Injection pen assembly apparatus

Abstract

An injection pen assembly device comprises a rack, a magnetic drive ring line module is installed on the rack, around the magnetic drive ring line module, in the order of process sequence, an empty assembly jig detection module, a lower pen shell feeding module, an upper pen shell feeding module, a PFS feeding module, a PFS pressing module, an upper pen shell pre-assembly module, an upper pen shell pressing module, a detection module and a discharging module are sequentially installed on the rack. Through the cooperation of each module, the lower pen shell, the upper pen shell and the PFS are automatically assembled into an injection pen; through the assembly and detection of the injection pen parts, the qualified finished product of the injection pen is finally obtained, and the OK product and the NG product are collected. Realize the automatic assembly of the injection pen, improve the production efficiency and the product yield.

Description

Technical Field

[0001] This invention relates to the field of automation, particularly to the field of automated assembly of injection pens, and specifically to an injection pen assembly device. Background Technology

[0002] Currently, the assembly process of injection pens is quite cumbersome due to manual operation. The specific steps are: inserting the pre-filled spectrometer (PFS) into the lower pen housing, pressing the PFS into place, assembling the upper pen housing onto the lower pen housing, and then pressing the upper and lower pen housings together firmly. Because the assembly of injection pens is entirely manual, problems frequently arise such as the PFS or upper pen housing not being pressed into place properly, or being installed in the wrong direction, resulting in low assembly efficiency. To solve these problems, this device was developed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an injection pen assembly device that can semi-automatically complete the assembly of a specified injection pen, solve the problems of improper installation, misalignment, and low assembly efficiency during the assembly process, and improve work efficiency and assembly quality.

[0004] To solve the above-mentioned technical problems, the present invention provides an injection pen assembly device, including a frame, on which a magnetic drive ring wire module is mounted. Around the magnetic drive ring wire module, according to the process sequence, a blank assembly fixture detection module, a lower pen shell feeding module, an upper pen shell feeding module, a PFS feeding module, a PFS pressing module, an upper pen shell pre-assembly module, an upper pen shell pressing module, a detection module, and a feeding module are sequentially mounted on the frame; wherein: The magnetic drive ring line module includes a magnetic drive ring line and several movers arranged on the magnetic drive ring line. At least one assembly fixture is arranged on the movers. The assembly fixture is used to place the lower pen shell, PFS and upper pen shell of the injection pen, and to assemble them to finally form the injection pen. The magnetic drive ring line carries the movers to move along each station for product transportation between stations. The empty assembly fixture detection module is used to check whether there is an injection pen or foreign object in the assembly fixture on the moving part. The lower pen shell loading module is used to transport the lower pen shell into the assembly fixture; The upper pen shell feeding module is used to transport the upper pen shell into the assembly fixture, and is separately arranged in the assembly fixture from the lower pen shell. The PFS loading module is used to transport the PFS to the lower pen shell in the assembly fixture; The PFS press-fit module is used to press the PFS down into a predetermined position in the lower pen shell; The upper pen shell pre-assembly module is used to transport the upper pen shell on the assembly fixture to the lower pen shell assembled with PFS; The upper pen shell pressing module is used to press the upper pen shell down to the fixed position of the lower pen shell to complete the assembly of the injection pen. The detection module is used to detect whether the assembled injection pen is OK material or NG material; The feeding module is used to remove and collect NG / OK materials respectively.

[0005] Preferably, the assembly fixture has a plurality of fixtures arranged in sequence. The fixture includes a fixture body, a clamping mechanism, and an upper pen shell fixture. The fixture body is provided with a receiving hole for placing the lower pen shell. The clamping mechanism is telescopically disposed on the fixture body for clamping the lower pen shell inserted into the receiving hole. The upper pen shell fixture is disposed on the fixture body on one side of the receiving hole for placing the lower pen shell.

[0006] Preferably, the clamping mechanism includes clamping blocks, clamping block guide shafts, and springs. The fixture body has an I-shaped structure. Clamping blocks are slidably disposed in grooves on opposite sides of the fixture body. The clamping block guide shaft passes through one clamping block and connects to the other clamping block. The spring passes through the clamping block guide shaft, with one end abutting against the end of the clamping block guide shaft and the other end abutting against the clamping block through which it passes. The spring is in a compressed state. Through holes for accommodating the lower pen shell are respectively opened from the upper end to the lower end of the fixture body. The through holes and the two clamping blocks combine to form accommodating holes for accommodating the lower pen shell.

[0007] Preferably, the lower pen shell feeding module includes a feeding Y-axis linear module, a picking Z-axis linear module, a picking Y-axis linear module, and an unlocking mechanism. The feeding Y-axis linear module is located on one side of the magnetic drive annular line, and the picking Y-axis linear module is located above the magnetic drive annular line. The linear displacement directions of the feeding Y-axis linear module and the picking Y-axis linear module are perpendicular to the displacement direction of the magnetic drive annular line. The picking Z-axis linear module is fixedly mounted on the picking Y-axis linear module, and a set of linear modules facing the feeding Y-axis linear module are provided on the picking Z-axis linear module. The device includes gripper cylinders, each equipped with gripper blocks facing the Y-axis linear module for feeding. A pen shell placement fixture is provided on the Y-axis linear module for feeding. The pen shells are manually placed on this fixture. A Z-shaped linear module for picking up the pen shells from the fixture and transfers them to an assembly fixture on the moving part. The Y-shaped linear module for picking up the pen shells is used to move the Z-shaped linear module to the required position. An unlocking mechanism is used to release the clamping mechanism of the assembly fixture on the moving part, facilitating the placement of the pen shells.

