Assembly mechanism for producing an assembly of injection pen components

Abstract

The application belongs to the technical field of automation equipment, and particularly relates to an assembling mechanism for assembling injection pen component production and assembly, which comprises, from front to back, a nut transfer rotating station, a bushing screw transfer station and a screw rotating station. The nut transfer rotating station is used for transferring and rotating a differential nut at a fourth target position on a tray into a shell assembly at a second target position on the tray. The bushing screw transfer station is used for transferring a bushing screw assembly from a third target position on the tray into the shell assembly at the second target position. The screw rotating station is used for rotating a screw at the second target position. The assembling mechanism is used for assembling parts of the injection pen component, and realizes the purpose of automatic production. Compared with manual assembly, the assembling mechanism greatly improves the assembling efficiency and assembling precision.

Description

Technical Field

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

[0008] An assembly mechanism for assembling injection pen components, comprising, from front to back: a nut transfer and rotation station for transferring and rotating a differential nut at a fourth target position on a tray into a housing assembly at a second target position on the tray; a bushing screw transfer station for transferring a bushing screw assembly from a third target position on the tray into the housing assembly at the second target position; and a screw rotation station for rotating the screw at the second target position; wherein the tray is conveyed to the assembly mechanism from front to back by a conveying mechanism.

[0009] Beneficial Effects: This invention uses a conveying mechanism to sequentially transport trays from front to back to each station of the assembly mechanism. The assembly mechanism then assembles the injection pen components at each station, achieving automated production. Compared to manual assembly, this significantly improves assembly efficiency and accuracy. The automated assembly method employed in this invention also reduces the error rate and labor intensity of manual assembly, enabling stable and continuous batch assembly of core injection pen components. This meets the quality and output requirements of large-scale industrial production, providing a reliable automated solution for the assembly of finished injection pens. 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 mechanism for the production and assembly of the injection pen components of the present invention.

[0012] Figure 2A This is a schematic diagram of the structure of the second detection station of the present invention;

[0013] Figure 2B This is a partial structural schematic diagram of the second detection device of the present invention;

[0014] Figure 3 This is a partial internal structure diagram of the fourth detection device of the present invention;

[0015] Figure 4A This is a schematic diagram of a nut transfer and rotation station according to the present invention;

[0016] Figure 4B This is a diagram showing the connection relationship between the servo motor for nut rotation and the nut transfer gripper of the present invention;

[0017] Figure 4C for Figure 4B A sectional view;

[0018] Figure 5A This is a schematic diagram of the structure of the third detection station of the present invention;

[0019] Figure 5B 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;

[0020] Figure 5C for Figure 5B A sectional view;

[0021] Figure 6 This is a schematic diagram of a bushing screw transfer station according to the present invention;

[0022] Figure 7A This is a schematic diagram of a screw rotation station according to the present invention;

[0023] Figure 7B This is a diagram showing the connection relationship between the servo motor for screw rotation and the screw clamping jaws of the present invention;

[0024] Figure 7C for Figure 7B A sectional view. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] Reference Figure 1A and 1B This invention provides an assembly mechanism for assembling injection pen components, which is used for assembling injection pens.

[0030] The assembly mechanism for assembling injection pen components can be part of an assembly system. In specific implementation, this assembly mechanism can serve as the second assembly mechanism 20 of assembly unit 1 within the assembly system. Assembly unit 1 includes a first assembly mechanism, a second assembly mechanism 20, a third assembly mechanism, 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, the second assembly mechanism 20, and the third assembly mechanism for the assembly of the injection pens.

[0031] 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 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.

[0032] 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.

[0033] 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.

[0034] Of course, in actual implementation, the first assembly mechanism and the third assembly mechanism can adopt automatic assembly or manual assembly according to the actual implementation situation, with automatic assembly being preferred.

[0035] 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.

[0036] 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. In specific implementation, assembly unit 1 assembles the parts other than the pen cap, refill holder, and cartridge to form a pen assembly. The rotor and clutch teeth are fed by assembly unit 1, while the remaining parts are fed by other units or seven manual workstations.

[0037] 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.

[0038] The tray 9, already loaded with some parts, is conveyed from front to back by a conveyor mechanism to the first assembly mechanism, the second assembly mechanism 20, and the third assembly mechanism for the assembly of the injection pen, forming the outer shell assembly. The assembled outer shell assembly is then conveyed by the conveyor mechanism to other units or manual workstations for subsequent post-assembly, which can be automated or manual.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] The screw rotation station 260 is used to rotate the screw at the second target position.

