A feeding device of an injection pen assembly equipment

Abstract

The present application relates to the field of injection pen automatic assembly, and particularly to a feeding device of an injection pen assembly equipment, comprising a rack, a magnetic drive annular line module is installed on the rack, and the feeding device is respectively arranged at a lower pen barrel, an upper pen barrel and a PFS feeding station on one side of the magnetic drive annular line; the magnetic drive annular line module is used for moving the assembly jig on the mover at each station piece, and the feeding device combines horizontal displacement with vertical displacement to carry the lower pen barrel, the PFS and the upper pen barrel from one side of the magnetic drive annular line to the assembly jig on the upper surface of the mover. Through the feeding device, batch feeding can be realized, the automation of feeding is improved, and the production efficiency and product yield are improved.

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 a feeding device for an injection pen assembly equipment. Background Technology

[0002] Currently, the assembly process of injection pens is cumbersome due to manual operation. The specific steps are: inserting the pre-filled metal particulate air (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 entire assembly process is manual, it is inefficient, produces low-quality results, and incurs high labor costs. To automate the assembly of injection pens, it is necessary to automate the material loading process, thereby reducing manual labor intensity and ensuring consistent assembly quality. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a feeding device for an injection pen assembly equipment, which transports the lower pen shell, upper pen shell and PFS to the fixture for assembly, thereby improving assembly efficiency and assembly quality.

[0004] To solve the above-mentioned technical problems, the present invention provides a feeding device for an injection pen assembly equipment, characterized in that it includes a frame, on which a magnetic drive ring wire module is mounted, and feeding devices are respectively provided at the lower pen shell, upper pen shell, and PFS feeding station on one side of the magnetic drive ring wire module, wherein: The magnetic drive toroidal module is provided with several movers, and an assembly fixture for placing the lower pen shell, PFS and upper pen shell of the injection pen is provided on the movers, and the injection pen is finally assembled on it; the magnetic drive toroidal module carries the movers to move along each station for product transportation between stations. The feeding device uses a combination of horizontal and vertical linear displacement to transport the lower pen shell, PFS, and upper pen shell from one side of the magnetic drive ring line to the assembly fixture on the mover.

[0005] Preferably, the feeding device includes 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. At least one gripper cylinder facing the feeding Y-axis linear module is provided on the picking Z-axis linear module. The cylinder is equipped with gripper blocks facing the Y-axis linear module for feeding; a feeding fixture is provided on the Y-axis linear module for feeding. The Y-axis linear module for feeding moves the lower pen shell, upper pen shell, or PFS placed on the feeding fixture to the picking position of the Z-type linear module for picking up materials. The Z-type linear module for picking up materials uses the gripper cylinder to clamp the lower pen shell, upper pen shell, or PFS on the feeding fixture. Through the lifting and lowering of the Z-type linear module for picking up materials and the horizontal displacement of the Y-type linear module for picking up materials, the lower pen shell, upper pen shell, or PFS is placed on the assembly fixture on the moving part at the corresponding position.

[0006] Preferably, a sensor is provided on one side of the feeding fixture on the feeding Y-axis linear module.

[0007] Preferably, a gripper cylinder is also provided on one side of the loading fixture on the Y-axis linear module, and the gripper of the gripper cylinder is located above the loading fixture.

[0008] Preferably, a safety light curtain is provided at the feeding end of the Y-axis linear module for feeding.

[0009] Preferably, 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 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.

[0010] 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.

[0011] Preferably, an unlocking mechanism is also provided at the lower pen shell loading station. The unlocking mechanism includes brackets spaced apart on opposite sides of the magnetic drive annular line. A cylinder is provided on the bracket, and a pressure block is fixedly connected to the cylinder. The pressure blocks on the two brackets are respectively positioned towards the magnetic drive annular line. When the mover moves the carrier to the two brackets at the unlocking mechanism, the cylinders on opposite sides of the magnetic drive annular line drive the pressure blocks to move. The pressure blocks drive the guide shafts of the clamping blocks to move from opposite sides of the magnetic drive annular line, causing the two clamping blocks to move away from each other. Through the lifting of the Z-shaped linear module and the horizontal displacement of the Y-shaped linear module, the lower pen shell is placed into the assembly fixture, or the assembled injection pen is removed from between the clamping mechanisms. When the cylinder returns to its original position with the pressure block, the clamping mechanism returns to its original position.

[0012] The feeding device of the injection pen assembly equipment of the present invention, through the cooperation of at least two sets of Y-axis linear modules and Z-axis linear modules, transports the injection pen components from one side of the magnetic drive ring line to the assembly fixture of the mover, replacing most of the manual feeding labor. During the feeding process, the components are pre-assembled, which improves the feeding efficiency and the consistency of the placement position after feeding. Attached Figure Description

[0013] Figure 1 This is a structural diagram showing the relative positions of the various modules in this invention.

[0014] Figure 2-1 This is a schematic diagram of the moving part structure of a magnetic drive toroidal module.

