Automatic pin press-fitting device and system

Abstract

The utility model relates to an automatic pin press-fitting device and system. The automatic pin press-fitting device comprises a workpiece transferring tool, a first pin receiving tool, a second pin receiving tool and a press-fitting tool. The pin press-fitting tool has the advantages that the press-fitting tool adopts a single-shaft manipulator (namely a third vertical movement mechanism) for automatic assembly, so that the perpendicularity and height of pin press-fitting are ensured, and the consistency of product assembly is ensured; the press-fitting work is automatically pressed through a servo press, and pressure and displacement intervals can be set, so that high-precision press-fitting of products is realized, and the press-fitting yield of the products is improved; the installation efficiency is high, it is ensured that the first pin and the second pin are installed in place, and the problem that the product is crushed due to overlarge pressure is avoided; manpower participation is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of workpiece assembly equipment technology, and in particular to an automatic pin pressing device and system. Background Technology

[0002] In the automotive engine manufacturing system, the press-fitting process of engine housing pins is of paramount importance, as its quality directly affects the overall performance and reliability of the engine. Precise and high-quality pin press-fitting plays a crucial role in ensuring stable connections between engine components, smooth power transmission, and efficient operation of the entire engine.

[0003] Currently, most automobile manufacturers still use traditional manual operation methods in the engine housing pin pressing process. For example... Figure 1 As shown, the specific operating procedure is as follows: First, the worker, relying on their experience, precisely places the engine housing onto the positioning fixture using both hands. This step requires a high degree of skill and concentration from the worker; any deviation in the placement of the housing will severely interfere with the subsequent pin-pressing process. Next, the worker manually fixes the first type of pin to the corresponding position on the housing. This not only tests the worker's patience and meticulousness, but manual operation also makes it difficult to ensure that the position and angle of the pin are completely consistent each time it is fixed. Subsequently, the worker manually presses down the press to press the first type of pin into the engine housing. After completing the pressing of the first type of pin, the worker must fix the second type of pin onto the housing, which also requires manual operation. During the fixing process, it is difficult to guarantee accuracy due to individual differences. Finally, the worker manually presses down the press again to press the second type of pin into the housing.

[0004] However, this manually-driven pin press-fitting process has many significant drawbacks. From a production efficiency perspective, every step of the press-fitting process relies on manual labor, resulting in complex and time-consuming steps and extremely low overall installation efficiency. In the context of modern automotive manufacturing pursuing high-efficiency, large-scale production, this inefficient press-fitting process severely hinders capacity expansion. Regarding installation quality, manual operation of the press makes it impossible to precisely control the applied pressure. On the one hand, pins are easily misplaced, leading to an unstable connection between the pin and the engine housing. During high-speed engine operation, this unstable connection can cause components to loosen, affecting the coordinated operation of internal engine components and even causing engine malfunction. On the other hand, if workers apply excessive force while operating the press, excessive pressure can damage the pin or engine housing, causing product scrap and significantly increasing production costs. Furthermore, manual operation is significantly affected by individual worker differences; different workers have different operating habits, force control, and skill levels, making it difficult to guarantee product consistency. In addition, manual operation makes it difficult to ensure the verticality of the pin press-fitting, which further affects the assembly accuracy of engine components and reduces product quality stability. With the rapid development of the automotive industry, the market has placed higher demands on engine production efficiency and quality. The existing manual pin pressing process has become a bottleneck restricting the improvement of engine production level, and there is an urgent need to develop a new, efficient, stable and reliable pressing process to solve these problems.

[0005] Currently, no effective solutions have been proposed for the problems existing in related technologies, such as low installation efficiency, inability to guarantee the verticality and height of the pins, inability to guarantee installation pressure, poor product consistency, low product yield, easy misinstallation of pins, and damage to the shell due to excessive pressure. Utility Model Content

[0006] The purpose of this utility model is to address the shortcomings of existing technologies by providing an automatic pin pressing device and system, which solves problems such as low installation efficiency, inability to guarantee the verticality and height of the pins, inability to guarantee installation pressure, poor product consistency, low product yield, easy misinstallation of pins, and damage to the outer shell due to excessive pressure.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] In a first aspect, an automatic pin pressing device is provided, comprising:

[0009] A workpiece transfer fixture is provided on a horizontal plane and is used to carry the workpiece and reciprocate between the workpiece loading station and the pressing station.

[0010] The first pin receiving fixture is disposed on a horizontal plane and located on one side of the workpiece transfer fixture, and is used to carry the first pin at the first pin receiving station.

[0011] The second pin receiving fixture is set on a horizontal plane and located on the other side of the workpiece transfer fixture, and is used to carry the second pin at the second pin receiving station.

[0012] A pressing fixture, which is set on a horizontal plane, is used to absorb a first pin at a first pin receiving station, press the first pin onto the workpiece to be assembled at a pressing station, absorb a second pin at a second pin receiving station, and press the second pin onto the workpiece to be assembled at a pressing station.

[0013] The second invention provides an automatic pin pressing system, comprising:

[0014] The automatic pin press-fitting device as described in the first aspect;

[0015] The first pin feeding device is located on the side of the automatic pin pressing device and is used to supply the first pin to the first pin receiving fixture of the automatic pin pressing device.

[0016] The second pin feeding device is located on the side of the automatic pin pressing device and is used to supply the second pin to the second pin receiving fixture of the automatic pin pressing device.

[0017] In some of these embodiments, it also includes:

[0018] An air supply device is provided, which is connected to the automatic pin pressing device.

[0019] In some of these embodiments, it also includes:

[0020] A control device is connected to the automatic pin pressing device, the first pin feeding device, and the second pin feeding device, respectively.

[0021] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0022] This utility model discloses an automatic pin pressing device and system. The pressing fixture is automatically assembled by a single-axis robot (i.e., a third vertical motion mechanism), ensuring the verticality and height of the pin pressing and guaranteeing the consistency of product assembly. The pressing operation is automatically performed by a servo press, which can set pressure and displacement ranges to achieve high-precision pressing and improve the product pressing yield. The installation efficiency is high, ensuring that the first and second pins are installed in place and avoiding the problem of excessive pressure damaging the product. It reduces the need for manual intervention and improves production efficiency. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an existing assembly platform;

[0024] Figures 2-3 This is a schematic diagram of an automatic pin pressing device according to an embodiment of the present utility model;

[0025] Figures 4-5 This is a schematic diagram of a workpiece transfer fixture according to an embodiment of the present utility model;

[0026] Figures 6-7 This is a schematic diagram of the first pin receiving fixture according to an embodiment of the present utility model;

[0027] Figures 8-9 This is a schematic diagram of the second pin receiving fixture according to an embodiment of the present utility model;

[0028] Figures 10-11 This is a schematic diagram of the press-fitting fixture according to an embodiment of the present utility model;

[0029] Figure 12 This is a schematic diagram of an automatic pin pressing system according to an embodiment of the present utility model.

[0030] The reference numerals in the attached drawings are as follows: 1000, workpiece transfer fixture; 1010, first lateral movement mechanism; 1020, first bearing mechanism; 1030, support mechanism; 1040, first sensing mechanism; 1050, first guiding mechanism; 1060, limiting mechanism; 2000, first pin receiving fixture; 2010, first support mechanism; 2020, first rotating mechanism; 2030, second bearing mechanism; 2040, first vertical movement mechanism; 2050, first abutting mechanism; 2060, second lateral movement mechanism; 2070, second abutting mechanism; 2080, second sensing mechanism; 2090, third sensing mechanism; 2100, fourth sensing mechanism; 2110, first waste recycling mechanism; 3000, second... Pin receiving fixture; 3010, second support mechanism; 3020, second rotating mechanism; 3030, third bearing mechanism; 3040, second vertical motion mechanism; 3050, third abutting mechanism; 3060, third lateral motion mechanism; 3070, fourth abutting mechanism; 3080, fifth sensing mechanism; 3090, sixth sensing mechanism; 3100, seventh sensing mechanism; 3110, second waste recycling mechanism; 4000, pressing fixture; 4010, third support mechanism; 4020, fourth lateral motion mechanism; 4030, third vertical motion mechanism; 4040, adsorption mechanism; 4050, negative pressure mechanism; 4060, eighth sensing mechanism; 4070, second guiding mechanism; 4080, third guiding mechanism;

[0031] A. Automatic pin pressing device; B. First pin feeding device; C. Second pin feeding device; D. Air supply conveying device; E. Control device. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0035] Example 1

[0036] This embodiment relates to the automatic pin pressing device of this utility model.

[0037] An illustrative embodiment of this utility model, such as Figures 2-3 As shown, an automatic pin pressing device includes a workpiece transfer fixture 1000, a first pin receiving fixture 2000, a second pin receiving fixture 3000, and a pressing fixture 4000. The workpiece transfer fixture 1000 is positioned on a horizontal plane and is used to carry the workpiece and reciprocate between the workpiece loading station and the pressing station. The first pin receiving fixture 2000 is positioned on a horizontal plane and located on one side of the workpiece transfer fixture 1000, and is used to carry the first pin at the first pin receiving station. The second pin receiving fixture 3000 is positioned on a horizontal plane and located on the other side of the workpiece transfer fixture 1000, and is used to carry the second pin at the second pin receiving station. The pressing fixture 4000 is positioned on a horizontal plane and is used to absorb the first pin at the first pin receiving station, press the first pin to the workpiece to be assembled at the pressing station, absorb the second pin at the second pin receiving station, and press the second pin to the workpiece to be assembled at the pressing station.

[0038] In this invention, the automatic pin pressing device is mainly used for the automatic pressing of pins on automobile engine housings.