[0046] In one embodiment, reference is made to Figures 2A to 3 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The reset element 3324 is preferably a reset spring.

[0052] 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.

[0053] In one embodiment, reference is made to Figures 2A to 3 When 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.

[0054] 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.

[0055] In one embodiment, reference is made to Figure 2A 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.

[0056] 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.

[0057] In this embodiment, the detection drive mechanism is preferably a cam drive mechanism.

[0058] In one embodiment, reference is made to Figure 2A The 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.

[0059] In one embodiment, reference is made to Figure 2A 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.

[0060] 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.

[0061] The detection head 2715 in this embodiment implements a remedial measure when the dose setting cylinder is not rotated into position.

[0062] In one embodiment, reference is made to Figure 3 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.

[0063] In this embodiment, the displacement sensor is not fixed to the detection top plate 2711a, but is fixed using the following design:

[0064] 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.

[0065] In one embodiment, reference is made to Figure 3 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.

[0066] 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.

[0067] In one embodiment, reference is made to Figure 3 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.

[0068] 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.

[0069] In one embodiment, reference is made to Figures 4A to 4C 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.

[0070] 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.

[0071] In one embodiment, reference is made to Figure 4AThe 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.

[0072] In this embodiment, the nut transfer drive mechanism 223 preferably adopts a cam drive mechanism.

[0073] In one embodiment, reference is made to Figures 4A to 4C 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] In one embodiment, reference is made to Figure 4B 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.

[0082] Reference Figure 4C The 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.

[0083] 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.

[0084] In one embodiment, reference is made to Figures 4B to 4CThe 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.

[0085] 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.

[0086] Of course, the detection protrusion for nut rotation can also be set on the motor shaft of the nut rotation servo motor 221.

[0087] In one embodiment, reference is made to Figure 4B 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.

[0088] 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.

[0089] In one embodiment, reference is made to Figures 4B to 4C The 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.

[0090] In one embodiment, reference is made to Figure 4C 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.

[0091] In one embodiment, reference is made to Figure 4A 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.

[0092] 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.

[0093] In one embodiment, reference is made to Figure 4A 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.

[0094] In this embodiment, the anti-sway cylinder drive mechanism is preferably a cam drive mechanism.

[0095] In one embodiment, reference is made to Figures 5A to 5C 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] In one embodiment, reference is made to Figure 5C 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] In one embodiment, reference is made to Figure 5B 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.

[0108] Reference Figure 5C 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.

[0109] 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.

[0110] In one embodiment, reference is made to Figures 5A to 5C 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.

[0111] In one embodiment, reference is made to Figures 5A to 5C 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.

[0112] In one embodiment, reference is made to Figure 5AA 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.

[0113] 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.

[0114] In this embodiment, the third detection drive mechanism is preferably a cam drive mechanism.

[0115] In one embodiment, reference is made to Figure 6 The 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.

[0116] 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.

[0117] In one embodiment, reference is made to Figure 6 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.

[0118] The bushing screw transfer drive mechanism 242 preferably adopts a cam drive mechanism.

[0119] In one embodiment, reference is made to Figure 6 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.

[0120] 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.

[0121] In one embodiment, reference is made to Figure 4A The 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.

[0122] 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.

[0123] 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.

[0124] The anti-sway cylinder drive mechanism preferably adopts a cam drive mechanism.

[0125] In one embodiment, reference is made to Figure 4A 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.

[0126] In one embodiment, reference is made to Figures 7A to 7C 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.

[0127] 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.

[0128] In one embodiment, reference is made to Figure 7C The 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.

[0129] 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.

[0130] 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.

[0131] In one embodiment, reference is made to Figure 7A 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.

[0132] The screw rotation drive mechanism 264 preferably adopts a cam drive mechanism.

[0133] In one embodiment, reference is made to Figures 7A to 7CThe 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.

[0134] 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.

[0135] In one embodiment, reference is made to Figure 7C 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.

[0136] The air inlet and outlet of the screw clamping jaw 262 are each independently connected to the other end of the shaft air passage.

[0137] 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.

[0138] 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 7B 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.

[0139] 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.

[0140] Of course, the detection protrusion for screw rotation can also be set on the motor shaft of the servo motor 261 for screw rotation.