[0008] Preferably, the pen shell placement fixture is provided with a plurality of pen shell receiving holes in sequence. A gripping cylinder and a sensor are provided on the pen shell placement fixture on one side of the pen shell receiving hole. The gripping cylinder corresponds one-to-one with the pen shell receiving hole. The sensor is used to sense whether a pen shell is placed in the pen shell receiving hole. The gripping cylinder clamps the pen shell placed in the pen shell receiving hole to position it.

[0009] Preferably, the upper pen shell feeding module and the PFS feeding module each include: a feeding Y-axis linear module, a picking Z-axis linear module, and a picking Y-axis linear module. The feeding Y-axis linear module is located on one side of the magnetic drive annular line, and the picking Y-axis linear module is located above the magnetic drive annular line. The linear displacement directions of the feeding Y-axis linear module and the picking Y-axis linear module are perpendicular to the displacement direction of the magnetic drive annular line. The picking Z-axis linear module is fixedly mounted on the picking Y-axis linear module. A set of gripper cylinders facing the feeding Y-axis linear module is provided on the picking Z-axis linear module. The feed Y-axis linear module is equipped with gripper blocks facing the feed Y-axis linear module; a pen shell placement fixture or PFS placement fixture is provided on the feed Y-axis linear module. The pen shell or PFS is placed manually on the pen shell placement fixture or PFS placement fixture. A sensor for sensing the pen shell or PFS is provided on one side of the pen shell placement fixture or PFS placement fixture. The pick-up Z-type linear module grips the pen shell or PFS on the pen shell placement fixture or PFS placement fixture and transports it to the corresponding position in the assembly fixture on the mover. The pick-up Y-type linear module is used to move the pick-up Z-type linear module to the required position.

[0010] Preferably, the PFS pressing module and the upper pen shell pressing module include a bracket, a linear displacement lead screw module mounted on the bracket, a motor, and a pressing head. The motor drives the lead screw module to move linearly, and the pressing head is located at the lower end of the lead screw module. The lead screw module drives the pressing head to move linearly up and down. When pressing is required, the lead screw module drives the pressing head to press the upper pen shell or PFS downward along the lower pen shell to the required position.

[0011] Preferably, the upper pen shell pre-assembly module includes a bracket, a Z-axis linear module for material handling, a Y-axis linear module for material handling, a gripper cylinder, and a gripper block; the top of the bracket is equipped with the Y-axis linear module for material handling, and the linear displacement direction of the Y-axis linear module for material handling is the same as the displacement direction of the mover at the upper pen shell pre-assembly process; the Z-axis linear module for material handling is provided on the Y-axis linear module for material handling, and the Z-axis linear module for material handling is located above the displacement path of the mover; the Z-axis linear module for material handling is equipped with a gripper cylinder, and a gripper block is provided on the gripper cylinder, and the gripper block is correspondingly provided with the upper pen shell in the upper pen shell placement fixture placed on the mover.

[0012] Preferably, the detection module includes brackets disposed on opposite sides of the magnetic drive ring line module, and a detection camera is disposed on the brackets. The camera is used to detect whether the injection pen assembled on the actuator is OK material or NG material.

[0013] Preferably, the unloading module includes an unlocking mechanism and a robotic arm. The unlocking mechanism is located on opposite sides of the magnetic drive toroidal module and is used to release the clamping mechanism of the assembly fixture on the mover, facilitating the removal of the injection pen. The robotic arm is located on one side of the magnetic drive toroidal module, and a pitch-changing module is provided at the free end of the robotic arm. A gripping cylinder and a compensating gripping cylinder are provided on the pitch-changing module, and grippers are respectively provided on the gripping cylinder and the compensating gripping cylinder. The gripper of the compensating gripping cylinder is used to grip and collect the injection pens that are determined to be NG material on the assembly fixture of the mover, and the gripper of the gripping cylinder is used to grip and collect the injection pens that are determined to be OK material on the assembly fixture of the mover.

[0014] Preferably, the unlocking mechanism includes brackets spaced apart on opposite sides of the magnetic drive annular line, with cylinders mounted on the brackets and pressure plates fixedly connected to the cylinders. The pressure plates on the two brackets are respectively positioned towards the magnetic drive annular line. When the mover, carrying the assembly fixture, moves to the space between the two brackets at the unlocking mechanism, the cylinders on opposite sides of the magnetic drive annular line drive the pressure plates to move, thereby driving the clamping mechanisms to open from opposite sides of the magnetic drive annular line via the pressure plates. This is used to place the lower pen casing between the clamping mechanisms or to remove the assembled injection pen from between the clamping mechanisms. When the cylinders, carrying the pressure plates, return to their original positions, the clamping mechanisms also return to their original positions.

[0015] The injection pen assembly equipment of the present invention is fully automated except for manual feeding. Through automated operation, the assembly and inspection of each part of the injection pen are realized, and the parts are classified and collected according to OK and NG materials, so that the assembly quality of the injection pen tends to be consistent, thereby improving assembly efficiency and assembly quality. Attached Figure Description

[0016] Figure 1 This is a structural diagram showing the relative positions of the various modules in this invention.

[0017] Figure 2-1 This is a schematic diagram of the moving part structure of a magnetic drive toroidal module.

[0018] Figure 2-2 This is a schematic diagram of the overall structure of a separate fixture on the mover.

[0019] Figure 2-3 This is a schematic diagram of the exploded structure of the jig.

[0020] Figure 3This is a schematic diagram of the unlocking mechanism.

[0021] Figure 4 This is a schematic diagram of the empty assembly fixture testing module.

[0022] Figure 5-1 This is a schematic diagram of the pen shell feeding module and unlocking mechanism.

[0023] Figure 5-2 This is a schematic diagram of the Y-axis linear module structure for material feeding.

