is connected to the sleeve clamping jaw. The sleeve pressing cylinder drives the sleeve clamping jaw to move up and down, pressing the threaded sleeve held by the sleeve clamping jaw into place inside the outer shell assembly.

18. The assembly unit for assembling injection pen components as described in claim 15, characterized in that, The clutch tooth loading station is equipped with a clutch tooth feeding device and a clutch tooth loading gripper. The clutch tooth feeding device is used to provide clutch teeth, and the clutch tooth loading gripper can move up and down and horizontally. The clutch teeth are sent from the clutch tooth feeding device to the second target position on the tray located at the clutch tooth loading station through the clutch tooth loading gripper.

19. The assembly unit for assembling injection pen components as described in any one of claims 15 to 18, characterized in that, The third assembly mechanism also includes: The fifth detection station is located after the threaded sleeve pressing station and before the clutch tooth loading station. The fifth detection station is used to detect whether the dosage setting drum is pressed in place by the fifth detection sensor.

20. The assembly unit for assembling injection pen components as described in any one of claims 15 to 18, characterized in that, The third assembly mechanism also includes: The defective parts unloading station is located before the clutch gear loading station. The defective parts unloading station is used to unload parts marked as defective from the tray. The defective product unloading station is equipped with several defective product unloading grippers, a chute, and a waste bin. The defective product unloading grippers can move up and down and horizontally. The upper opening of the chute is located on the side of the tray at the defective product unloading station, and the lower opening of the chute is connected to the inlet of the waste bin. When the pallet delivered to the defective part unloading station is marked as defective, the defective part unloading claw is driven to clamp the corresponding defective part and send it to the chute, through which the defective part is sent into the scrap bin.

Images