[0141] In one embodiment, reference is made to Figures 7B to 7CThe 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.

[0142] In one embodiment, reference is made to Figure 7A 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.

[0143] 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.

[0144] In one embodiment, reference is made to Figure 7A The screw rotation station 260 is also equipped with a screw rotation guide rail 268 and a screw rotation slider.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] The present invention assembles the injection pen through the second assembly mechanism 20, and relies on the automatic motion control mode and appropriate action logic to ensure the consistency and quality stability of mass production.

[0150] 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 mechanism for assembling injection pen components during production, characterized in that, The assembly mechanism, from front to back, includes: 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 on the tray into the housing assembly of the second target position on the tray; A bushing screw transfer station is used to transfer the bushing screw assembly from a third target position on a tray to a housing assembly at a second target position. A screw rotation station is used to rotate the screw at the second target position.

2. The assembly mechanism for assembling injection pen components as described in claim 1, 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.

3. The assembly mechanism for assembling injection pen components as described in claim 2, characterized in that, The nut transfer and rotation station is equipped with a nut transfer drive mechanism. The nut transfer drive mechanism has a drive end that can perform lifting and horizontal movements. The nut rotation servo motor is connected to the drive end of the nut transfer drive mechanism through a nut transfer mounting bracket. The nut transfer drive mechanism drives the nut transfer mounting bracket, the nut rotation servo motor and the nut transfer gripper connected to it to perform lifting and horizontal movements. Preferably, the motor shaft of the servo motor for rotating the nut is connected to the nut transfer gripper via a coupling assembly for rotating the nut, the coupling assembly for rotating the nut comprising: A coupling for rotating a nut, wherein the top end of the coupling is connected to the motor shaft of the servo motor for rotating the nut; A first connecting shaft for rotating a nut, the top end of which is connected to a coupling for rotating a nut, and the lower part of which is a hollow structure with an opening at the bottom; A second connecting shaft for rotating the nut, the upper part of which can be raised and lowered within the hollow structure below the first connecting shaft for rotating the nut and rotates with the rotation of the first connecting shaft for rotating the nut, and the bottom end of the second connecting shaft for rotating the nut is connected to the nut transfer gripper; A nut-rotating bracket, wherein the nut-rotating bracket is connected to the second connecting shaft for nut rotation via a nut-rotating bearing; A cylinder for rotating a nut, wherein the piston rod of the cylinder is axially in the up-down direction and is connected to the bracket for rotating a nut, and the cylinder for rotating a nut is mounted on the nut transfer mounting bracket; When it is necessary to rotate the differential nut into the housing assembly, the servo motor for rotating the nut is driven to rotate, which in turn drives the nut transfer gripper to rotate via the coupling assembly for rotating the nut. At the same time, the piston rod of the cylinder for rotating the nut drives the support for rotating the nut to descend, which in turn drives the second connecting shaft for rotating the nut and the nut transfer gripper to descend, causing the nut transfer gripper to descend and rotate, thereby rotating the differential nut held by the nut transfer gripper into the housing assembly. The nut-rotating cylinder is also used to compensate for the height difference between products of different specifications. When height difference compensation is required, the nut-rotating cylinder is driven to drive the nut-rotating bracket to rise and fall, thereby driving the second connecting shaft for nut rotation and the nut transfer gripper to rise and fall. More preferably, the lower part of the first connecting shaft for nut rotation is provided with a nut rotation limiting guide groove that is internally and externally connected, and the length direction of the nut rotation limiting guide groove is the vertical direction; The second connecting shaft for nut rotation is provided with a nut rotation limiting guide hole, which is used to insert a nut rotation limiting guide pin. The nut rotation limiting guide hole is located inside the lower part of the first connecting shaft for nut rotation. One end of the nut rotation limiting guide pin is inserted into the nut rotation limiting guide hole, and the other end of the nut rotation limiting guide pin extends out of the nut rotation limiting guide groove and can move up and down along the nut rotation limiting guide groove. More preferably, the motor shaft of the servo motor for rotating the nut or the first connecting shaft for rotating the nut is fitted with a detection ring for rotating the nut, and the surface of the detection ring for rotating the nut is provided with at least one detection protrusion for rotating the nut. The nut transfer mounting bracket is equipped with a nut rotation proximity sensor. When the nut rotation servo motor is not rotating or has been reset, the sensing end of the nut rotation proximity sensor faces the nut rotation detection protrusion. More preferably, the coupling assembly for rotating the nut further includes: A nut rotation guide rail is provided on the nut transfer mounting bracket, and the length direction of the nut rotation guide rail is the vertical direction; A slider for rotating a nut, wherein the slider for rotating a nut is slidably connected to a guide rail for rotating a nut, and a bracket for rotating a nut is provided on the slider for rotating a nut; More preferably, the second connecting shaft for nut rotation is connected to a nut rotating sleeve via a plurality of nut rotating bearings, and the nut rotating sleeve is connected to the nut rotating bracket; And / or, the nut transfer and rotation station is also provided 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 clamps the differential nut and transfers it from the fourth target position to the second target position housing assembly, the gripping part of the anti-sway gripper for nut rotation is driven to move to the outside of the housing assembly. The housing assembly is clamped by the anti-sway gripper for nut rotation to prevent the housing assembly from swinging, and then the differential nut is rotated into the housing assembly. More preferably, the anti-sway device for nut rotation further includes an anti-sway cylinder drive mechanism, which has a drive end capable of horizontal movement. 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. The anti-sway cylinder drive mechanism is preferably a cam drive mechanism.