[0024] Figure 5-3 This is a schematic diagram of the Z-axis linear module for material handling.

[0025] Figure 6 This is a schematic diagram of the Y-axis linear module structure for loading the upper pen shell.

[0026] Figure 7 This is a schematic diagram of the Y-axis linear module structure for PFS feeding.

[0027] Figure 8 This is a structural schematic diagram of the PFS press-fit module.

[0028] Figure 9 This is a structural diagram of the pre-assembled module for the upper pen shell.

[0029] Figure 10 This is a schematic diagram of the detection module.

[0030] Figure 11 This is a schematic diagram of the material feeding module structure.

[0031] Figure 12 This is a schematic diagram of the structure between the variable pitch module and the gripper cylinder on the feeding module.

[0032] Figure 13 This is a schematic diagram of the injection pen structure.

[0033] Figure label: Frame 1, Magnetic Drive Circular Line Module 4, Empty Assembly Fixture Inspection Module 5, Lower Pen Shell Loading Module 6, Upper Pen Shell Loading Module 7, PFS Loading Module 8, PFS Pressing Module 9, Upper Pen Shell Pre-assembly Module 10, Upper Pen Shell Pressing Module 11, Inspection Module 12 and Unloading Module 13, Mover 14, Assembly Fixture 16, Connecting Plate 17, Fixture Body 18, Clamping Block 19, Clamping Block Guide Shaft 20, Spring 21, Upper Pen Shell Fixture 22, Upper Pen Shell Platform 23, Pressure Plate 25, Cylinder 26, Bracket 27, Bracket 28, Camera 29, Loading Y-axis Linear Module 30, Loading Clamping Cylinder 31, Sensor 32, Lower Pen Shell Placement Fixture 33 34. Safety light curtain; 35. Material picking Z-axis linear module; 36. Material picking Y-axis linear module; 37. Bracket; 38. Material picking gripper cylinder; 39. Gripper block; 40. Start button; 41. Bracket; 42. Screw module; 43. Motor; 44. Pressure gauge; 45. Pressure head; 46. Bracket; 47. Camera; 48. Robotic arm; 49. Variable pitch module; 50. OK material gripper cylinder; 51. Gripper; 52. NG material gripper cylinder; 53. Storage box; 54. Injection pen A; 2. Lower pen shell; 3. Upper pen shell; 56. PFS; 57. Upper pen shell placement fixture; 58. PFS placement fixture; 60. Screw; 181. Flat plate structure; 182. Vertical support plate; 183. Pad; 184. Positioning block. Detailed Implementation

[0034] Regarding the above technical solutions, preferred embodiments are now described in detail with reference to the figures.

[0035] The injection pen assembly device of the present invention is described in detail below. Figure 13 The injection pen A includes a lower pen shell 2, an upper pen shell 3, and a PFS56. During assembly, the PFS56 is assembled in the lower pen shell 2, and then the upper pen shell 3 is assembled in the upper pen shell 3 to form the injection pen.

[0036] The injection pen assembly device of the present invention is described in detail below. Figure 1 The system includes a frame 1, a magnetic drive ring line module 4 mounted on the frame 1, and an empty assembly fixture detection module 5, a lower pen shell loading module 6, an upper pen shell loading module 7, a PFS loading module 8, a PFS pressing module 9, an upper pen shell pre-assembly module 10, an upper pen shell pressing module 11, a detection module 12, and a unloading module 13 arranged along the magnetic drive ring line module 4, wherein: The magnetic drive toroidal module 4 is mounted on the frame 1. Twelve movers 14 are spaced apart along the magnetic drive toroidal module 4, and the movers 14 circulate around the magnetic drive toroidal line. (See attached image) Figure 2-1 An assembly fixture 16 is installed on the mover 14. During operation, along with the start of the magnetic drive ring line module 4, the mover 14, carrying the assembly fixture 16, will move sequentially with each station to achieve the purpose of cyclic automatic assembly.