[0039] In this invention, the workpiece is a car engine casing.

[0040] In this invention, the specifications of the first pin and the second pin are different. For example, the lengths of the first pin and the second pin are not equal, and the diameters of the first pin and the second pin are not equal.

[0041] The method of using this utility model is as follows:

[0042] At the workpiece loading station, the workpiece to be assembled is placed into the workpiece transfer fixture 1000;

[0043] The workpiece transfer fixture 1000 operates, carrying the workpiece to be assembled to the press-fitting station;

[0044] At the first pin receiving station, the first pin receiving fixture 2000 receives the first pin.

[0045] At the second pin receiving station, the second pin receiving fixture 3000 receives the second pin.

[0046] At the first pin receiving station, the pressing fixture 4000 works, adsorbs the first pin, and carries the first pin to the pressing station.

[0047] At the press-fitting station, the press-fitting fixture 4000 operates to press the first pin into the workpiece to be assembled;

[0048] At the second pin receiving station, the pressing fixture 4000 works, adsorbs the second pin, and carries the second pin to the pressing station.

[0049] At the press-fitting station, the press-fitting fixture 4000 operates, pressing the second pin into the workpiece to be assembled.

[0050] like Figures 4-5 As shown, the workpiece transfer fixture 1000 includes a first transverse motion mechanism 1010, a first bearing mechanism 1020, and at least one support mechanism 1030. The first transverse motion mechanism 1010 is disposed on a horizontal plane. A first pin receiving fixture 2000 is disposed on one side of the first transverse motion mechanism 1010, and a second pin receiving fixture 3000 is disposed on the other side. The first bearing mechanism 1020 is disposed on the first transverse motion mechanism 1010 and is used to bear the workpiece and reciprocate between the workpiece loading station and the pressing station under the action of the first transverse motion mechanism 1010. The support mechanism 1030 is disposed on the first bearing mechanism 1020 and is used to support the workpiece.

[0051] In this invention, the first lateral motion mechanism 1010 is a linear motion module driven by a linear motor. Its working principle is to convert electrical energy into linear motion using the principle of electromagnetic induction. Generally, a linear motor includes a stator and a mover; the stator generates a magnetic field, and the mover achieves linear motion under the influence of the magnetic field.

[0052] In some embodiments, the first lateral motion mechanism 1010 includes a first driving element, a first track element, and a first sliding element. The first driving element is disposed on a horizontal plane; the first track element is disposed on a horizontal plane; the first sliding element is slidably connected to the first track element and is also connected to the first driving element and the first bearing mechanism 1020, respectively, for driving the first bearing mechanism 1020 to reciprocate along the first track element between the workpiece loading station and the pressing station under the action of the first driving element.

[0053] In some of these embodiments, the first driving element is a linear motor.

[0054] In some of these embodiments, the first track element is made of aluminum alloy.

[0055] In some embodiments, the first track element is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the first sliding element can move precisely in a straight line along a predetermined path.

[0056] In some of these embodiments, the first sliding element is made of high-strength alloy steel.

[0057] In some embodiments, the first sliding element is a slider. It works in conjunction with a first track element (guide rail) to support the first support mechanism 1020 and slide along the first track element (guide rail).

[0058] The first load-bearing mechanism 1020 is detachably connected to the first sliding element, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first load-bearing mechanism 1020 with different specifications according to different needs.

[0059] In some embodiments, the first bearing mechanism 1020 includes a first bearing element and at least one first positioning element. The first bearing element is disposed on the first sliding element and is used to reciprocate between the workpiece loading station and the pressing station following the first sliding element; the first positioning element is disposed on the first bearing element and is used to position the side of the workpiece to be assembled.

[0060] The first positioning element is detachably connected to the first load-bearing element, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the first positioning element according to workpieces of different specifications.

[0061] In some of these embodiments, the first positioning element is made of aluminum alloy or high-strength alloy steel.

[0062] In some of these embodiments, the first positioning element includes, but is not limited to, a positioning block, a positioning baffle, a positioning groove, etc.

[0063] The support mechanism 1030 is detachably connected to the first load-bearing mechanism 1020, including but not limited to bolt connections. This design allows for easy adjustment of the position of the support mechanism 1030 according to different needs.

[0064] In this utility model, the support mechanism 1030 can be electrically driven (such as a drive motor), pneumatically driven (such as a cylinder), or hydraulically driven (such as a hydraulic cylinder).

[0065] In some embodiments, there are multiple support mechanisms 1030. Multiple support mechanisms 1030 are distributed at the top of the first bearing mechanism 1020.

[0066] In some embodiments, the support mechanism 1030 includes a support element and a power element. The support element is disposed on the first load-bearing element; the power element is disposed at the top of the support element and is used to support the workpiece.

[0067] In some of these embodiments, the support elements include, but are not limited to, support frames and support columns.

[0068] In some of these embodiments, the power element includes, but is not limited to, a support cylinder.

[0069] Furthermore, the workpiece transfer fixture 1000 also includes at least one first sensing mechanism 1040. The first sensing mechanism 1040 is disposed at the end of the first transverse motion mechanism 1010 and is used to sense the first bearing mechanism 1020.

[0070] Specifically, the first sensing mechanism 1040 is disposed at the end of the first track element.

[0071] In some embodiments, there are multiple first sensing mechanisms 1040. These multiple first sensing mechanisms 1040 are distributed at both ends of the first lateral movement mechanism 1010. That is, each end of the first lateral movement mechanism 1010 is provided with at least one first sensing mechanism 1040.

[0072] The first sensing mechanism 1040 is detachably connected to the first track element, including but not limited to bolt connections. The purpose of this design is to facilitate adjusting the position of the first sensing mechanism 1040 according to different needs, thereby adjusting the range of motion of the first sliding element.

[0073] In some of these embodiments, the first sensing mechanism 1040 is a sensor, including but not limited to an encoder, a grating ruler, etc.

[0074] Furthermore, the workpiece transfer fixture 1000 also includes at least one first guide mechanism 1050. The first guide mechanism 1050 is disposed on the side of the first transverse motion mechanism 1010 and connected to the first bearing mechanism 1020 to improve the motion stability of the first bearing mechanism 1020.

[0075] In some embodiments, there are multiple first guide mechanisms 1050. These first guide mechanisms 1050 are symmetrically arranged on both sides of the first lateral movement mechanism 1010. That is, at least one first guide mechanism 1050 is provided on each side of the first lateral movement mechanism 1010.

[0076] In some embodiments, the first guide mechanism 1050 includes a first auxiliary track element and at least one first auxiliary sliding element. The first auxiliary track element is disposed on a horizontal plane and located on the side of the first track element; the first auxiliary sliding element is slidably connected to the first auxiliary track element and connected to the first load-bearing element to improve the motion stability of the first load-bearing element.

[0077] The dimensions of the first auxiliary track element are matched with the dimensions of the first track element. Generally, the length of the first auxiliary track element is equal to the length of the first track element.

[0078] The distance between the first auxiliary track element and the first track element can be adjusted according to actual needs.

[0079] In some of these embodiments, the first auxiliary track element is made of aluminum alloy.

[0080] In some embodiments, the first auxiliary track element is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the first auxiliary sliding element can move precisely in a straight line along a predetermined path.

[0081] The first auxiliary sliding element is detachably connected to the first load-bearing element, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first load-bearing element with different specifications according to different needs.

[0082] In some embodiments, there are multiple first auxiliary sliding elements. These multiple first auxiliary sliding elements are spaced apart from the first auxiliary track element and are detachably connected to the first load-bearing element.

[0083] In some of these embodiments, the first auxiliary sliding element is made of high-strength alloy steel.

[0084] In some embodiments, the first auxiliary sliding element is a slider. It works in conjunction with a first auxiliary track element (guide rail) to support the first support element and slide along the first auxiliary track element (guide rail).

[0085] Furthermore, the workpiece transfer fixture 1000 also includes at least one limiting mechanism 1060. The limiting mechanism 1060 is disposed at the end of the corresponding first guide mechanism 1050 and is used to limit the position of the first bearing mechanism 1020.

[0086] Specifically, the limiting mechanism 1060 is located at the end of the first auxiliary track element.

[0087] The number of limiting mechanisms 1060 matches the number of first guide mechanisms 1050. Generally, the number of limiting mechanisms 1060 is an integer multiple of the number of first guide mechanisms 1050. That is, each first guide mechanism 1050 is provided with at least one limiting mechanism 1060.

[0088] When a plurality of limiting mechanisms 1060 are provided in each first guide mechanism 1050, the plurality of limiting mechanisms 1060 are distributed in the first guide mechanism 1050. That is, each end of the first guide mechanism 1050 is provided with at least one limiting mechanism 1060.

[0089] The limiting mechanism 1060 is detachably connected to the first auxiliary track element, including but not limited to bolt connections. The purpose of this design is to facilitate the adjustment of the position of the limiting mechanism 1060 according to different needs, thereby adjusting the range of motion of the first auxiliary sliding element.

[0090] In some embodiments, the limiting mechanism 1060 is a limiting baffle, a limiting block, a bellows cover, etc.