4. The assembly mechanism for assembling injection pen components as described in claim 1, 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.

5. The assembly mechanism for assembling injection pen components as described in claim 4, characterized in that, The bushing screw transfer station is also equipped with a bushing screw transfer drive mechanism. The bushing screw transfer drive mechanism has a drive end that can perform lifting and horizontal movements. The bushing screw transfer gripper is connected to the drive end of the bushing screw transfer drive mechanism, and the bushing screw transfer drive mechanism drives the bushing screw transfer gripper to perform lifting and horizontal movements. Preferably, the bushing screw transfer station is further provided with a bushing screw transfer adjusting cylinder. The bushing screw transfer adjusting cylinder is connected to the drive end of the bushing screw transfer drive mechanism. The piston rod of the bushing screw transfer adjusting cylinder is axially in the up-down direction and is connected to the bushing screw transfer gripper. The bushing screw transfer gripper is connected to the drive end of the bushing screw transfer drive mechanism through the bushing screw transfer adjusting cylinder. The bushing screw transfer drive mechanism drives the bushing screw transfer adjusting cylinder to move up and down and horizontally, thereby driving the bushing screw transfer gripper to move up and down and horizontally. The bushing screw transfer adjustment cylinder 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 is driven to move the bushing screw transfer gripper up and down. And / or, the bushing screw transfer station is further provided 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 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. Preferably, the anti-sway device for bushing screw transfer further includes an anti-sway cylinder drive mechanism, which 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 move horizontally. The anti-sway cylinder drive mechanism is preferably a cam drive mechanism. Preferably, when the nut transfer and rotation station 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, and 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 simultaneously.

6. The assembly mechanism for assembling injection pen components as described in claim 1, 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.

