Small iron piece locking machine

Abstract

The invention relates to the field of precise assembly, and provides a small iron part locking machine which comprises a first feeding assembly, a second feeding assembly, an execution assembly and an identification assembly, and the first feeding assembly and the second feeding assembly are used for feeding small iron parts and fastening screws correspondingly; in the material grabbing state, the execution assembly is used for grabbing the small iron parts and placing the small iron parts on the base material; in the locking state, the execution assembly is used for grabbing the fastening screw and connecting the small iron piece with the base material through the fastening screw; the identification assembly comprises a first identification unit, a second identification unit and a third identification unit; the first identification unit is used for identifying small iron pieces in a grabbing state; the second identification unit is used for identifying the relative orientation of the small iron piece and the execution assembly after the execution assembly grabs the small iron piece; the third identification unit is used for identifying the position of the base material. The problems that the assembling efficiency of the small iron sheets is low, and the positioning precision is low in the assembling process are solved.

Description

Technical Field

[0001] The present application relates to the field of precision assembly, and in particular to a small iron piece locking machine. Background Art

[0002] In the fields of electronic product manufacturing, precision assembly, etc., the assembly process of small iron parts is often involved. The small iron parts are placed in a specific area on the product (substrate) and then connected to the product by tightening screws.

[0003] At present, the assembly process of small iron parts is mainly completed by manual operation and automated equipment operation.

[0004] Manual operation is inefficient and difficult to meet production needs. Automated equipment operation generally uses manipulators and other components to grab small iron parts and assemble them. During the assembly process, multiple positioning (such as positioning of small iron parts and products) is required to ensure smooth assembly.

[0005] The automated assembly process involves multiple processes such as feeding small iron parts and fastening screws, grabbing and placing small iron parts, grabbing and connecting fastening screws, etc. Each process needs to be completed accurately to smoothly assemble. However, the complexity of the process will inevitably increase the probability of errors, which in turn affects the accuracy of positioning. For example, if the placement of the product deviates, it will cause a deviation in the positioning between the product and the small iron piece. Summary of the invention

[0006] In order to solve the problems of low assembly efficiency of small iron pieces and low positioning accuracy during the assembly process, the present application provides a small iron piece locking machine.

[0007] The small iron parts locking machine provided in this application adopts the following technical solution: A small iron locking machine, comprising: The first feeding assembly is used for feeding small iron pieces.

[0008] The second feeding assembly is used for feeding the fastening screws.

[0009] The execution component has a material grabbing state and a locking state.

[0010] In the material grabbing state, the execution component is used to grab the small iron piece and place the small iron piece on the substrate.

[0011] In the locked state, the actuator is used to grab the fastening screw and connect the small iron piece to the substrate through the fastening screw.

[0012] The identification component includes a first identification unit, a second identification unit and a third identification unit.

[0013] The first identification unit is used to identify the small iron piece in the material grabbing state.

[0014] The second identification unit is used to identify the relative position of the small iron piece and the execution component after the execution component grabs the small iron piece.

[0015] The third identification unit is used to identify the position of the substrate.

[0016] By adopting the above technical solution, the automatic supply, identification and locking process of small iron parts can be realized, thereby improving production efficiency and accuracy. Specifically: The first feeding assembly and the second feeding assembly are responsible for supplying small iron parts and fastening screws respectively, ensuring a continuous supply of materials.

[0017] The switching of the actuator between the grabbing state and the locking state realizes the precise grabbing and placement of small iron parts, as well as the function of fixing the small iron parts on the substrate by tightening the screws.

[0018] The first recognition unit, the second recognition unit and the third recognition unit in the recognition component are responsible for identifying the small iron piece, the relative position of the small iron piece and the execution component, and the position of the substrate, respectively, to ensure the accuracy of each link operation and reduce the error rate. Among them, the second recognition unit identifies the relative position of the small iron piece and the execution component, so that the execution component can accurately place the small iron piece in a specific area of ​​the substrate according to the relative position information and the position information of the substrate, so as to accurately complete the assembly process.