[0091] like Figures 6-7 As shown, the first pin receiving fixture 2000 includes a first support mechanism 2010, a first rotating mechanism 2020, a second bearing mechanism 2030, a first vertical movement mechanism 2040, a first abutting mechanism 2050, a second horizontal movement mechanism 2060, and a second abutting mechanism 2070. The first support mechanism 2010 is disposed on a horizontal plane and located on one side of the workpiece transfer fixture 1000; the first rotating mechanism 2020 is disposed on the first support mechanism 2010; the second bearing mechanism 2030 is disposed on the first rotating mechanism 2020 and is used to receive the first pin at the first pin receiving station and rotate under the action of the first rotating mechanism 2020; the first vertical motion mechanism 2040 is disposed on the second bearing mechanism 2030; the first abutting mechanism 2050 is disposed on the first vertical motion mechanism 2040 and is used to reciprocate along a preset direction under the action of the first vertical motion mechanism 2040 to approach or move away from the bottom of the first pin; the second horizontal motion mechanism 2060 is disposed on the second bearing mechanism 2030; the second abutting mechanism 2070 is disposed on the second horizontal motion mechanism 2060 and is used to reciprocate along a preset direction under the action of the second horizontal motion mechanism 2060 to approach or move away from the side of the first pin.

[0092] Specifically, the first support mechanism 2010 is located on one side of the first transverse motion mechanism 1010.

[0093] In some of these embodiments, the first support mechanism 2010 includes, but is not limited to, mounting brackets, etc.

[0094] The first rotating mechanism 2020 is detachably connected to the first support mechanism 2010, including but not limited to bolted connections. The purpose of this design is to facilitate adjustment of the position of the first rotating mechanism 2020 according to different needs.

[0095] In this invention, the first rotating mechanism 2020 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0096] In some embodiments, the first rotating mechanism 2020 is described as being powered by a cylinder. Specifically, the first rotating mechanism 2020 includes a first rotating main body element, a first rotating element, at least one first rotating channel element, at least one first rotating interface element, two first limiting elements, and two second limiting elements. The first rotating main body element is disposed on the first support mechanism 2010; the first rotating element is rotatably disposed on the side of the first rotating main body element and connected to the second bearing mechanism 2030 to drive the second bearing mechanism 2030 to rotate; the first rotating channel element is disposed through the first rotating main body element and communicates with the first rotating element; the first rotating interface element is disposed on the side of the first rotating main body element, the first end of the first rotating interface element is communicated with the corresponding first rotating channel element, and the second end of the first rotating interface element is communicated with the air source delivery device; two first limiting elements are symmetrically disposed on both sides of the first rotating main body element; two second limiting elements are disposed on the first rotating element, and there is a preset angle between the two second limiting elements, which are used to follow the rotation of the first rotating element so that one second limiting element cooperates with one first limiting element to limit the position of the first rotating element, and so that the other second limiting element cooperates with the other first limiting element to limit the position of the first rotating element.

[0097] In some of these embodiments, the first rotating body element includes, but is not limited to, a support body.

[0098] In some of these embodiments, the first rotating element includes, but is not limited to, a rotating disk, a rotating plate, etc.

[0099] The first rotating channel element is disposed through the side of the second rotating main body element.

[0100] When there are multiple first rotating channel elements, these elements are distributed on the side of the second rotating main body element. For example, the multiple first rotating channel elements are spaced apart along the height direction of the second rotating main body element.

[0101] Preferably, there are two first rotating channel elements. One first rotating channel element is disposed near the first end of the first vertical sliding element, and the other first rotating channel element is disposed near the second end of the first vertical sliding element.

[0102] In some of these embodiments, the first rotating channel element includes, but is not limited to, a gas channel.

[0103] The first rotary interface element is detachably connected to the first rotary channel element, including but not limited to plug-in connection, threaded connection, etc.

[0104] The number of first rotary interface elements matches the number of first rotary channel elements. Generally, the number of first rotary interface elements is equal to the number of first rotary channel elements, meaning there is a one-to-one correspondence between the first rotary interface elements and the first rotary channel elements.

[0105] In some of these embodiments, the first rotary interface element includes, but is not limited to, a gas interface.

[0106] The first limiting element is detachably connected to the first rotating main body element, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the first limiting element according to different needs.

[0107] In some of these embodiments, the first limiting element includes, but is not limited to, a limiting post or a limiting plate.

[0108] The second limiting element is detachably connected to the first rotating element, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the second limiting element according to different needs.

[0109] In some embodiments, the preset angle between the two second limiting elements is 90°.

[0110] Generally, when the first pin receiving fixture 2000 performs the first pin receiving process, the first second limiting element is set parallel to the horizontal plane, and the second second limiting element is set perpendicular to the horizontal plane; when the first pin receiving fixture 2000 performs the first pin transfer process, the second second limiting element is set parallel to the horizontal plane, and the first second limiting element is set perpendicular to the horizontal plane.

[0111] In some of these embodiments, the second limiting element includes, but is not limited to, a limiting post or a limiting plate.

[0112] The second load-bearing mechanism 2030 is detachably connected to the first rotating mechanism 2020, including but not limited to bolted connections. The purpose of this design is to facilitate the replacement of different specifications of the second load-bearing mechanism 2030 according to different needs.

[0113] In some embodiments, the second bearing mechanism 2030 includes a second bearing element and a second positioning element. The second bearing element is disposed on the first rotating element and is used to rotate with the first rotating element; the second positioning element is disposed on the second bearing element and is used to position the first pin.

[0114] In some embodiments, the second positioning element is disposed at the top of the second support element.

[0115] In some of these embodiments, the second positioning element includes, but is not limited to, a positioning groove.

[0116] The first vertical motion mechanism 2040 is detachably connected to the second load-bearing mechanism 2030, including but not limited to bolted connections. The purpose of this design is to facilitate adjustment of the position of the first vertical motion mechanism 2040 according to different needs.

[0117] In this invention, the first vertical motion mechanism 2040 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0118] In some embodiments, the first vertical motion mechanism 2040 is described as being powered by a cylinder. Specifically, the first vertical motion mechanism 2040 includes a first vertical main body element, at least one first vertical sliding element, at least one first vertical channel element, at least one first vertical interface element, a second vertical main body element, and at least one second vertical sliding element. The first vertical main body element is disposed on the side of the second bearing mechanism 2030; the first vertical sliding element passes through the first vertical main body element; the first vertical channel element passes through the first vertical main body element and is connected to the first vertical sliding element; the first vertical interface element is disposed on the side of the first vertical main body element, the first end of the first vertical interface element is connected to the corresponding first vertical channel element, and the second end of the first vertical interface element is connected to the air source conveying device; the second vertical main body element is disposed on the side of the first abutting mechanism 2050 and is used to drive the first abutting mechanism 2050 to reciprocate along a preset direction; the second vertical sliding element is disposed on the side of the second vertical main body element and is slidably connected to the first vertical sliding element and is used to drive the second vertical main body element to reciprocate along a preset direction under the action of the air source conveying device.

[0119] In some of these embodiments, the first vertical main body element includes, but is not limited to, the sliding block body.

[0120] The first vertical sliding element is disposed inside the first vertical main body element and extends through the bottom end of the first vertical main body element.

[0121] When there are multiple first vertical sliding elements, the multiple first vertical sliding elements are spaced apart along the width direction of the first vertical main element.

[0122] When there are multiple first vertical sliding elements, the outermost first vertical sliding element is connected to the first vertical channel element.

[0123] In some of these embodiments, the cross-section of the first vertical sliding element is T-shaped or right-angled.

[0124] In some of these embodiments, the first vertical sliding element includes, but is not limited to, a movable cavity, a movable groove, etc.

[0125] The first vertical channel element is disposed on the side of the first vertical main body element.

[0126] When there are multiple first vertical channel elements, these elements are distributed on the sides of the first vertical main body element. For example, the multiple first vertical channel elements are spaced apart along the height direction of the first vertical main body element.

[0127] Preferably, there are two first vertical channel elements. One first vertical channel element is disposed near the first end of the first vertical sliding element, and the other first vertical channel element is disposed near the second end of the first vertical sliding element.

[0128] In some of these embodiments, the first vertical channel element includes, but is not limited to, a gas channel.

[0129] The first vertical interface element is detachably connected to the first vertical channel element, including but not limited to plug-in connection, threaded connection, etc.

[0130] The number of first vertical interface elements matches the number of first vertical channel elements. Generally, the number of first vertical interface elements matches the number of first vertical channel elements. Generally, the number of first vertical interface elements is equal to the number of first vertical channel elements, that is, there is a one-to-one correspondence between the first vertical interface elements and the first vertical channel elements.

[0131] In some of these embodiments, the first vertical interface element includes, but is not limited to, a gas interface.

[0132] In some of these embodiments, the second vertical main body element includes, but is not limited to, the movable block body.

[0133] Generally, the second vertical sliding element and the first vertical sliding element are in a non-separable sliding connection.

[0134] The number of second vertical sliding elements matches the number of first vertical sliding elements. Generally, the number of second vertical sliding elements is equal to the number of first vertical sliding elements. That is, there is a one-to-one correspondence between the second and first vertical sliding elements.

[0135] When there are multiple second vertical sliding elements, the multiple second vertical sliding elements are spaced apart along the width direction of the second vertical main element.

[0136] In some of these embodiments, the second vertical sliding element has a T-shaped or right-angled cross-section.

[0137] In some embodiments, the second vertical sliding element includes, but is not limited to, a movable rod or a movable column.

[0138] The first abutting mechanism 2050 is detachably connected to the first vertical movement mechanism 2040, including but not limited to bolt connections. The purpose of this design is to facilitate adjustments to the specifications and position of the first abutting mechanism 2050 according to different needs.

[0139] In some embodiments, the first abutting mechanism 2050 includes, but is not limited to, abutting cylinder, abutting plate, abutting base, etc.

[0140] The second lateral motion mechanism 2060 is detachably connected to the second load-bearing mechanism 2030, including but not limited to bolted connections. The purpose of this design is to facilitate adjustment of the position of the second lateral motion mechanism 2060 according to different needs.