7. The assembly mechanism for assembling injection pen components as described in claim 6, characterized in that, The screw rotation station is also equipped with a screw rotation positioning cylinder. The piston rod of the screw rotation positioning cylinder is axially in the up-down direction and its bottom end is connected to a screw rotation positioning block. The screw rotation positioning block is located above the clamping part of the screw clamping jaw. Before the screw clamping jaws grip the screw and rotate it into the bushing, the screw rotation positioning cylinder is driven to extend the screw rotation positioning block downwards to abut the top of the screw, so as to prevent the screw from shaking during rotation. And / or, the screw rotation station is further provided with a screw rotation drive mechanism, the screw rotation drive mechanism has a drive end that can perform lifting and lowering movements, the screw rotation servo motor is connected to the drive end of the screw rotation drive mechanism through a screw rotation mounting bracket, and the screw rotation drive mechanism drives the screw rotation mounting bracket, the screw rotation servo motor and the screw clamping jaws to perform lifting and lowering movements; Preferably, the motor shaft of the servo motor for screw rotation is connected to the screw clamping jaws via a screw rotation coupling assembly, the screw rotation coupling assembly comprising: A coupling for rotating a screw, wherein the top end of the coupling is connected to the motor shaft of the servo motor for rotating the screw; A connecting shaft for screw rotation, the top end of which is connected to the screw rotation coupling, and the bottom end of which is connected to the screw clamping jaws; when the screw rotation station is also equipped with a screw rotation positioning cylinder, the bottom end of the connecting shaft for screw rotation is also connected to the screw rotation positioning cylinder. More preferably, the connecting shaft for screw rotation is provided with a plurality of connecting shaft air inlets, and the connecting shaft for screw rotation is provided with a plurality of connecting shaft air passages, one end of each connecting shaft air passage being connected to the connecting shaft air inlet; The air inlet and outlet of the screw clamping jaws are each independently connected to the other end of the connecting shaft air passage; When the screw rotation station is also equipped with a screw rotation positioning cylinder, the air inlet of the screw rotation positioning cylinder is connected to the other end of the other connecting shaft air path; More preferably, the motor shaft of the servo motor for screw rotation or the connecting shaft for screw rotation is fitted with a screw rotation detection ring, and the surface of the screw rotation detection ring is provided with at least one screw rotation detection protrusion; The screw rotation mounting bracket is equipped with a screw rotation proximity sensor. When the screw rotation servo motor is not rotating or has been reset, the sensing end of the screw rotation proximity sensor faces the screw rotation detection protrusion. More preferably, the connecting shaft for screw rotation is connected to a screw rotation sleeve via a plurality of screw rotation bearings, and the screw rotation sleeve is connected to the screw rotation mounting bracket; More preferably, the screw rotation station is further provided with a screw rotation adjustment cylinder. The screw rotation adjustment cylinder is connected to the drive end of the screw rotation drive mechanism. The piston rod of the screw rotation adjustment cylinder is axially in the up-down direction and is connected to the screw rotation mounting frame. The screw rotation servo motor is connected to the drive end of the screw rotation drive mechanism through the screw rotation mounting frame and the screw rotation adjustment cylinder. The screw rotation drive mechanism drives the screw rotation adjustment cylinder to perform lifting and lowering movements, thereby driving the screw rotation mounting frame, the screw rotation servo motor, and the screw clamping jaws to perform lifting and lowering movements. The screw rotation adjustment cylinder is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the screw rotation adjustment cylinder is driven to drive the screw rotation mounting frame, the screw rotation servo motor and the screw clamping jaws to lift and lower. More preferably, the screw rotation station is further provided with: A guide rail for rotating a screw, wherein the guide rail for rotating a screw is disposed at the drive end of the screw rotation drive mechanism, and the length direction of the guide rail for rotating a screw is the vertical direction; A slider for rotating a screw, which is slidably connected to a guide rail for rotating a screw, and a mounting bracket for rotating a screw is provided on the slider.

8. The assembly mechanism for assembling injection pen components as described in any one of claims 1 to 7, characterized in that, The 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, through 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. 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.