[0037] In the magnetic drive toroidal module 4, see... Figures 2-1 to 2-3Five assembly fixtures 16 are arranged sequentially on the mover 14, and are fixed to the mover 14 by connecting plates 17. Each assembly fixture 16 consists of a fixture body 18, a clamping mechanism, an upper pen shell fixture 22, and an upper pen shell platform 23. The clamping mechanism includes clamping blocks 19, clamping block guide shafts 20, and springs 21. The fixture body 18 has vertically spaced flat plate structures 181, with vertical support plates 182 positioned between them. The flat plate structures 181 and the vertical support plates 182 form an I-shaped fixture body 18. Slide rails are located on the bottom flat plate structures on opposite sides of the vertical support plates. Clamping blocks 19 are slidably mounted on the slide rails between the upper and lower flat plate structures on opposite sides of the vertical support plates. An arc-shaped groove is provided on the end face of the clamping block 19 facing the vertical support plate 181. Circular through holes are respectively provided at the positions of the upper and lower flat plate structures corresponding to the positions of the vertical support plate 181, and corresponding gaps are provided at the positions of the circular through holes on the support plate 181. A through hole for the clamping block guide shaft 20 to pass through is provided on the clamping block 19. A blind hole is also provided at the end of the clamping block 19 facing the vertical support plate 182 for the end of the clamping block guide shaft 20 to pass through. Correspondingly, a through hole for the clamping block guide shaft 20 to pass through is provided on the vertical support plate 182. The clamping block guide shaft 20 located on the same side of the vertical support plate passes through the clamping block 19 and the vertical support plate 182 on the same side and enters the blind hole of the opposite clamping block 19. Then, a screw 60 is inserted from one side into the blind hole to tighten and position the clamping block guide shaft 20. A spring 21 is fitted onto the clamping block guide shaft 20, and the spring 21 abuts against the free end of the clamping block 19 and the clamping block guide shaft 20. Under the action of the spring 21, the clamping block 19 abuts against the opposite sides of the vertical support plate 181, forming a vertical receiving cavity between the two clamping blocks 19 and the vertical support plate, corresponding to the circular through holes of the upper and lower flat plate structures. The lower pen shell can be placed in the vertical receiving cavity, and under the action of elasticity, the lower pen shell is locked and fixed by the clamping blocks 19. A pad 183 is provided below the fixture body 18, and the flat plate structure at the bottom of the fixture body 18 is fixedly connected to the pad 183 by screws. A stepped hole is provided at the position of the circular through hole of the upper and lower flat plate structures on the pad 183. A positioning block 184 for inserting and positioning the lower pen shell is provided in the stepped hole. The positioning block 184 is nested in the stepped hole, and a vertical positioning post is provided on the end face of the positioning block 184 facing the lower pen shell. When the lower pen shell 2 is inserted from the top of the fixture body 18 into the circular through hole and into the stepped hole of the pad 183, the vertical positioning pin is inserted into the end of the lower pen shell 2 to position it.When the lower pen shell 2 is inserted, the unlocking mechanism applies external force to the clamping block guide shafts 20 located on opposite sides of the vertical support plate 182. The clamping block guide shafts 20 push the clamping block 19 on the other side of the vertical support plate 182 along the slide rail away from the vertical support plate 182, allowing the lower pen shell 2 to be inserted. After insertion, the unlocking mechanism resets, removing the force applied to the clamping block guide shafts 20. Under the spring force, the clamping block 19 moves towards the vertical support plate, clamping the inserted lower pen shell 2 and locking it in place. The same procedure is followed when the lower pen shell needs to be removed. Therefore, unlocking structures are provided at the lower pen shell feeding module 6 and the unloading module 13 of the lower pen shell 2.

[0038] See Figure 3 The unlocking mechanism includes a bracket 27, a pressure plate 25, and a cylinder 26. The magnetic drive ring module 4 has brackets 27 on opposite sides. A cylinder 26 is fixedly mounted on the bracket 27, and a pressure plate 25 is fixedly mounted on the extension end of the cylinder 26. The pressure plate 25 is located on the outer side of the bracket 27 facing the mover 14. When the mover 14, carrying the assembly fixture 16, moves to the unlocking mechanism, the cylinder 26 actuates, driving the pressure plate 25 to move towards the mover 14. From opposite sides of the assembly fixture 16, the pressure plates 25 respectively press against the clamping block guide shaft 20 located on the same side, causing the clamping blocks 19 to move towards the pressure plate under the force of the pressure plate 25, thus releasing the lower pen shell 2 and unlocking it.

[0039] An upper pen shell platform 23 is fixedly mounted on the main body 18 of the fixture. The upper pen shell platform 23 has a corresponding circular through hole at the circular through hole of the main body 18 for inserting a lower pen shell. An upper pen shell fixture 22 is mounted on the upper pen shell platform 23 on one side of the circular through hole for inserting the lower pen shell 2. A vertical through hole is formed in the upper pen shell fixture 22 for inserting an upper pen shell 3. At least two limiting protrusions are provided on the upper pen shell platform 23 at the position corresponding to the vertical through hole for inserting the upper pen shell. When the upper pen shell is inserted, the limiting protrusions are located in the hollow portion at the end of the upper pen shell, and the upper pen shell is positioned by the vertical through hole and the limiting protrusions.

[0040] Empty assembly fixture inspection module 5, see Figure 4 The empty assembly fixture inspection module 5 includes a bracket 28 and a camera 29. The bracket 28 is located on one side of the magnetic drive ring line module 4. The camera 29 is connected and fixed to the top of the bracket 28 through a connecting plate. The camera 29 takes pictures of the assembly fixture on the moving part 14 from top to bottom to determine whether there are materials or foreign objects on the assembly fixture 16.

[0041] The working principle of the empty assembly fixture detection module 5: When the mover 14 moves the assembly fixture 16 to the station of the empty assembly fixture detection module 5, the camera takes pictures to detect whether there are materials or foreign objects in each assembly fixture 16. If there are no foreign objects, the module can wait until the mover 14 moves to the pen shell loading module 6 to load the pen shell. If there are foreign objects, the module will not load the pen shell and will issue an alarm. The pen shell can only be loaded after the foreign object is manually removed.

[0042] The pen shell feeding module 6 is located adjacent to the empty assembly fixture inspection module 5, and is the process following the empty assembly fixture inspection module 5. (See attached image.) Figures 5-1 to 5-3 After the empty assembly fixture inspection module 5, the pen shell loading module 6 is set up. The pen shell loading module 6 includes: a loading Y-axis linear module 30, a loading gripper cylinder 31, a sensor 32, a pen shell placement fixture 33, a safety light curtain 34, a picking Z-axis linear module 35, a picking Y-axis linear module 36, a bracket 37, a picking gripper cylinder 38, a gripper block 39, and a start button 40.