[0015] Figure 2-2 This is a schematic diagram of the overall structure of a separate fixture on the mover.

[0016] Figure 2-3 This is a schematic diagram of the exploded structure of the jig.

[0017] Figure 3 This is a schematic diagram of the unlocking mechanism.

[0018] Figure 4 This is a schematic diagram of the empty assembly fixture testing module.

[0019] Figure 5-1 This is a schematic diagram of the pen casing feeding device and unlocking mechanism.

[0020] Figure 5-2 This is a schematic diagram of the Y-axis linear module structure for material feeding.

[0021] Figure 5-3 This is a schematic diagram of the Z-axis linear module for material handling.

[0022] Figure 6This is a schematic diagram of the Y-axis linear module structure for loading the upper pen shell.

[0023] Figure 7 This is a schematic diagram of the Y-axis linear module structure for PFS feeding.

[0024] Figure 8 This is a schematic diagram of the injection pen structure.

[0025] Figure label: Frame 1, Magnetic Drive Circular Line Module 4, Empty Carrier Detection Module 5, Lower Pen Shell Loading Device 6, Upper Pen Shell Loading Device 7, PFS Loading Device 8, 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, Support 27, Support 28, Camera 29, Loading Y-axis Linear Module 30, Loading Clamp Hand Pneumatic ... 31. Cylinder; 32. Sensor; 33. Lower pen shell loading fixture; 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; 40. Injection pen A; 2. Lower pen shell; 3. Upper pen shell; 56. PFS; 57. Upper pen shell loading fixture; 58. PFS loading fixture; 60. Screw; 181. Flat plate structure; 182. Vertical support plate; 183. Pad; 184. Positioning block. Detailed Implementation

[0026] Regarding the above technical solutions, preferred embodiments are now described in detail with reference to the figures.

[0027] The injection pen of the present invention, see Figure 8 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.

[0028] The feeding device of the injection pen assembly equipment of the present invention is shown in the figure. Figure 1 The frame 1, the magnetic drive ring line module 4 mounted on the frame 1, the empty carrier detection module 5, the feeding device and other processes of the assembly equipment are arranged along the magnetic drive ring line module 4. The feeding device includes the lower pen shell feeding device 6, the upper pen shell feeding device 7, and the PFS feeding device 8. The feeding device transports the lower pen shell, PFS and upper pen shell from one side of the magnetic drive ring line to the assembly fixture on the moving surface of the magnetic drive ring line for feeding, which facilitates the assembly of each assembly process after feeding.

[0029] in: 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 2-1An 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.

[0030] 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 post is inserted into the end of the lower pen shell 2 to position it.When the lower pen shell 2 is inserted, an external force is applied 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 force applied to the clamping block guide shafts 20 is removed. 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.

[0031] 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.

[0032] 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.

[0033] Empty vehicle detection module 5, see Figure 4 The empty vehicle detection 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 vehicle on the moving part 14 from top to bottom to determine whether there are materials or foreign objects on the assembly fixture 16.

[0034] Working principle of empty vehicle detection module 5: When the mover 14 moves the assembly fixture 16 to the station of empty vehicle 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 mover 14 can wait until it moves to the pen shell feeding device 6 to feed the pen shell. If there are foreign objects, the pen shell will not be fed and an alarm will be sounded. The pen shell can only be fed after the foreign object is manually removed.

[0035] The pen casing feeding device 6 is located adjacent to the empty vehicle detection module 5 and is the process following the empty vehicle detection module 5. (See attached image.) Figures 5-1 to 5-3 A pen shell loading device 6 is installed after the empty vehicle detection module 5. The pen shell loading device 6 includes: a loading Y-axis linear module 30, a loading gripper cylinder 31, a sensor 32, a pen shell loading 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.

[0036] An unlocking mechanism is located at the position of the lower pen shell feeding device 6. Gate-shaped supports 37 are located on both sides of the unlocking mechanism, spanning the magnetic drive annular linear module 4. A material-picking Y-axis linear module 36 is located on 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 loading fixture 33 is provided on the Y-axis linear module 30. The fixture has five accommodating holes for placing pen shells 2. On one side of the fixture, a loading gripper cylinder 31 and a sensor 32 are provided corresponding to each accommodating hole. A safety light curtain 34 is provided at the manual loading end of the Y-axis linear module 30. The Y-axis linear module 30 moves the pen shell loading fixture 33 to the manual loading end. The operator places the pen shell 2 into the accommodating hole on the fixture. When the sensor 32 detects the pen shell 2, the loading gripper cylinder 31 activates, clamping 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 the lower pen shell moves the lower pen shell loading fixture 33 to below the Z-axis linear module 35 for picking up the lower pen shell.

[0037] 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.

[0038] 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.

[0039] Working principle of the pen shell feeding device: When the mover 14 reaches the lower pen shell loading device, it is in the unlocking mechanism position. The cylinder 26 drives the pressure block 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 loading fixture 33, moves to the manual loading end. The operator places the lower pen shell into the receiving hole on the lower pen shell loading 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 loading 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 loading the lower pen shell. 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 device 7.