9. The assembly mechanism for assembling injection pen components as described in claim 8, characterized in that, The second inspection station is equipped with a second inspection device, and the fourth inspection station is equipped with a fourth inspection device. Both the second inspection device and the fourth inspection device include: The testing frame is capable of lifting and lowering, and the testing frame has at least a top testing plate and a bottom testing plate. The second testing sensor or the fourth testing sensor is fixed above the top testing plate. At least one set of detection components, the detection component including a detection rod with the axial direction in the up-down direction, the detection rod passing through the detection top plate and the detection bottom plate, two detection limiting rings are sleeved on the detection rod between the detection top plate and the detection bottom plate, the detection limiting ring located below the detection bottom plate abuts against the detection bottom plate, the detection limiting ring located above the detection top plate is at a preset distance and is sleeved with a detection reset element, the bottom of the detection rod has a detection head, and the top of the detection rod contacts or faces the detection end of the second detection sensor or the fourth detection sensor; When part inspection is required, the inspection frame is driven to descend, which in turn lowers the inspection assembly. During the descent, the inspection head contacts the part, causing the inspection rod to move upward. The inspection end of the second or fourth inspection sensor detects the movement position of the top of the inspection rod, thereby detecting whether the part is in the correct position. If the part is not in the correct position or is not in the correct position, the pallet status at the second or fourth inspection station is set as unqualified, and no further assembly work is performed on the unqualified pallet. If the part is in the correct position, the pallet status at the second or fourth inspection station is set as qualified, and subsequent assembly work is performed on the qualified pallet. Preferably, when at least two sets of the detection components are integrated on the detection frame of the second detection device or the fourth detection device, the two detection rods of two adjacent sets of the detection components are a left detection rod and a right detection rod, respectively. Two detection limiting blocks are also provided between the two detection rods of two adjacent sets of the detection components. The two detection limiting blocks are both located between two detection limiting rings. One end of the detection limiting block 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 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 on 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 on 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. 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 on the right detection rod, it causes the right detection rod and the lower detection limit block to move upward together. Preferably, both the second and fourth detection stations are equipped with a detection drive mechanism, a detection lifting rod, and a detection adjustment cylinder. The detection drive mechanism has a drive end for lifting and lowering, and the drive end of the detection drive mechanism is connected to the detection lifting rod. The detection adjustment cylinder is connected to the detection lifting rod, and the piston rod of the detection adjustment cylinder is axially in the up-down direction and connected to the detection frame. The detection drive mechanism drives the detection lifting rod to lift and lower, thereby driving the detection adjustment cylinder and the detection frame to lift and lower. The detection adjustment cylinder is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the detection adjustment cylinder is driven to move the detection frame up and down. Preferably, the detection frame of the second detection device integrates two sets of detection components. There are two second detection sensors. The two second detection sensors are a proximity sensor for detecting whether the dose setting drum at the first target position has been rotated into place and a proximity sensor for detecting whether the outer shell at the second target position has been pressed into place. The two proximity sensors are respectively fixed on the detection top plate. Preferably, the second detection sensor has at least one proximity sensor for detecting whether the dose setting drum at the first target position has rotated into place, and the detection head corresponding to the proximity sensor for detecting the drum includes: A bearing for rotating drum testing, wherein the inner ring of the bearing for rotating drum testing is connected to the bottom of the testing rod; A detection sleeve for rotating drum testing, wherein the detection sleeve is connected to the outer ring of the rotating drum testing bearing, and the bottom of the detection sleeve is a tapered structure that is narrow at the bottom and wide at the top; When a part needs to be inspected, the inspection frame is driven to descend, which in turn drives the inspection assembly to descend. During the descent, the rotating drum inspection sleeve contacts the dose setting rotating drum. The conical structure at the bottom of the rotating drum inspection sleeve is inserted into the dose setting rotating drum. If the dose setting rotating drum has not rotated to the correct position, the rotating drum inspection sleeve will drive the dose setting rotating drum to continue to descend and rotate to the correct position during the descent. Preferably, the detection frame of the fourth detection device integrates two sets of detection components. There are two fourth detection sensors. The two fourth detection sensors are a proximity sensor for detecting whether the bushing on the second target position is pressed into place and a displacement sensor for detecting whether the height of the screw on the second target position is correct. The proximity sensor is fixed on the detection top plate. One of the detection components in the fourth detection device includes two detection rods, one of which is a fourth fixed rod and the other is a fourth movable rod. The displacement sensor is fixed to the top of the fourth fixed rod, and the detection head is located at the bottom of the fourth movable rod. More preferably, both the fourth fixed rod and the fourth moving rod are provided with a fourth detection limiting block. The fourth detection limiting block is located between the two detection limiting rings. One end of the fourth detection limiting block 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 fourth detection limiting blocks 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 fourth fixed rod. The fourth moving rod 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 fourth moving rod. When the fourth moving rod 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 to move upward together, so as to protect the detection end of the fourth detection sensor fixed on the fourth fixed rod. Preferably, one of the two detection heads of the fourth detection device is a bushing detection head and the other is a screw detection head. The bushing detection head has a bushing detection ring at its bottom, which is located below the screw detection head. The screw detection head has a screw detection rod at its bottom, which passes through the bushing detection ring.