[0141] In this invention, the second lateral motion mechanism 2060 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0142] In some embodiments, the second lateral movement mechanism 2060 is described using a cylinder-powered system. Specifically, the second lateral movement mechanism 2060 includes a first lateral main body element, at least one first lateral sliding element, at least one first lateral channel element, at least one first lateral interface element, a second lateral main body element, and at least one second lateral sliding element. The first lateral main body element is disposed on the side of the second bearing mechanism 2030; the first lateral sliding element passes through the first lateral main body element; the first lateral channel element passes through the first lateral main body element and communicates with the first lateral sliding element; the first lateral interface element is disposed on the side of the first lateral main body element, with its first end communicating with the corresponding first lateral channel element and its second end communicating with the air source delivery device; the second lateral main body element is disposed on the side of the second abutment mechanism 2070 and is used to drive the second abutment mechanism 2070 to reciprocate in a preset direction; the second lateral sliding element is disposed on the side of the second lateral main body element and is slidably connected to the first lateral sliding element, and is used to drive the second lateral main body element to reciprocate in a preset direction under the action of the air source delivery device.

[0143] In some of these embodiments, the first lateral body element includes, but is not limited to, the sliding block body.

[0144] The first lateral sliding element is disposed inside the first lateral main body element and extends through the bottom end of the first lateral main body element.

[0145] When there are multiple first transverse sliding elements, the multiple first transverse sliding elements are spaced apart along the width direction of the first transverse main element.

[0146] When there are multiple first transverse sliding elements, the outermost first transverse sliding element is connected to the first transverse channel element.

[0147] In some of these embodiments, the first lateral sliding element has a T-shaped or right-angled cross-section.

[0148] In some of these embodiments, the first lateral sliding element includes, but is not limited to, a movable cavity, a movable groove, etc.

[0149] The first transverse channel element is disposed on the side of the first transverse main body element.

[0150] When there are multiple first transverse channel elements, these elements are distributed on the sides of the first transverse main body element. For example, the multiple first transverse channel elements are spaced apart along the height direction of the first transverse main body element.

[0151] Preferably, there are two first transverse channel elements. One first transverse channel element is disposed near the first end of the first transverse sliding element, and the other first transverse channel element is disposed near the second end of the first transverse sliding element.

[0152] In some of these embodiments, the first lateral channel element includes, but is not limited to, a gas channel.

[0153] The first lateral interface element is detachably connected to the first lateral channel element, including but not limited to plug-in and threaded connections.

[0154] The number of first lateral interface elements matches the number of first lateral channel elements. Generally, the number of first lateral interface elements is equal to the number of first lateral channel elements, meaning there is a one-to-one correspondence between the first lateral interface elements and the first lateral channel elements.

[0155] In some of these embodiments, the first lateral interface element includes, but is not limited to, a gas interface.

[0156] In some of these embodiments, the second lateral body element includes, but is not limited to, the movable block body.

[0157] Generally, the second lateral sliding element and the first lateral sliding element are in a non-separable sliding connection.

[0158] The number of the second lateral sliding elements matches the number of the first lateral sliding elements. Generally, the number of the second lateral sliding elements is equal to the number of the first lateral sliding elements. That is, there is a one-to-one correspondence between the second and first lateral sliding elements.

[0159] When there are multiple second transverse sliding elements, the multiple second transverse sliding elements are spaced apart along the width direction of the second transverse main body element.

[0160] In some of these embodiments, the cross-section of the second lateral sliding element is T-shaped or right-angled.

[0161] In some of these embodiments, the second lateral sliding element includes, but is not limited to, a movable rod or a movable column.

[0162] The second abutting mechanism 2070 is detachably connected to the second lateral movement mechanism 2060, including but not limited to bolted connections. The purpose of this design is to facilitate adjustments to the specifications and position of the second abutting mechanism 2070 according to different needs.

[0163] In some embodiments, the second abutting mechanism 2070 includes, but is not limited to, an abutting plate, an abutting base, etc.

[0164] Furthermore, the first pin receiving fixture 2000 also includes a second sensing mechanism 2080. The second sensing mechanism 2080 is disposed in the second bearing mechanism 2030 and is used to sense the first pin.

[0165] Furthermore, the second bearing mechanism 2030 also includes a first through element. The first through element passes through the side of the second bearing element and communicates with the second positioning element, for the second sensing mechanism 2080 to sense whether the second positioning element is provided with a first pin.

[0166] The second sensing mechanism 2080 is disposed on the side of the second bearing element, and its sensing end is aligned with the first through element.

[0167] In some embodiments, the second sensing mechanism 2080 includes, but is not limited to, photoelectric sensors.

[0168] Furthermore, the first pin receiving fixture 2000 also includes a third sensing mechanism 2090. The third sensing mechanism 2090 is disposed in the second bearing mechanism 2030 and is used to sense the first abutting mechanism 2050.

[0169] Generally, the third sensing mechanism 2090 is positioned close to the second positioning element.

[0170] In some embodiments, the third sensing mechanism 2090 includes, but is not limited to, an inductive proximity sensor.

[0171] Furthermore, the first pin receiving fixture 2000 also includes a fourth sensing mechanism 2100. The fourth sensing mechanism 2100 is disposed in the second bearing mechanism 2030 and is used to sense the second abutting mechanism 2070.

[0172] Generally, the fourth sensing mechanism 2100 is positioned close to the second positioning element.

[0173] In some embodiments, the fourth sensing mechanism 2100 includes, but is not limited to, an inductive proximity sensor.

[0174] Furthermore, the first pin receiving fixture 2000 also includes a first waste recycling mechanism 2110. The first waste recycling mechanism 2110 is disposed of in the first support mechanism 2010 and is used to recycle the discarded first pin.

[0175] The first waste recycling mechanism 2110 is detachably connected to the first support mechanism 2010, including but not limited to bolt connections. This design allows for easy adjustment of the position of the first waste recycling mechanism 2110 according to different needs.

[0176] In some of these embodiments, the first waste recycling facility 2110 includes, but is not limited to, a waste recycling bin.

[0177] like Figures 8-9 As shown, the second pin receiving fixture 3000 includes a second support mechanism 3010, a second rotating mechanism 3020, a third bearing mechanism 3030, a second vertical movement mechanism 3040, a third abutting mechanism 3050, a third horizontal movement mechanism 3060, and a fourth abutting mechanism 3070. The second support mechanism 3010 is disposed on a horizontal plane and located on the other side of the workpiece transfer fixture 1000; the second rotating mechanism 3020 is disposed on the second support mechanism 3010; the third bearing mechanism 3030 is disposed on the second rotating mechanism 3020 and is used to receive the second pin at the second pin receiving station and rotate under the action of the second rotating mechanism 3020; the second vertical motion mechanism 3040 is disposed on the third bearing mechanism 3030; the third abutting mechanism 3050 is disposed on the second vertical motion mechanism 3040 and is used to reciprocate along a preset direction under the action of the second vertical motion mechanism 3040 to approach or move away from the bottom of the second pin; the third horizontal motion mechanism 3060 is disposed on the third bearing mechanism 3030; and the fourth abutting mechanism 3070 is disposed on the third horizontal motion mechanism 3060 and is used to reciprocate along a preset direction under the action of the third horizontal motion mechanism 3060 to approach or move away from the side of the second pin.

[0178] Specifically, the second support mechanism 3010 is located on the other side of the first lateral movement mechanism 1010.

[0179] In some of these embodiments, the second support mechanism 3010 includes, but is not limited to, mounting brackets, etc.

[0180] The second rotating mechanism 3020 is detachably connected to the second support mechanism 3010, including but not limited to bolted connections. This design allows for easy adjustment of the position of the second rotating mechanism 3020 according to different needs.

[0181] In this invention, the second rotating mechanism 3020 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0182] In some embodiments, the second rotating mechanism 3020 is described as being powered by a cylinder. Specifically, the second rotating mechanism 3020 includes a second rotating main body element, a second rotating element, at least one second rotating channel element, at least one second rotating interface element, two third limiting elements, and two fourth limiting elements. The second rotating main body element is disposed on the second support mechanism 3010; the second rotating element is rotatably disposed on the side of the second rotating main body element and connected to the third bearing mechanism 3030, for driving the third bearing mechanism 3030 to rotate; the second rotating channel element is disposed through the second rotating main body element and communicates with the second rotating element; the second rotating interface element is disposed on the side of the second rotating main body element, the first end of the second rotating interface element is communicated with the corresponding second rotating channel element, and the second end of the second rotating interface element is communicated with the air source conveying device; two third limiting elements are symmetrically disposed on both sides of the second rotating main body element; two fourth limiting elements are disposed on the second rotating element, and there is a preset angle between the two fourth limiting elements, for following the rotation of the second rotating element so that one fourth limiting element cooperates with one third limiting element to limit the position of the second rotating element, and so that the other fourth limiting element cooperates with the other third limiting element to limit the position of the second rotating element.

[0183] In some of these embodiments, the second rotating body element includes, but is not limited to, a support body.

[0184] In some of these embodiments, the second rotating element includes, but is not limited to, a rotating disk, a rotating plate, etc.

[0185] The second rotating channel element is disposed through the side of the second rotating main body element.

[0186] When there are multiple second rotating channel elements, these elements are distributed on the side of the second rotating main body element. For example, the multiple second rotating channel elements are spaced apart along the height direction of the second rotating main body element.

[0187] Preferably, there are two second rotating channel elements. One second rotating channel element is disposed near the first end of the third vertical sliding element, and the other second rotating channel element is disposed near the second end of the third vertical sliding element.

[0188] In some of these embodiments, the second rotating channel element includes, but is not limited to, a gas channel.