[0043] An unlocking mechanism is located at the position of the lower pen shell feeding module 6. Gate-shaped supports 37 are positioned on both sides of the unlocking mechanism, spanning the magnetic drive annular linear module 4. A material-picking Y-axis linear module 36 is positioned at the top of the supports 37, with its displacement direction perpendicular to the moving part's running direction. A material-picking Z-axis linear module 35 is fixedly mounted on the material-picking Y-axis linear module 36. The material-picking Y-axis linear module 36, along with the material-picking Z-axis linear module 35, moves horizontally from the outside of the magnetic drive annular linear module 4 to above the unlocking mechanism. Below the material-picking Z-axis linear module 35 on the outside of the magnetic drive annular linear module 4, a feeding Y-axis linear module 30 is located (see reference). Figure 5-2 A pen shell placement fixture 33 is provided on the Y-axis linear module 30 for feeding. The fixture 33 has five accommodating holes for placing pen shells 2. On one side of the fixture 33, a feeding gripper cylinder 31 and a sensor 32 are provided corresponding to each accommodating hole. A safety light curtain 34 is provided at the manual feeding end of the Y-axis linear module 30. The Y-axis linear module 30 moves the pen shell placement fixture 33 to the manual feeding end. The operator places the pen shell 2 into the accommodating hole on the fixture 33. When the sensor 32 detects the pen shell 2, the feeding gripper cylinder 31 activates, gripping the pen shell 2 to ensure it is placed vertically. When the safety light curtain 34 detects a hand, the cylinder does not activate, ensuring operator safety. After the lower pen shell is placed, the Y-axis linear module 30 for loading moves the lower pen shell placement fixture 33 to below the Z-axis linear module 35 for picking up the pen shell.

[0044] See Figure 5-3A material-picking gripper cylinder 38 is fixedly installed on the Z-axis linear module 35 at the position corresponding to the receiving hole where the lower pen shell 2 is placed. A gripper block 39 is provided on the material-picking gripper cylinder 38. One material-picking gripper cylinder 38 corresponds to one lower pen shell 2.

[0045] The bracket 37 is installed on the frame 1, connecting the Y-axis linear module 36 for picking up materials, the Z-axis linear module 35 for picking up materials, and the picking gripper cylinder 38. The picking gripper cylinder 38 is equipped with gripper blocks 39. The Y-axis linear module 30 for feeding materials is installed on the frame 1. The safety light curtain 34 is installed on both sides of the Y-axis linear module 30 for feeding materials. The feeding gripper cylinder 31, the sensor 32, and the pen shell fixture 33 are installed on the Y-axis linear module 30 for feeding materials.

[0046] Working principle of the pen shell feeding module: When the mover 14 reaches the lower pen shell loading module, it is in the unlocking mechanism position. The cylinder 26 drives the pressure plate 25 to drive the clamping block guide shaft 20, causing the clamping block 19 to move away from the vertical support plate. Simultaneously, the loading Y-axis linear module 30, carrying the lower pen shell placement fixture 33, moves to the manual loading end. The operator places the lower pen shell into the receiving hole on the lower pen shell placement fixture 33 and presses the start button 40. The sensor 32 detects the lower pen shell, and the loading gripper cylinder 31 actuates, clamping the lower pen shell 2 to maintain its vertical position. The loading Y-axis linear module 30, carrying the lower pen shell placement fixture 33 containing the lower pen shell 2, moves to below the picking Z-axis linear module 35. The picking Z-axis linear module 35, carrying the clamping cylinder and gripper block 39, moves downwards together, clamping the corresponding lower pen shell 2, thus completing the loading process. The gripper cylinder 31 is released, and the Z-axis linear module 35 moves upward with the lower pen shell 2. Then, the Y-axis linear module 36 moves from the outside of the magnetic drive annular linear module 4 to above the unlocking mechanism, and the Z-axis linear module 35 moves downward, placing the lower pen shell 2 in the assembly fixture 16 on the mover 14. The lower end of the lower pen shell 2 is inserted into the limit block. The cylinder 26 retracts, and the clamping block guide shaft loses its force. Under the action of elasticity, the clamping blocks 19 move towards each other and clamp the lower pen shell 2. At the same time, the gripper cylinder 38 moves, releasing the lower pen shell 2. The Z-axis linear module 35 moves upward with the gripper cylinder 38 and the gripper block 39 to reset, repeating the feeding of the lower pen shell 2 for the next time. The mover 14 moves the lower pen shell 2 to the upper pen shell feeding module 7.

[0047] The upper pen shell feeding module 7 has a similar structure to the lower pen shell feeding module 6. (See attached image.) Figure 6The difference lies in that the upper pen shell 3's upper pen shell placement fixture on the Y-axis linear module does not have a loading gripper cylinder 31, but only a sensor 32, and no unlocking mechanism. The upper pen shell 3 is manually placed into the receiving hole of the upper pen shell placement fixture 57, and the start button 40 is pressed. The sensor 32 detects the upper pen shell 3, and the Y-axis linear module moves the upper pen shell placement fixture to the Z-axis linear module 35. The Z-axis linear module 35 grips the upper pen shell 3, and through the horizontal and vertical displacement of the Z-axis linear module 36 and the Z-axis linear module 35, the upper pen shell 3 is moved above the outer position 14 of the magnetic drive annular module 4 and placed into the upper pen shell fixture 22. Except for the loading gripper cylinder 31, the working principle of the upper pen shell loading module 7 and the lower pen shell loading module 6 is almost identical.

[0048] After the upper pen shell 3 is loaded, the mover 14 moves the lower pen shell 2 and the upper pen shell 3 to the PFS loading module 8.

[0049] The PFS feeding module 8 and the upper pen shell feeding module 7 have almost the same structure. See below. Figure 7 The difference lies in the structure of the PFS placement fixture 58 and the upper pen shell placement fixture 57. The PFS placement fixture 58 is a vertical tubular structure, and its length is shorter than that of the PFS 56. When the PFS 56 is placed on the PFS placement fixture 58, the lower end of the PFS 56 is supported by the bottom of the PFS placement fixture 58, and the upper end protrudes above the PFS placement fixture 58, making it convenient for the Z-axis linear module 35 to clamp the material.