[0019] Preferably, the first feeding assembly comprises: The flipping unit is used to flip the small iron sheet to a preset posture.

[0020] A feeding unit is used to convey the small iron pieces to the turning unit.

[0021] The first recognition unit is used to recognize the small iron piece in the preset posture.

[0022] By adopting the above technical solution, the feeding and automatic turning of small iron pieces can be realized, ensuring that the small iron pieces are in the correct posture before being grasped, thereby improving the accuracy and efficiency of subsequent processes. At the same time, the first recognition unit recognizes the small iron pieces in the preset posture, which can further ensure that the execution component can accurately grasp the small iron pieces in the preset posture recognized by the first recognition unit.

[0023] Preferably, the flipping unit comprises a flexible vibration plate.

[0024] The feeding unit comprises a vibrating feeding plate, and the vibrating feeding plate comprises a feeding port and a guide portion, wherein the guide portion is used to connect the feeding port and the flexible vibration plate.

[0025] By adopting the above technical solution, the vibrating feeding plate can vibrate to transport the small iron pieces inside it into the flexible vibrating plate. The design of the feeding port and the guide part enables the small iron pieces to be smoothly and accurately transported into the flexible vibrating plate, avoiding material jamming and ensuring the stability and continuity of the feeding process.

[0026] The flexible vibration plate can flip the small iron pieces inside it by vibrating, thereby causing at least part of the small iron pieces to flip to a preset posture.

[0027] Preferably, the recognition area of ​​the first recognition unit at least includes the entire flexible vibration plate.

[0028] The first identification unit is also used to identify the total number of the small iron pieces in the flexible vibration plate.

[0029] By adopting the above technical solution, the recognition area of ​​the first recognition unit covers the entire flexible vibration plate, ensuring that all small iron pieces in the flexible vibration plate can be fully detected to avoid omissions. At the same time, the first recognition unit can also identify the total number of small iron pieces in the flexible vibration plate, which is convenient for real-time monitoring of the feeding situation, timely replenishment or adjustment of the feeding amount, and improving production efficiency and automation.

[0030] Preferably, at least one of the first identification unit, the second identification unit and the third identification unit is a visual identification element.

[0031] By adopting the above technical solution, high-precision identification of small iron parts can be achieved, ensuring the correct position and posture of small iron parts before and after being grasped, thereby improving production efficiency and product quality. Specifically: As a visual recognition component, the first recognition unit can accurately identify the position and posture of small iron parts, ensuring that the execution component can be accurately positioned during grasping.

[0032] The second recognition unit serves as a visual recognition component, and can further confirm the relative position of the small iron piece and the actuator component after the actuator component grabs the small iron piece, thereby ensuring that the small iron piece is correctly placed at the target position on the substrate.

[0033] The third recognition unit serves as a visual recognition component and can accurately identify the position of the substrate, ensuring that the actuator can accurately locate the target position on the substrate when placing small iron parts.

[0034] Preferably, the third identification unit includes a first identification element and a second identification element.

[0035] The first identification element is used to identify a first area where the substrate is located.

[0036] The second identification element is used to identify the position of the substrate in the first area.

[0037] By adopting the above technical solution, the substrate can be accurately positioned. Specifically: The first identification element can quickly identify the first area where the substrate is located within a relatively large range, thereby improving the speed and efficiency of the initial positioning.

[0038] The second identification component further accurately locates the specific position of the substrate in the first area, ensuring that the actuator can accurately place the small iron piece at the target position, thereby improving assembly accuracy and reliability.

[0039] Preferably, the second identification member is arranged on the execution component.

[0040] By adopting the above technical solution and setting the second identification component on the execution component, the position of the substrate can be accurately obtained in real time during the assembly process, thereby improving positioning accuracy and operational reliability, thereby ensuring that the small iron parts can be placed on the substrate in the correct position.