[0189] The second rotary interface element is detachably connected to the second rotary channel element, including but not limited to plug-in connection, threaded connection, etc.

[0190] The number of second rotary interface elements matches the number of second rotary channel elements. Generally, the number of second rotary interface elements is equal to the number of second rotary channel elements, meaning there is a one-to-one correspondence between the second rotary interface elements and the second rotary channel elements.

[0191] In some embodiments, the second rotary interface element includes, but is not limited to, a gas interface.

[0192] The third limiting element is detachably connected to the second rotating main body element, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the third limiting element according to different needs.

[0193] In some of these embodiments, the third limiting element includes, but is not limited to, a limiting post or a limiting plate.

[0194] The fourth limiting element is detachably connected to the second rotating element, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the fourth limiting element according to different needs.

[0195] In some of these embodiments, the preset angle between the two fourth limiting elements is 90°.

[0196] Generally, when the second pin receiving fixture 3000 performs the second pin receiving process, the first fourth limiting element is set parallel to the horizontal plane, and the second fourth limiting element is set perpendicular to the horizontal plane; when the second pin receiving fixture 3000 performs the second pin transfer process, the second fourth limiting element is set parallel to the horizontal plane, and the first fourth limiting element is set perpendicular to the horizontal plane.

[0197] In some of these embodiments, the fourth limiting element includes, but is not limited to, a limiting post or a limiting plate.

[0198] The third load-bearing mechanism 3030 is detachably connected to the second rotating mechanism 3020, including but not limited to bolted connections. The purpose of this design is to facilitate the replacement of different specifications of the third load-bearing mechanism 3030 according to different needs.

[0199] In some embodiments, the third bearing mechanism 3030 includes a third bearing element and a third positioning element. The third bearing element is disposed on the second rotating element and is used to rotate with the second rotating element; the third positioning element is disposed on the third bearing element and is used to position the second pin.

[0200] In some of these embodiments, the third positioning element is disposed at the top of the third bearing element.

[0201] In some of these embodiments, the third positioning element includes, but is not limited to, a positioning groove.

[0202] The second vertical motion mechanism 3040 is detachably connected to the third load-bearing mechanism 3030, including but not limited to bolted connections. The purpose of this design is to facilitate adjustment of the position of the second vertical motion mechanism 3040 according to different needs.

[0203] In this invention, the second vertical motion mechanism 3040 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0204] In some embodiments, the second vertical motion mechanism 3040 is described as being powered by a cylinder. Specifically, the second vertical motion mechanism 3040 includes a third vertical main body element, at least one third vertical sliding element, at least one second vertical channel element, at least one second vertical interface element, a fourth vertical main body element, and at least one fourth vertical sliding element. The third vertical main body element is disposed on the side of the third bearing mechanism 3030; the third vertical sliding element passes through the third vertical main body element; the second vertical channel element passes through the third vertical main body element and is connected to the third vertical sliding element; the second vertical interface element is disposed on the side of the third vertical main body element, the first end of the second vertical interface element is connected to the corresponding second vertical channel element, and the second end of the second vertical interface element is connected to the air source conveying device; the fourth vertical main body element is disposed on the side of the third abutting mechanism 3050 and is used to drive the third abutting mechanism 3050 to reciprocate along a preset direction; the fourth vertical sliding element is disposed on the side of the fourth vertical main body element and is slidably connected to the third vertical sliding element and is used to drive the fourth vertical main body element to reciprocate along a preset direction under the action of the air source conveying device.

[0205] In some embodiments, the third vertical main body element includes, but is not limited to, the sliding block body.

[0206] The third vertical sliding element is located inside the third vertical main body element and extends through the bottom end of the third vertical main body element.

[0207] When there are multiple third vertical sliding elements, the multiple third vertical sliding elements are spaced apart along the width direction of the third vertical main element.

[0208] When there are multiple third vertical sliding elements, the outermost third vertical sliding element is connected to the second vertical channel element.

[0209] In some of these embodiments, the third vertical sliding element has a T-shaped or right-angled cross-section.

[0210] In some embodiments, the third vertical sliding element includes, but is not limited to, a movable cavity, a movable groove, etc.

[0211] The second vertical channel element is positioned to penetrate the side of the third vertical main element.

[0212] When there are multiple second vertical channel elements, these elements are distributed on the sides of the third vertical main body element. For example, the multiple second vertical channel elements are spaced apart along the height direction of the third vertical main body element.

[0213] Preferably, there are two second vertical channel elements. One second vertical channel element is disposed near the first end of the third vertical sliding element, and the other second vertical channel element is disposed near the second end of the third vertical sliding element.

[0214] In some of these embodiments, the second vertical channel element includes, but is not limited to, a gas channel.

[0215] The second vertical interface element is detachably connected to the second vertical channel element, including but not limited to plug-in and threaded connections.

[0216] The number of second vertical interface elements matches the number of second vertical channel elements. Generally, the number of second vertical interface elements is equal to the number of second vertical channel elements, meaning there is a one-to-one correspondence between the second vertical interface elements and the second vertical channel elements.

[0217] In some of these embodiments, the second vertical interface element includes, but is not limited to, a gas interface.

[0218] In some of these embodiments, the fourth vertical main body element includes, but is not limited to, the movable block body.

[0219] Generally, the fourth vertical sliding element and the third vertical sliding element are in a non-separable sliding connection.

[0220] The number of fourth vertical sliding elements matches the number of third vertical sliding elements. Generally, the number of fourth vertical sliding elements is equal to the number of third vertical sliding elements. That is, there is a one-to-one correspondence between the fourth and third vertical sliding elements.

[0221] When there are multiple fourth vertical sliding elements, these elements are spaced apart along the width direction of the fourth vertical main element.

[0222] In some of these embodiments, the fourth vertical sliding element has a T-shaped or right-angled cross-section.

[0223] In some embodiments, the fourth vertical sliding element includes, but is not limited to, a movable rod or a movable column.

[0224] The third abutting mechanism 3050 is detachably connected to the second vertical movement mechanism 3040, including but not limited to bolt connections. The purpose of this design is to facilitate adjustments to the specifications and position of the third abutting mechanism 3050 according to different needs.

[0225] In some embodiments, the third abutting mechanism 3050 includes, but is not limited to, abutting cylinder, abutting plate, abutting base, etc.

[0226] The third lateral motion mechanism 3060 is detachably connected to the third load-bearing mechanism 3030, including but not limited to bolted connections. The purpose of this design is to facilitate adjustment of the position of the third lateral motion mechanism 3060 according to different needs.

[0227] In this invention, the third lateral motion mechanism 3060 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0228] In some embodiments, the third lateral movement mechanism 3060 is described using a cylinder-powered system. Specifically, the third lateral movement mechanism 3060 includes a third lateral main body element, at least one third lateral sliding element, at least one second lateral channel element, at least one second lateral interface element, a fourth lateral main body element, and at least one fourth lateral sliding element. The third lateral main body element is disposed on the side of the third bearing mechanism 3030; the third lateral sliding element passes through the third lateral main body element; the second lateral channel element passes through the third lateral main body element and communicates with the third lateral sliding element; the second lateral interface element is disposed on the side of the third lateral main body element, with its first end communicating with the corresponding second lateral channel element and its second end communicating with the air source delivery device; the fourth lateral main body element is disposed on the side of the fourth abutment mechanism 3070 and is used to drive the fourth abutment mechanism 3070 to reciprocate in a preset direction; the fourth lateral sliding element is disposed on the side of the fourth lateral main body element and is slidably connected to the third lateral sliding element, and is used to drive the fourth lateral main body element to reciprocate in a preset direction under the action of the air source delivery device.

[0229] In some of these embodiments, the third lateral body element includes, but is not limited to, the sliding block body.

[0230] The third lateral sliding element is located inside the third lateral main body element and extends through the bottom end of the third lateral main body element.

[0231] When there are multiple third transverse sliding elements, the multiple third transverse sliding elements are spaced apart along the width direction of the third transverse main element.

[0232] When there are several third transverse sliding elements, the outermost third transverse sliding element is connected to the second transverse channel element.

[0233] In some of these embodiments, the third transverse sliding element has a T-shaped or right-angled cross-section.

[0234] In some of these embodiments, the third lateral sliding element includes, but is not limited to, a movable cavity, a movable groove, etc.

[0235] The second transverse channel element is positioned to pass through the side of the third transverse main element.

[0236] When there are multiple second transverse channel elements, these elements are distributed on the sides of the third transverse main body element. For example, the multiple second transverse channel elements are spaced apart along the height direction of the third transverse main body element.

[0237] Preferably, there are two second transverse channel elements. One second transverse channel element is disposed near the first end of the third transverse sliding element, and the other second transverse channel element is disposed near the second end of the third transverse sliding element.

[0238] In some of these embodiments, the second lateral channel element includes, but is not limited to, a gas channel.

[0239] The second lateral interface element is detachably connected to the second lateral channel element, including but not limited to plug-in and threaded connections.

[0240] The number of second lateral interface elements matches the number of second lateral channel elements. Generally, the number of second lateral interface elements equals the number of second lateral channel elements, meaning there is a one-to-one correspondence between the second lateral interface elements and the second lateral channel elements.

[0241] In some of these embodiments, the second lateral interface element includes, but is not limited to, a gas interface.

[0242] In some of these embodiments, the fourth lateral body element includes, but is not limited to, the movable block body.

[0243] Generally, the fourth lateral sliding element and the third lateral sliding element are in a non-separable sliding connection.

[0244] The number of fourth lateral sliding elements matches the number of third lateral sliding elements. Generally, the number of fourth lateral sliding elements is equal to the number of third lateral sliding elements. That is, there is a one-to-one correspondence between the fourth and third lateral sliding elements.