[0050] The PFS loading module 8 uses the loading Y-axis linear module 30 to move the PFS56 placed on the PFS placement fixture 58 to below the picking Z-axis linear module 35. The picking Z-axis linear module 35 clamps the PFS56 on the PFS placement fixture 58. Through the vertical and horizontal displacement of the picking Z-axis linear module 35 and the picking Y-axis linear module 36, the picking Z-axis linear module 35 inserts the PFS56 into the lower pen shell 2 on the mover 14, completing the loading of the PFS loading module 8. Then, through the displacement of the mover 14, the assembly fixture 16, which has completed the PFS loading, is moved to the PFS pressing module 9 for PFS pressing.

[0051] PFS press-fit module 9, see Figure 8A bracket 41 is positioned on one side of the magnetic drive ring wire module 4. A lead screw module 42 is positioned on the side of the bracket 41 facing the assembly fixture path. The number of lead screw modules 42 corresponds to the number of assembly fixtures 16. Each lead screw module 42 generally includes a rotatable lead screw and a nut block threaded onto the lead screw. As the lead screw rotates, the nut block moves linearly along the lead screw. A motor 43 for driving the lead screw rotation is positioned above the lead screw module 42 and is fixedly mounted on the bracket 41. A pressure gauge 44 is fixedly connected to the nut block of the lead screw module 42, and a pressure head 45 is connected to the lower end of the pressure gauge 44. The pressure gauge 44 and pressure head 45 are located at the lower end of the lead screw module. The linear displacement of the lead screw module causes the pressure gauge 44 and pressure head 45 to move vertically. The pressure head 45 corresponds to the PFS56 placed on the lower pen housing 2 on the assembly fixture 16. The pressure head 45 has a pointed structure and a limiting step is provided on the outer periphery of the pointed structure. When the pressure head 45 is pressed down, the pointed part of the pressure head 45 is inserted into the hollow part at the upper end of the PFS 56. The limiting step of the pressure head 45 abuts against the upper end face of the PFS. The limiting step applies force to the end face of the PFS, pressing the PFS into the assembly position in the lower pen shell.

[0052] When the assembly fixture 16 moves the PFS placed on the lower pen shell to the PFS pressing module, the motor 43 drives the lead screw module 42 to move. The lead screw of the lead screw module moves the pressure head 45 toward the PFS56 on the assembly fixture 16 and contacts the PFS56, driving the PFS56 to press into the interior of the lower pen shell 2. During the pressing process of the pressure head 45 pressing the PFS, the pressure gauge 44 detects the pressure. When the pressure reaches the design requirement, it means that the pressing is in place. The motor 43 stops and then reverses. The lead screw module 42 moves the pressure head 45 up to reset, completing the pressing of one batch of PFS56, waiting for the arrival of the next batch of assembly fixtures. After the pressing of PFS56 is completed, the mover 14 continues to move to the upper pen shell pre-assembly module 10 to pre-assemble the upper pen shell 3.

[0053] Upper pen shell pre-installed module 10, see Figure 9 The system includes a bracket 51, a Z-axis linear module 52 for material handling, a Y-axis linear module 53 for material handling, a gripper cylinder 54, and a gripper block 55. The Y-axis linear module 53 is mounted on top of the bracket 51, and its linear displacement direction is the same as that of the mover 14 during this process. The Z-axis linear module 52 is located above the Y-axis linear module 53, positioned above the movement path of the mover 14. A gripper cylinder 54 is mounted on the Z-axis linear module 52, and a gripper block 55 is mounted on the cylinder 54. The gripper cylinder 54 and gripper block 55 correspond one-to-one with the upper pen shell 3. The bracket 51 is located on one side of the magnetic ring drive module 4.

[0054] The operating principle of the upper pen shell pre-assembly module 10 is as follows: When the mover 14 moves to the upper pen shell pre-assembly module 10 station with the assembly fixture 16, the gripper cylinder 54 opens. When the Y-axis linear module 53 moves the gripper cylinder 54 to the material picking point (above the upper pen shell fixture 22 of the mover 14), the Z-axis linear module 52 descends to the upper pen shell 3. The gripper cylinder 54 closes and clamps the upper pen shell 3. After the Z-axis linear module 52 moves the upper pen shell 3 to the origin, the Y-axis linear module 53 moves to the lower pen shell 2 where the PFS is placed, i.e., the material release point. The Z-axis linear module 52 descends to the lower pen shell 2 and inserts the upper pen shell 3 at the upper end of the lower pen shell 2. The gripper cylinder 54 opens to release the material. The Z-axis linear module 52 returns to the origin and waits for the next set of movers. The mover 14, which is pre-installed with the upper pen shell 3, is moved to the upper pen shell pressing module 11 to press the upper pen shell 3.

[0055] The upper pen shell pressing module 11 and the PFS pressing module 9 have similar structures, except that the pressing head structure of the upper pen shell pressing module 11 is different from that of the PFS pressing module 9. The pressing head of the upper pen shell pressing module 11 has a planar structure to facilitate pressing the upper end of the upper pen shell 3. The upper pen shell 3 is further pressed into the lower pen shell 2 by the upper pen shell pressing module 11 to complete the assembly of the injection pen. After assembly, the injection pen is moved to the detection module 12 by the mover 14 for detection.

[0056] Detection module 12, see Figure 10 It includes a bracket 46 and a camera 47. Two sets of cameras 47 are arranged on both sides of the displacement path of the mover 14. The cameras 47 are mounted on the bracket 46 and fixed to the frame 1 by the bracket 46.

[0057] The principle of the detection module 12 is as follows: When the moving part 14 moves the assembly fixture 16 to the detection module 12 station, the moving part 14 moves the assembly fixture 16 one by one and the camera 47 takes pictures. The computer recognizes the pictures and then detects whether the upper pen shell and PFS are pressed in place. After the detection is completed, the moving part 14 moves to the unloading module 13 to unload the material.