10. The assembly mechanism for assembling injection pen components as described in any one of claims 1 to 7, characterized in that, The 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. Preferably, the third inspection station is equipped with a servo motor for pre-inspection rotation and a third inspection head. The servo motor for pre-inspection rotation can perform lifting and lowering movements. The motor shaft of the servo motor for pre-inspection rotation is axially in the up-down direction and is connected to the third inspection head. The servo motor for pre-inspection rotation rotates during the descent, driving the third inspection head to descend and rotate, thereby driving the differential nut that abuts against the third inspection head to rotate within the housing assembly. The outer surface of the third detection head is provided with a detection groove. The third detection sensor is an infrared through-beam sensor. When the differential nut that abuts against the third detection head is rotated into position within the housing assembly, the detection groove is formed between the through-beam ends of the infrared through-beam sensor. The 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. More preferably, the servo motor for rotating before detection is connected to the third detection head via a coupling assembly for rotating before detection, the coupling assembly for rotating before detection comprising: A coupling for rotating before testing, the top end of which is connected to the motor shaft of the servo motor for rotating before testing; A first connecting shaft for rotation before detection is provided, the top end of which is connected to the coupling for rotation before detection, and the lower part of which is a hollow structure with an opening at the bottom. A second connecting shaft for pre-detection rotation is provided. The upper part of the second connecting shaft for pre-detection rotation can be raised and lowered within the hollow structure below the first connecting shaft for pre-detection rotation and rotates with the rotation of the first connecting shaft for pre-detection rotation. The bottom end of the second connecting shaft for pre-detection rotation is the third detection head. An elastic unit for pre-detection rotation is located within a hollow structure at the lower part of the first connecting shaft for pre-detection rotation. The top end of the elastic unit is connected to or abuts against the inner wall of the hollow structure at the lower part of the first connecting shaft for pre-detection rotation, and the bottom end of the elastic unit is connected to or abuts against the top end of the second connecting shaft for pre-detection rotation. When the differential nut needs to be rotated into the housing assembly, the servo motor for pre-detection rotation is driven to rotate, which in turn drives the third detection head to rotate via the coupling assembly for pre-detection rotation. Simultaneously, the servo motor for pre-detection rotation is driven to descend, which in turn drives the coupling assembly for pre-detection rotation and the third detection head to descend. After the third detection head descends to abut against the differential nut, the second connecting shaft for pre-detection rotation rises within the hollow structure below the first connecting shaft for pre-detection rotation, compressing the elastic unit for pre-detection rotation. This causes the elastic unit to exert downward pressure on the second connecting shaft for pre-detection rotation and the third detection head, causing the third detection head to abut against and rotate the differential nut. More preferably, the lower part of the first connecting shaft for pre-detection rotation is provided with a pre-detection rotation limiting guide groove that is internally and externally connected, and the length direction of the pre-detection rotation limiting guide groove is the vertical direction; The second connecting shaft for pre-detection rotation is provided with a pre-detection rotation limiting guide hole, which is used to insert a pre-detection rotation limiting guide pin. The pre-detection rotation limiting guide hole is located inside the lower part of the first connecting shaft for pre-detection rotation. One end of the pre-detection rotation limiting guide pin is inserted into the pre-detection rotation limiting guide hole, and the other end of the pre-detection rotation limiting guide pin extends out of the pre-detection rotation limiting guide groove and can move up and down along the pre-detection rotation limiting guide groove. More preferably, the servo motor for rotating before detection is mounted on the rotating mounting frame before detection, and the rotating mounting frame before detection can move up and down, and the rotating mounting frame before detection drives the servo motor for rotating before detection to move up and down; The pre-detection rotation mounting bracket is connected to the first connecting shaft for pre-detection rotation via one or more pre-detection rotation bearings. More preferably, the servo motor for rotating before detection is mounted on the rotating mounting frame before detection, and the rotating mounting frame before detection can move up and down, and the rotating mounting frame before detection drives the servo motor for rotating before detection to move up and down; The third detection sensor is connected to the pre-detection rotating mounting bracket via a third detection sensor bracket, and the third detection sensor bracket is inclinedly disposed on the side of the third detection head. More preferably, the servo motor for pre-detection rotation is mounted on the pre-detection rotation mounting frame. The third detection station is provided with a third detection drive mechanism, a third detection lifting rod, and a third detection adjustment cylinder. The third detection drive mechanism has a drive end for lifting and lowering. The drive end of the third detection drive mechanism is connected to the third detection lifting rod. The third detection adjustment cylinder is connected to the third detection lifting rod. The piston rod of the third detection adjustment cylinder is axially in the up-down direction and is connected to the pre-detection rotation mounting frame. The third detection drive mechanism drives the third detection lifting rod to lift and lower, thereby driving the third detection adjustment cylinder and the pre-detection rotation mounting frame to lift and lower. The third detection and adjustment cylinder is used to compensate for the height difference between products of different specifications. When height difference compensation is required, the third detection and adjustment cylinder is driven to move the front rotating mounting frame of the detection upward and downward.

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