[0245] When there are multiple fourth transverse sliding elements, the multiple fourth transverse sliding elements are spaced apart along the width direction of the fourth transverse main element.

[0246] In some of these embodiments, the fourth transverse sliding element has a T-shaped or right-angled cross section.

[0247] In some of these embodiments, the fourth lateral sliding element includes, but is not limited to, a movable rod or a movable column.

[0248] The fourth abutting mechanism 3070 is detachably connected to the third lateral movement mechanism 3060, including but not limited to bolt connection. The purpose of this design is to facilitate adjustment of the specifications and position of the fourth abutting mechanism 3070 according to different needs.

[0249] In some embodiments, the fourth abutting mechanism 3070 includes, but is not limited to, abutting plate, abutting base, etc.

[0250] Furthermore, the second pin receiving fixture 3000 also includes a fifth sensing mechanism 3080. The fifth sensing mechanism 3080 is disposed within the third bearing mechanism 3030 and is used to sense the second pin.

[0251] Furthermore, the third bearing mechanism 3030 also includes a second through element. The second through element passes through the side of the third bearing element and communicates with the third positioning element, for the fifth sensing mechanism 3080 to sense whether the third positioning element is provided with a first pin.

[0252] The fifth sensing mechanism 3080 is disposed on the side of the third bearing element, and its sensing end is aligned with the second through element.

[0253] In some embodiments, the fifth sensing mechanism 3080 includes, but is not limited to, photoelectric sensors.

[0254] Furthermore, the second pin receiving fixture 3000 also includes a sixth sensing mechanism 3090. The sixth sensing mechanism 3090 is disposed in the third bearing mechanism 3030 and is used to sense the third abutting mechanism 3050.

[0255] Generally, the sixth sensing mechanism 3090 is positioned close to the third positioning element.

[0256] In some embodiments, the sixth sensing mechanism 3090 includes, but is not limited to, an inductive proximity sensor.

[0257] Furthermore, the second pin receiving fixture 3000 also includes a seventh sensing mechanism 3100. The seventh sensing mechanism 3100 is located in the third lateral movement mechanism 3060 and is used to sense the fourth abutting mechanism 3070.

[0258] Generally, the seventh sensing mechanism 3100 is positioned close to the third positioning element.

[0259] In some embodiments, the seventh sensing mechanism 3100 includes, but is not limited to, an inductive proximity sensor.

[0260] Furthermore, the second pin receiving fixture 3000 also includes a second waste recycling mechanism 3110. The second waste recycling mechanism 3110 is disposed of in the second support mechanism 3010 and is used to recycle discarded second pins.

[0261] The second waste recycling mechanism 3110 is detachably connected to the second support mechanism 3010, including but not limited to bolt connections. This design allows for easy adjustment of the position of the second waste recycling mechanism 3110 according to different needs.

[0262] In some of these embodiments, the second waste recycling mechanism 3110 includes, but is not limited to, a waste recycling bin.

[0263] like Figures 10-11 As shown, the press-fitting fixture 4000 includes a third support mechanism 4010, a fourth transverse motion mechanism 4020, a third vertical motion mechanism 4030, and an adsorption mechanism 4040. The third support mechanism 4010 is located on a horizontal plane; the fourth transverse motion mechanism 4020 is located on the third support mechanism 4010; the third vertical motion mechanism 4030 is located on the fourth transverse motion mechanism 4020 and is used to reciprocate between the first pin receiving station and the pressing station under the action of the fourth transverse motion mechanism 4020, and to reciprocate between the second pin receiving station and the pressing station; the adsorption mechanism 4040 is located on the third vertical motion mechanism 4030 and is used to follow the third vertical motion mechanism 4030 in reciprocating between the first pin receiving station and the pressing station, and in reciprocating between the second pin receiving station and the pressing station, and to reciprocate in the vertical direction under the action of the third vertical motion mechanism 4030, adsorb the first pin at the first pin receiving station, press the first pin to the workpiece to be assembled at the pressing station, adsorb the second pin at the second pin receiving station, and press the second pin to the workpiece to be assembled at the pressing station.

[0264] In some embodiments, the third support mechanism 4010 includes two longitudinal support elements and a transverse support element. The two longitudinal support elements are vertically arranged and located on both sides of the first track element, respectively; the transverse support element is connected to the top of the two longitudinal support elements and is equipped with a fourth transverse motion mechanism 4020.

[0265] In some embodiments, the lateral support element has a U-shaped structure. Specifically, the lateral support element includes two first horizontal support members and two second horizontal support members. The two first horizontal support members are symmetrically arranged; the two second horizontal support members are also symmetrically arranged, with each second horizontal support member having its two ends connected to the ends of the two first horizontal support members, respectively.

[0266] The space formed between the two first horizontal support members and the two second horizontal support members allows the third vertical motion mechanism 4030 to reciprocate in the horizontal direction.

[0267] In some of these embodiments, the third support mechanism 4010 includes, but is not limited to, a mounting frame, a mounting support frame, etc.

[0268] In this invention, the fourth lateral motion mechanism 4020 is a linear motion module driven by a linear motor. Its working principle is to convert electrical energy into linear motion using the electromagnetic induction principle of the linear motor. Generally, a linear motor includes a stator and a mover; the stator generates a magnetic field, and the mover achieves linear motion under the influence of the magnetic field.

[0269] In some embodiments, the fourth lateral motion mechanism 4020 includes a second driving element, a second track element, and a second sliding element. The second driving element is disposed on a horizontal plane; the second track element is disposed on a horizontal plane; the second sliding element is slidably connected to the second track element and is also connected to the second driving element and the third vertical motion mechanism 4030, respectively. Under the action of the second driving element, the third vertical motion mechanism 4030 reciprocates along the second track element between the first pin receiving station and the pressing station, and reciprocates between the second pin receiving station and the pressing station.

[0270] In some of these embodiments, the second drive element is a linear motor.

[0271] In some of these embodiments, the second orbital element is made of aluminum alloy.

[0272] In some embodiments, the second track element is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the second sliding element can move precisely in a straight line along a predetermined path.

[0273] In some of these embodiments, the second sliding element is made of high-strength alloy steel.

[0274] In some embodiments, the second sliding element is a slider. It works in conjunction with the second track element (guide rail) to carry the third vertical motion mechanism 4030 and slide along the second track element (guide rail).

[0275] In this invention, the third vertical motion mechanism 4030 can be electrically driven (such as a drive motor) or pneumatically driven (such as a cylinder).

[0276] Generally, the power end of the third vertical motion mechanism 4030 is located at the upper end of the horizontal support element, and the output end of the third vertical motion mechanism 4030 is located at the lower end of the horizontal support element.

[0277] In some embodiments, the third vertical motion mechanism 4030 includes a first mounting element and a third driving element. The first mounting element is connected to the second sliding element and is used to follow the second sliding element in reciprocating motion in the horizontal direction; the third driving element is disposed on the first mounting element and connected to the adsorption mechanism 4040, and is used to drive the adsorption mechanism 4040 in reciprocating motion in the vertical direction.

[0278] In some of these embodiments, the first mounting element includes, but is not limited to, a mounting plate.

[0279] In some of these embodiments, the third driving element includes, but is not limited to, a drive motor.

[0280] The adsorption mechanism 4040 is detachably connected to the third vertical motion mechanism 4030, including but not limited to bolt connections. This design allows for easy adjustment of the position of the adsorption mechanism 4040 according to different needs.

[0281] In some embodiments, the adsorption mechanism 4040 includes an adsorption element and an adsorption interface element. The adsorption element is connected to a third vertical motion mechanism 4030 for adsorbing or desorbing workpieces and for reciprocating vertically under the action of the third vertical motion mechanism 4030. The adsorption interface element is disposed on the adsorption element to provide a gas passage.

[0282] In some of these embodiments, the adsorption element includes, but is not limited to, an adsorption nozzle.

[0283] In some of these embodiments, the adsorption interface element includes, but is not limited to, a connector.

[0284] Furthermore, the adsorption mechanism 4040 also includes a second mounting element. The second mounting element is disposed on the adsorption element.

[0285] Generally, the connection end of the adsorption element (i.e. the end connected to the third vertical motion mechanism 4030) is located at the upper part of the second mounting element, and the adsorption end of the adsorption element is located at the lower part of the second mounting element.

[0286] In some of these embodiments, the second mounting element includes, but is not limited to, a mounting plate.

[0287] Furthermore, the press-fitting fixture 4000 also includes a negative pressure mechanism 4050. The negative pressure mechanism 4050 is connected to the adsorption mechanism 4040 and is used to provide negative pressure to the adsorption mechanism 4040.

[0288] Specifically, the negative pressure mechanism 4050 is connected to the adsorption interface element.

[0289] In some of these embodiments, the negative pressure mechanism 4050 is a vacuum generator, a vacuum pump, a vacuum valve, etc.

[0290] Furthermore, the pressing fixture 4000 also includes at least one eighth sensing mechanism 4060. The eighth sensing mechanism 4060 is disposed on the side of the fourth transverse motion mechanism 4020 and is used to sense the third vertical motion mechanism 4030.

[0291] Specifically, the eighth sensing mechanism 4060 is located at the end of the second track element.

[0292] In some embodiments, there are multiple eighth sensing mechanisms 4060. These eighth sensing mechanisms 4060 are distributed at both ends of the fourth lateral movement mechanism 4020. That is, each end of the fourth lateral movement mechanism 4020 is provided with at least one eighth sensing mechanism 4060.