[0058] Material feeding module 13, see Figure 11 and Figure 12The unloading module 13 includes a robotic arm 48, a variable pitch module 49, an OK material gripper cylinder 50, a gripper 51, an NG material gripper cylinder 52, a storage box 53, and an unlocking mechanism. A robotic arm 48 is located on one side of the magnetic drive toroidal line module 4. A variable pitch module 49 is located at the free end of the robotic arm 48. An OK material gripper cylinder 50 is mounted on the variable pitch module 49, and a gripper 51 is mounted on the OK material gripper cylinder 50. An NG material gripper cylinder 52 is also mounted on the variable pitch module 49. The OK material gripper cylinder 50 is horizontally positioned, with the gripper 51 extending horizontally. The NG material gripper cylinder 52 is located on one side of the gripper 51, away from the OK material gripper cylinder 50, and is vertically positioned with its gripper facing downwards. The storage box 53 is located on one side of the magnetic drive toroidal line module 4, and contains OK and NG areas. An unlocking mechanism is provided at the magnetic drive ring line module 4 near the storage box 53. When the mover 14 moves to the unlocking mechanism at the unloading module 13, if all five sets of injection pens are tested OK, the robot arm 48 descends. When the gripper 51 is on both sides of the injection pen, the unlocking mechanism unlocks the assembly fixture 16, so that the clamping block 19 no longer clamps the assembled injection pen. The OK material gripper cylinder 50 clamps the injection pen, and the robot arm 48 moves the injection pen to the OK material area of ​​the storage box 53. If not all of the five fixtures are OK materials during testing, and there are NG materials, the NG material gripper cylinder 52 is used to clamp the NG materials separately to the NG material area of ​​the storage box 53, and then the OK material gripper cylinder 50 is used to clamp the OK materials to the OK material area of ​​the storage box 53. After the unloading is completed, the unlocking mechanism is released, and the mover 14 moves to the empty assembly fixture detection module 5 station to start the next assembly cycle. At this point, the injection pen assembly is completed.

[0059] The operation of each of the above modules is controlled by an electronic control module, which is a microcontroller.

Claims

1. An injection pen assembly device, characterized in that, The system includes a frame on which a magnetic drive toroidal wire module is mounted. Around the magnetic drive toroidal wire module, in sequence according to the process flow, the following modules are mounted on the frame: an empty assembly fixture inspection module, a lower pen shell loading module, an upper pen shell loading module, a PFS loading module, a PFS pressing module, an upper pen shell pre-assembly module, an upper pen shell pressing module, an inspection module, and a unloading module; wherein: The magnetic drive ring line module includes a magnetic drive ring line and several movers arranged on the magnetic drive ring line. At least one assembly fixture is arranged on the movers. The assembly fixture is used to place the lower pen shell, PFS and upper pen shell of the injection pen, and to assemble them to finally form the injection pen. The magnetic drive ring line carries the movers to move along each station for product transportation between stations. The empty assembly fixture detection module is used to check whether there is an injection pen or foreign object in the assembly fixture on the moving part. The lower pen shell loading module is used to transport the lower pen shell into the assembly fixture; The upper pen shell feeding module is used to transport the upper pen shell into the assembly fixture, and is separately arranged in the assembly fixture from the lower pen shell. The PFS loading module is used to transport the PFS to the lower pen shell in the assembly fixture; The PFS press-fit module is used to press the PFS down into a predetermined position in the lower pen shell; The upper pen shell pre-assembly module is used to transport the upper pen shell on the assembly fixture to the lower pen shell assembled with PFS; The upper pen shell pressing module is used to press the upper pen shell down to the fixed position of the lower pen shell to complete the assembly of the injection pen. The detection module is used to detect whether the assembled injection pen is OK material or NG material; The feeding module is used to remove and collect NG / OK materials respectively.

2. The injection pen assembly equipment according to claim 1, characterized in that, The assembly fixture includes a fixture body, a clamping mechanism, and an upper pen shell fixture. The fixture body is provided with a receiving hole for placing the lower pen shell. The clamping mechanism is telescopically mounted on the fixture body for clamping the lower pen shell inserted into the receiving hole. The upper pen shell fixture is mounted on the fixture body on one side of the receiving hole for placing the lower pen shell.

3. The injection pen assembly equipment according to claim 2, characterized in that, The clamping mechanism includes clamping blocks, clamping block guide shafts, and springs. The fixture body has an I-shaped structure. Clamping blocks are slidably disposed in grooves on opposite sides of the fixture body. The clamping block guide shaft passes through one clamping block and connects to the other clamping block. The spring passes through the clamping block guide shaft, with one end abutting against the end of the clamping block guide shaft and the other end abutting against the clamping block through which it passes. The spring is in a compressed state. Through holes for accommodating the lower pen shell are respectively opened from the upper end to the lower end of the fixture body. The through holes and the two clamping blocks combine to form accommodating holes for accommodating the lower pen shell.

4. The injection pen assembly equipment according to claim 2, characterized in that, The lower pen shell feeding module includes a feeding Y-axis linear module, a picking Z-axis linear module, a picking Y-axis linear module, and an unlocking mechanism. The feeding Y-axis linear module is located on one side of the magnetic drive annular line, and the picking Y-axis linear module is located above the magnetic drive annular line. The linear displacement directions of the feeding Y-axis linear module and the picking Y-axis linear module are perpendicular to the displacement direction of the magnetic drive annular line. The picking Z-axis linear module is fixedly mounted on the picking Y-axis linear module, and a set of clamps facing the feeding Y-axis linear module is provided on the picking Z-axis linear module. The device includes a gripper cylinder with gripper blocks facing the Y-axis linear module for feeding. A pen shell placement fixture is provided on the Y-axis linear module for feeding. The pen shells are manually placed on this fixture. A Z-shaped linear module for picking up the pen shells from the fixture and transfers them to the assembly fixture on the moving part. The Y-shaped linear module for picking up the pen shells is used to move the Z-shaped linear module to the required position. An unlocking mechanism is used to release the clamping mechanism of the assembly fixture on the moving part, facilitating the placement of the pen shells.