[0040] The upper pen shell feeding device 7 has a similar structure to the lower pen shell feeding device 6. (See attached image.) Figure 6The difference lies in that the upper pen shell loading fixture on the upper pen shell 3's loading 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 loading fixture 57, and the start button 40 is pressed. The sensor 32 senses the upper pen shell 3, and the loading Y-axis linear module moves the upper pen shell loading fixture to the picking Z-axis linear module 35. The picking Z-axis linear module 35 grips the upper pen shell 3, and through the horizontal and vertical displacement of the picking Y-axis linear module 36 and the picking Z-axis linear module 35, the upper pen shell 3 is moved above the outer position 14 of the magnetic drive annular linear 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 device 7 is almost identical to that of the lower pen shell loading device 6.

[0041] 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 device 8.

[0042] The PFS feeding device 8 and the upper pen shell feeding device 7 have almost the same structure. See below. Figure 7 The difference lies in the structure of the PFS loading fixture 58 and the upper pen shell loading fixture 57. The PFS loading 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 loading fixture 58, the lower end of the PFS 56 is supported by the bottom of the PFS loading fixture 58, and the upper end protrudes above the PFS loading fixture 58, making it convenient for the Z-axis linear module 35 to clamp the material.

[0043] The PFS loading device 8 uses the loading Y-axis linear module 30 to move the PFS56 placed on the PFS loading fixture 58 to below the picking Z-axis linear module 35. The picking Z-axis linear module 35 clamps the PFS56 on the PFS loading 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 device 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.

[0044] The structure of the PFS feeding device and the upper pen shell feeding device can also include a feeding clamp cylinder 31 on one side of the feeding fixture on the feeding Y-axis linear module, used to fix the upper pen shell or PFS.

[0045] The operation of each of the above modules is controlled by an electronic control module, which is a microcontroller.

Claims

1. A feeding device for an injection pen assembly equipment, characterized in that, The system includes a frame on which a magnetic drive ring wire module is mounted. Feeding devices are respectively installed at the lower pen shell, upper pen shell, and PFS feeding station on one side of the magnetic drive ring wire module. The magnetic drive toroidal module is provided with several movers, and an assembly fixture for placing the lower pen shell, PFS and upper pen shell of the injection pen is provided on the movers, and the injection pen is finally assembled on it; the magnetic drive toroidal module carries the movers to move along each station for product transportation between stations. The feeding device uses a combination of horizontal and vertical linear displacement to transport the lower pen shell, PFS, and upper pen shell from one side of the magnetic drive ring line to the assembly fixture on the mover.

2. The feeding device according to claim 1, characterized in that, The feeding device includes 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. At least one gripper cylinder facing the feeding Y-axis linear module is provided on the picking Z-axis linear module. A gripper block is provided facing the Y-axis linear module for feeding; a feeding fixture is provided on the Y-axis linear module for feeding. The Y-axis linear module for feeding feeds the lower pen shell, upper pen shell, or PFS placed on the feeding fixture to the picking position of the Z-type linear module for picking up materials. The Z-type linear module for picking up materials uses the gripper cylinder to clamp the lower pen shell, upper pen shell, or PFS on the feeding fixture. Through the lifting and lowering of the Z-type linear module for picking up materials and the horizontal displacement of the Y-type linear module for picking up materials, the lower pen shell, upper pen shell, or PFS is placed on the assembly fixture on the moving part at the corresponding position.

3. The feeding device according to claim 2, characterized in that, A sensor is installed on one side of the feeding fixture on the Y-axis linear module of the feeding unit.

4. The feeding device according to claim 3, characterized in that, A gripper cylinder is also provided on one side of the loading fixture on the Y-axis linear module of the loading unit, and the gripper of the gripper cylinder is located above the loading fixture.

5. The feeding device according to claim 4, characterized in that, A safety light curtain is provided at the feeding end of the Y-axis linear module for feeding.

6. The feeding device according to any one of claims 1 to 5, 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.

7. The feeding device according to claim 6, 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.

8. The feeding device according to claim 7, characterized in that, At the pen shell loading station, an unlocking mechanism is also provided. The unlocking mechanism includes brackets spaced apart on opposite sides of the magnetic drive annular line. A cylinder is mounted on the bracket, and a pressure block is fixedly connected to the cylinder. The pressure blocks on the two brackets are respectively positioned towards the magnetic drive annular line. When the mover moves the carrier to the two brackets at the unlocking mechanism, the cylinders on opposite sides of the magnetic drive annular line drive the pressure blocks to move. The pressure blocks drive the guide shafts of the clamping blocks to move from opposite sides of the magnetic drive annular line, causing the two clamping blocks to move away from each other. Through the lifting of the Z-shaped linear module and the horizontal displacement of the Y-shaped linear module, the pen shell is placed into the assembly fixture, or the assembled injection pen is removed from between the clamping mechanisms. When the cylinder returns to its original position with the pressure block, the clamping mechanism returns to its original position.

Images