[0293] The eighth sensing mechanism 4060 is detachably connected to the second track element, including but not limited to bolt connections. The purpose of this design is to facilitate adjusting the position of the eighth sensing mechanism 4060 according to different needs, thereby adjusting the range of motion of the first sliding element.

[0294] In some embodiments, the eighth sensing mechanism 4060 is a sensor, including but not limited to an encoder, a grating ruler, etc.

[0295] Furthermore, the pressing fixture 4000 also includes at least one second guide mechanism 4070. The second guide mechanism 4070 is disposed on the side of the fourth transverse motion mechanism 4020 and is connected to the third support mechanism 4010 and the third vertical motion mechanism 4030 respectively, in order to improve the motion stability of the third vertical motion mechanism 4030.

[0296] Specifically, the second guide mechanism 4070 is disposed at the bottom end of the transverse support element and located on the side of the second track element, and is connected to the transverse support element and the first mounting element respectively.

[0297] In some embodiments, there are multiple second guide mechanisms 4070. These second guide mechanisms 4070 are symmetrically arranged on both sides of the third vertical motion mechanism 4030. That is, at least one second guide mechanism 4070 is provided on each side of the third vertical motion mechanism 4030.

[0298] In some embodiments, the second guide mechanism 4070 includes a second auxiliary track element and at least one second auxiliary sliding element. The second auxiliary track element is disposed on the third support mechanism 4010 and located on the side of the second track element; the second auxiliary sliding element is slidably connected to the second auxiliary track element and connected to the first mounting element to improve the motion stability of the first mounting element.

[0299] The dimensions of the second auxiliary track element are matched with those of the second track element. Generally, the length of the second auxiliary track element is not greater than the length of the second track element.

[0300] The distance between the second auxiliary track element and the second track element can be adjusted according to actual needs.

[0301] In some of these embodiments, the second auxiliary track element is made of aluminum alloy.

[0302] In some embodiments, the second auxiliary track element is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the second auxiliary sliding element can move precisely in a straight line along a predetermined path.

[0303] The second auxiliary sliding element is detachably connected to the first mounting element, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first mounting element with different specifications according to different needs.

[0304] In some embodiments, there are multiple second auxiliary sliding elements. These multiple second auxiliary sliding elements are spaced apart from the second auxiliary track element and are detachably connected to the first mounting element.

[0305] In some of these embodiments, the second auxiliary sliding element is made of high-strength alloy steel.

[0306] In some embodiments, the second auxiliary sliding element is a slider. It works in conjunction with a second auxiliary track element (guide rail) to carry the first mounting element and slide along the second auxiliary track element (guide rail).

[0307] Furthermore, the pressing fixture 4000 also includes at least one third guiding mechanism 4080. The third guiding mechanism 4080 is connected to the third vertical motion mechanism 4030 and the adsorption mechanism 4040 respectively, and is used to improve the motion stability of the adsorption mechanism 4040.

[0308] Specifically, the third guide mechanism 4080 is connected to the first mounting element and the second mounting element respectively.

[0309] In some embodiments, there are multiple third guide mechanisms 4080. These third guide mechanisms 4080 are symmetrically arranged on both sides of the adsorption mechanism 4040. That is, at least one third guide mechanism 4080 is provided on each side of the adsorption mechanism 4040.

[0310] In some embodiments, the third guide mechanism 4080 includes a guide element and a bearing element. The top end of the guide element is slidably connected to the first mounting element, and the bottom end of the guide element is connected to the second mounting element; the bearing element is disposed at the bottom of the first mounting element and slidably connected to the guide element.

[0311] The bottom end of the guide element is detachably connected to the second mounting element, such as by bolting or plugging.

[0312] In some of these embodiments, the guiding elements include, but are not limited to, guide shafts and guide posts.

[0313] The bearing element is detachably connected to the first mounting element, such as by bolting or plugging.

[0314] The dimensions of the bearing element are matched with those of the guide element. Generally, the inner diameter of the bearing element is equal to the diameter of the guide element, and the height of the bearing element is less than the height of the guide element.

[0315] In some of these embodiments, the bearing element includes, but is not limited to, a linear bearing.

[0316] The method of using this utility model is as follows:

[0317] At the workpiece loading station, the workpiece to be assembled is placed into the first bearing mechanism 1020; the support mechanism 1030 operates, holding the workpiece in place; the first lateral movement mechanism 1010 operates, driving the first bearing mechanism 1020 to move to the pressing station; when the first bearing mechanism 1020 reaches the pressing station, the first sensing mechanism 1040 senses the first bearing mechanism 1020, and the first lateral movement mechanism 1010 stops operating; (simultaneously, the limiting mechanism 1060 restricts the first bearing mechanism 1020 to achieve double protection and prevent excessive movement of the first bearing mechanism 1020).

[0318] At the first pin receiving station, the second bearing mechanism 2030 carries the first pin; the second sensing mechanism 2080 senses the first pin, and the first vertical movement mechanism 2040 and the second horizontal movement mechanism 2060 operate to drive the first abutting mechanism 2050 and the second abutting mechanism 2070 to move to preset positions to abut the first pin; the third sensing mechanism 2090 senses the first abutting mechanism 2050 and the fourth sensing mechanism 2100 senses the second abutting mechanism 2070, and the first rotating mechanism 2020 operates to drive the second bearing mechanism 2030 to rotate to the preset position;

[0319] The fourth horizontal motion mechanism 4020 operates, driving the third vertical motion mechanism 4030 to move to the first pin receiving station; the eighth sensing mechanism 4060 senses the third vertical motion mechanism 4030, and the fourth horizontal motion mechanism 4020 stops operating; the third vertical motion mechanism 4030 operates, driving the adsorption mechanism 4040 downward to a preset position; the negative pressure mechanism 4050 operates, causing the adsorption mechanism 4040 to adsorb the first pin; after adsorption is completed, the first vertical motion mechanism 2040 and the second horizontal motion mechanism 2060 operate to move away from the first pin; the third vertical motion mechanism 4030 operates, driving the adsorption machine... The adsorption mechanism 4040 moves upward to a preset position; the fourth lateral movement mechanism 4020 operates, driving the adsorption mechanism 4040 to move to the pressing station; when the adsorption mechanism 4040 reaches the pressing station, the eighth sensing mechanism 4060 senses the third vertical movement mechanism 4030, and the fourth lateral movement mechanism 4020 stops operating; at the pressing station, the third vertical movement mechanism 4030 operates, driving the adsorption mechanism 4040 to move downward to press the first pin into the workpiece; after pressing is completed, the adsorption mechanism 4040 releases its adsorption of the first pin, and the third vertical movement mechanism 4030 operates to reset the adsorption mechanism 4040;

[0320] At the second pin receiving station, the third bearing mechanism 3030 carries the second pin; the fifth sensing mechanism 3080 senses the second pin, and the second vertical movement mechanism 3040 and the third horizontal movement mechanism 3060 operate to drive the third abutting mechanism 3050 and the fourth abutting mechanism 3070 to move to the preset position to abut the second pin; the sixth sensing mechanism 3090 senses the third abutting mechanism 3050 and the seventh sensing mechanism 3100 senses the fourth abutting mechanism 3070, and the second rotating mechanism 3020 operates to drive the third bearing mechanism 3030 to rotate to the preset position;

[0321] The fourth horizontal motion mechanism 4020 operates, driving the third vertical motion mechanism 4030 to move to the second pin receiving station; the eighth sensing mechanism 4060 senses the third vertical motion mechanism 4030, and the fourth horizontal motion mechanism 4020 stops operating; the third vertical motion mechanism 4030 operates, driving the adsorption mechanism 4040 downward to a preset position; the negative pressure mechanism 4050 operates, causing the adsorption mechanism 4040 to adsorb the second pin; after adsorption is completed, the second vertical motion mechanism 3040 and the third horizontal motion mechanism 3060 operate to move away from the second pin; the third vertical motion mechanism 4030 operates, driving the adsorption machine... The fourth transverse motion mechanism 4020 moves upward to a preset position; the fourth transverse motion mechanism 4020 operates, driving the adsorption mechanism 4040 to move to the pressing station; when the adsorption mechanism 4040 reaches the pressing station, the eighth sensing mechanism 4060 senses the third vertical motion mechanism 4030, and the fourth transverse motion mechanism 4020 stops operating; at the pressing station, the third vertical motion mechanism 4030 operates, driving the adsorption mechanism 4040 to move downward to press the second pin into the workpiece; after pressing is completed, the adsorption mechanism 4040 releases its adsorption of the second pin, and the third vertical motion mechanism 4030 operates to reset the adsorption mechanism 4040;

[0322] The first transverse motion mechanism 1010 operates, driving the first bearing mechanism 1020 to move, so as to transfer the assembled workpiece to the workpiece loading station.

[0323] Repeat the above steps until the first and second pins of all workpieces are assembled.

[0324] The technical effects of this embodiment are as follows: The pressing fixture is automatically assembled by a single-axis robot (i.e., the third vertical motion mechanism), ensuring the verticality and height of the pin pressing, thus guaranteeing the consistency of product assembly; the pressing operation is automatically pressed by a servo press, which can set the pressure and displacement range to achieve high-precision pressing of the product and improve the pressing yield; the installation efficiency is high, ensuring that the first and second pins are installed in place, avoiding the problem of excessive pressure damaging the product; and the manual intervention is reduced, improving production efficiency.

[0325] Example 2

[0326] This embodiment relates to the automatic pin pressing system of this utility model.