5. The injection pen assembly equipment according to claim 4, characterized in that, The pen shell placement fixture is provided with a plurality of pen shell receiving holes in sequence. A gripping cylinder and a sensor are provided on one side of the pen shell receiving hole. The gripping cylinder corresponds one-to-one with the pen shell receiving hole. The sensor is used to sense whether a pen shell is placed in the pen shell receiving hole. The gripping cylinder clamps the pen shell placed in the pen shell receiving hole to position it.

6. The injection pen assembly equipment according to claim 2, characterized in that, The upper pen shell feeding module and the PFS feeding module each include: a feeding Y-axis linear module, a picking Z-axis linear module, and a picking Y-axis linear module. The feeding Y-axis linear module is located on one side of the magnetic drive annular line, and the picking Y-axis linear module is located above the magnetic drive annular line. The linear displacement directions of the feeding Y-axis linear module and the picking Y-axis linear module are perpendicular to the displacement direction of the magnetic drive annular line. The picking Z-axis linear module is fixedly mounted on the picking Y-axis linear module. A set of gripper cylinders facing the feeding Y-axis linear module is provided on the picking Z-axis linear module, and each gripper cylinder is equipped with... The device includes gripper blocks facing the Y-axis linear module for feeding; a pen shell placement fixture or PFS placement fixture is provided on the Y-axis linear module for feeding, and the pen shell or PFS is placed manually on the pen shell placement fixture or PFS placement fixture. A sensor for sensing the pen shell or PFS is provided on one side of the pen shell placement fixture or PFS placement fixture. The Z-shaped linear module for picking up the pen shell or PFS is used to pick up the pen shell or PFS on the pen shell placement fixture or PFS placement fixture and transport it to the corresponding position in the assembly fixture on the mover. The Y-shaped linear module for picking up the pen shell is used to move the Z-shaped linear module for picking up the pen shell to the required position.

7. The injection pen assembly equipment according to claim 2, characterized in that, The PFS pressing module and the upper pen shell pressing module include a bracket, a linear displacement lead screw module mounted on the bracket, a motor, and a pressing head. The motor drives the lead screw module to move linearly, and the pressing head is located at the lower end of the lead screw module. The lead screw module drives the pressing head to move linearly up and down. When pressing is required, the lead screw module drives the pressing head to press the upper pen shell or PFS downward along the lower pen shell to the required position.

8. The injection pen assembly equipment according to claim 2, characterized in that, The upper pen shell pre-assembly module includes a bracket, a Z-axis linear module for material handling, a Y-axis linear module for material handling, a gripper cylinder, and a gripper block. The Y-axis linear module for material handling is mounted on the top of the bracket, and the linear displacement direction of the Y-axis linear module for material handling is the same as the displacement direction of the moving part at the upper pen shell pre-assembly process. The Z-axis linear module for material handling is set on the Y-axis linear module for material handling, and the Z-axis linear module for material handling is located above the displacement path of the moving part. The Z-axis linear module for material handling is set on the Z-axis linear module for material handling, and the gripper block is set on the gripper cylinder. The gripper block is correspondingly set with the upper pen shell in the upper pen shell placement fixture placed on the moving part.

9. The injection pen assembly equipment according to claim 2, characterized in that, The detection module includes brackets disposed on opposite sides of the magnetic drive toroidal module, and a detection camera is disposed on the brackets. The camera is used to detect whether the injection pen assembled on the actuator is OK material or NG material.

10. The injection pen assembly equipment according to claim 2, characterized in that, The unloading module includes an unlocking mechanism and a robotic arm. The unlocking mechanism is located on opposite sides of the magnetic drive toroidal module and is used to release the clamping mechanism of the assembly fixture on the mover, facilitating the removal of the injection pen. The robotic arm is located on one side of the magnetic drive toroidal module, and a pitch-changing module is provided at the free end of the robotic arm. A gripper cylinder and a compensating gripper cylinder are provided on the pitch-changing module, and grippers are respectively provided on the gripper cylinder and the compensating gripper cylinder. The gripper of the compensating gripper cylinder is used to grip and collect the injection pens that are determined to be NG material on the assembly fixture of the mover, and the gripper of the gripper cylinder is used to grip and collect the injection pens that are determined to be OK material on the assembly fixture of the mover.

11. The injection pen assembly device according to claim 4 or 10, characterized in that, The unlocking mechanism includes brackets spaced apart on opposite sides of the magnetic drive annular line. A cylinder is mounted on each bracket, and a pressure plate is fixedly connected to the cylinder. The pressure plates on the two brackets are respectively positioned towards the magnetic drive annular line. When the moving part, carrying the assembly fixture, moves to the space between the two brackets at the unlocking mechanism, the cylinders on opposite sides of the magnetic drive annular line drive the pressure plates to move. The pressure plates from opposite sides of the magnetic drive annular line then drive the clamping mechanisms to open, allowing the lower pen casing to be placed between the clamping mechanisms, or the assembled injection pen to be removed from between the clamping mechanisms. When the cylinders, carrying the pressure plates, return to their original positions, the clamping mechanisms also return to their original positions.

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