[0327] like Figure 12As shown, an automatic pin pressing system includes an automatic pin pressing device A, a first pin feeding device B, and a second pin feeding device C as described in Embodiment 1. The first pin feeding device B is located on the side of the automatic pin pressing device A and supplies the first pin to the first pin receiving fixture 2000 of the automatic pin pressing device A. The second pin feeding device C is located on the side of the automatic pin pressing device A and supplies the second pin to the second pin receiving fixture 3000 of the automatic pin pressing device A.

[0328] Generally, the first pin feeding device B is located on the side of the first pin receiving fixture 2000.

[0329] In some embodiments, the first pin feeding device B includes, but is not limited to, a vibratory feeding device.

[0330] Generally, the second pin feeding device C is located on the side of the second pin receiving fixture 3000.

[0331] In some embodiments, the second pin feeding device C includes, but is not limited to, a vibratory feeding device.

[0332] Furthermore, the automatic pin pressing system also includes an air supply device D. The air supply device D is connected to the automatic pin pressing device A.

[0333] Specifically, the gas supply device D is connected to the support mechanism 1030, the first rotating mechanism 2020, the first vertical motion mechanism 2040, the second horizontal motion mechanism 2060, the second rotating mechanism 3020, the second vertical motion mechanism 3040, and the third horizontal motion mechanism 3060 respectively.

[0334] In some of these embodiments, the gas delivery device D includes, but is not limited to, an air pump.

[0335] Furthermore, the automatic pin pressing system also includes a control device E. The control device E is connected to the automatic pin pressing device A, the first pin feeding device B, and the second pin feeding device C, respectively.

[0336] Specifically, the control device E is connected to the first lateral movement mechanism 1010, the support mechanism 1030, the first sensing mechanism 1040, the first rotation mechanism 2020, the first vertical movement mechanism 2040, the second lateral movement mechanism 2060, the second sensing mechanism 2080, the third sensing mechanism 2090, the fourth sensing mechanism 2100, the second rotation mechanism 3020, the second vertical movement mechanism 3040, the third lateral movement mechanism 3060, the fifth sensing mechanism 3080, the sixth sensing mechanism 3090, the seventh sensing mechanism 3100, the fourth lateral movement mechanism 4020, the third vertical movement mechanism 4030, the adsorption mechanism 4040, the negative pressure mechanism 4050, and the eighth sensing mechanism 4060.

[0337] In addition, control device E is also connected to gas supply device D.

[0338] In some of these embodiments, the control device E includes, but is not limited to, a central control unit, a PLC, etc.

[0339] The usage method of this embodiment is basically the same as that of Embodiment 1, and will not be repeated here.

[0340] The technical effects of this embodiment are basically the same as those of Embodiment 1, and will not be repeated here.

[0341] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic pin pressing device, characterized in that, include: A workpiece transfer fixture is provided on a horizontal plane and is used to carry the workpiece and reciprocate between the workpiece loading station and the pressing station. The first pin receiving fixture is disposed on a horizontal plane and located on one side of the workpiece transfer fixture, and is used to carry the first pin at the first pin receiving station. The second pin receiving fixture is set on a horizontal plane and located on the other side of the workpiece transfer fixture, and is used to carry the second pin at the second pin receiving station. A pressing fixture, which is set on a horizontal plane, is used to absorb a first pin at a first pin receiving station, press the first pin onto the workpiece to be assembled at a pressing station, absorb a second pin at a second pin receiving station, and press the second pin onto the workpiece to be assembled at a pressing station.

2. The automatic pin pressing device according to claim 1, characterized in that, The workpiece transfer fixture includes: A first transverse motion mechanism is provided on a horizontal plane. A first pin receiving fixture is provided on one side of the first transverse motion mechanism, and a second pin receiving fixture is provided on the other side of the first transverse motion mechanism. The first bearing mechanism is disposed on the first transverse motion mechanism and is used to bear the workpiece and reciprocate between the workpiece loading station and the pressing station under the action of the first transverse motion mechanism. At least one support mechanism is provided on the first bearing mechanism for supporting the workpiece.

3. The automatic pin pressing device according to claim 2, characterized in that, The workpiece transfer fixture also includes: At least one first sensing mechanism, disposed at the end of the first lateral movement mechanism, is used to sense the first bearing mechanism; and / or At least one first guide mechanism is provided, which is disposed on the side of the first lateral movement mechanism and connected to the first bearing mechanism, for improving the movement stability of the first bearing mechanism.

4. The automatic pin pressing device according to claim 3, characterized in that, The workpiece transfer fixture also includes: At least one limiting mechanism is provided at the end of the corresponding first guide mechanism to limit the position of the first bearing mechanism.

5. The automatic pin pressing device according to claim 1, characterized in that, The first pin receiving fixture includes: A first support mechanism is disposed on a horizontal plane and located on one side of the workpiece transfer fixture; A first rotating mechanism is disposed on the first support mechanism; The second bearing mechanism is disposed on the first rotating mechanism and is used to receive the first pin at the first pin receiving station and rotate under the action of the first rotating mechanism. A first vertical motion mechanism is disposed on the second bearing mechanism; The first abutting mechanism is disposed on the first vertical movement mechanism and is used to reciprocate in a preset direction under the action of the first vertical movement mechanism to approach or move away from the bottom of the first pin. The second lateral movement mechanism is disposed on the second bearing mechanism; The second abutting mechanism is disposed within the second lateral movement mechanism and is used to reciprocate in a preset direction under the action of the second lateral movement mechanism to approach or move away from the side of the first pin; and / or The second pin receiving fixture includes: The second support mechanism is disposed on a horizontal plane and located on the other side of the workpiece transfer fixture; The second rotating mechanism is disposed on the second support mechanism; The third bearing mechanism is disposed on the second rotating mechanism and is used to receive the second pin at the second pin receiving station and rotate under the action of the second rotating mechanism. The second vertical motion mechanism is disposed on the second bearing mechanism; The third abutting mechanism is disposed on the second vertical movement mechanism and is used to reciprocate in a preset direction under the action of the second vertical movement mechanism to approach or move away from the bottom of the second pin. The third lateral movement mechanism is disposed on the third bearing mechanism; The fourth abutting mechanism is disposed on the third lateral movement mechanism and is used to reciprocate in a preset direction under the action of the third lateral movement mechanism to approach or move away from the side of the second pin.

6. The automatic pin pressing device according to claim 5, characterized in that, The first pin receiving fixture also includes: A second sensing mechanism, disposed on the second supporting mechanism, is used to sense the first pin; and / or The first pin receiving fixture also includes: A third sensing mechanism, disposed on the second supporting mechanism, is used to sense the first abutting mechanism; and / or The first pin receiving fixture also includes: A fourth sensing mechanism, disposed on the second bearing mechanism, is used to sense the second abutment mechanism; and / or The first pin receiving fixture also includes: A first waste recycling mechanism, disposed of on the first support mechanism, is used to recycle discarded first pins; and / or The second pin receiving fixture also includes: A fifth sensing mechanism, disposed on the third bearing mechanism, is used to sense the second pin; and / or The second pin receiving fixture also includes: A sixth sensing mechanism, disposed on the third bearing mechanism, is used to sense the third abutment mechanism; and / or The second pin receiving fixture also includes: A seventh sensing mechanism, disposed on the third bearing mechanism, is used to sense the fourth abutment mechanism; and / or The second pin receiving fixture also includes: The second waste recycling mechanism, which is located on the second support mechanism, is used to recycle the discarded second pins.

7. The automatic pin pressing device according to claim 1, characterized in that, The pressing fixture includes: A third support mechanism, wherein the third support mechanism is disposed on a horizontal plane; The fourth lateral movement mechanism is disposed on the third support mechanism; The third vertical motion mechanism is disposed on the fourth horizontal motion mechanism and is used to reciprocate between the first pin receiving station and the pressing station and to reciprocate between the second pin receiving station and the pressing station under the action of the fourth horizontal motion mechanism. An adsorption mechanism is provided on the third vertical motion mechanism. It is used to follow the third vertical motion mechanism in reciprocating between the first pin receiving station and the pressing station, and in reciprocating between the second pin receiving station and the pressing station. It also reciprocates in the vertical direction under the action of the third vertical motion mechanism. The adsorption mechanism adsorbs the first pin at the first pin receiving station, presses the first pin onto the workpiece to be assembled at the pressing station, adsorbs the second pin at the second pin receiving station, and presses the second pin onto the workpiece to be assembled at the pressing station.

8. The automatic pin pressing device according to claim 7, characterized in that, The pressing fixture also includes: A negative pressure mechanism, connected to the adsorption mechanism, is used to provide negative pressure to the adsorption mechanism; and / or At least one eighth sensing mechanism, the eighth sensing mechanism being disposed on the side of the fourth lateral motion mechanism, for sensing the third vertical motion mechanism; and / or At least one second guide mechanism is provided, which is disposed on the side of the fourth lateral motion mechanism and connected to the third support mechanism and the third vertical motion mechanism respectively, for improving the motion stability of the third vertical motion mechanism; and / or At least one third guiding mechanism is provided, which is connected to the third vertical motion mechanism and the adsorption mechanism respectively, and is used to improve the motion stability of the adsorption mechanism.

9. An automatic pin pressing system, characterized in that, include: Automatic pin pressing device as described in any one of claims 1 to 8; The first pin feeding device is located on the side of the automatic pin pressing device and is used to supply the first pin to the first pin receiving fixture of the automatic pin pressing device. The second pin feeding device is located on the side of the automatic pin pressing device and is used to supply the second pin to the second pin receiving fixture of the automatic pin pressing device.

10. The automatic pin pressing system according to claim 9, characterized in that, Also includes: An air supply device, wherein the air supply device is connected to the automatic pin pressing device; and / or A control device is connected to the automatic pin pressing device, the first pin feeding device, and the second pin feeding device, respectively.

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