[0041] Preferably, the small iron piece locking machine further comprises a locking component, and the locking component is used to lock the small iron piece with the substrate after the actuator places the small iron piece on the substrate.

[0042] By adopting the above technical solution, the locking component can prevent the relative movement between the small iron piece and the substrate after the actuator places the small iron piece on the substrate, thereby avoiding affecting the subsequent process of the actuator connecting the small iron piece to the substrate by tightening the screws.

[0043] Preferably, the locking assembly comprises a driving unit and a pressing head, wherein the driving unit is connected to the pressing head and is used to drive the pressing head to move to abut against a side of the small iron piece facing away from the substrate.

[0044] By adopting the above technical solution, the driving unit can drive the pressure head to move, so that the pressure head is pressed on the small iron piece, preventing the small iron piece and the substrate from moving relative to each other, thereby ensuring the reliability of assembly.

[0045] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting the first recognition unit, the second recognition unit and the third recognition unit, accurate recognition and positioning of small iron parts, actuators and substrates are achieved, which effectively solves the problem of difficult accurate alignment between small iron parts and substrates in the prior art and improves product consistency and quality.

[0046] 2. The actuator can grab small iron parts and fastening screws respectively under different working conditions, and accurately place and fix them on the substrate, which greatly improves the automation and efficiency of the operation, reduces the need for manual intervention, and reduces production costs.

[0047] 3. The coordinated use of the turning unit and the feeding unit ensures that small iron parts can be identified and fed in a preset posture, further improving the feeding accuracy and reliability of small iron parts and avoiding operational errors caused by incorrect posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the internal structure of the small iron locking machine provided in this application.

[0049] Figure 2 This application provides Figure 1 A magnified schematic diagram of center A.

[0050] Figure 3 It is a three-dimensional structural schematic diagram of the small iron piece locking machine provided in this application.

[0051] Figure 4 It is a structural schematic diagram of the first feeding assembly of the small iron locking machine provided in the present application.

[0052] Figure 5 It is a schematic diagram of the structure of the flipping unit in Example 3 provided in the present application.

[0053] Figure 6 It is a partial schematic diagram of the small iron piece locking machine provided in this application.

[0054] Figure 7 This application provides Figure 6 A magnified schematic diagram of point B in the middle.

[0055] Figure 8 It is a structural schematic diagram of the locking assembly of the small iron piece locking machine provided in the present application.

[0056] Fig. 9 It is a structural schematic diagram of the second identification unit of the small iron locking machine provided in this application.

[0057] Description of reference numerals: 1. First feeding assembly; 11. Turning unit; 111. Flexible vibration plate; 112. Push plate; 113. Push cylinder; 12. Feeding unit; 2. A second feeding assembly; 3. Execution assembly; 31. First grasping mechanism; 4. Identification component; 41. First identification unit; 42. Second identification unit; 421. CCD camera; 422. Lens; 423. Light source; 43. Third identification unit; 431. First identification member; 432. Second identification member; 5. Mounting frame; 6. Locking assembly; 61. Driving unit; 611. Linear module; 612. Lifting cylinder; 613. Telescopic cylinder; 62. Press head; 7. Locking assembly; 71. Cylinder; 72. Electric screwdriver; 73. Negative pressure pipe. DETAILED DESCRIPTION

[0058] The following is combined with Figures 1 to 9 This application is described in further detail.

[0059] Embodiment 1: like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the embodiment of the present application discloses a small iron locking machine, including a first feeding component 1, a second feeding component 2, an execution component 3, an identification component 4, a mounting frame 5, a locking component 6, a locking component 7 and a control module. The first feeding component 1, the second feeding component 2 and the execution component 3 are all arranged on the mounting frame 5. The first feeding component 1, the second feeding component 2, the execution component 3, the identification component 4, the locking component 6 and the locking component 7 are all connected to the control module signal.

[0060] The first feeding component 1 is used to supply small iron pieces; the second feeding component 2 is used to supply fastening screws; the actuator component 3 has a grabbing state and a locking state; in the grabbing state, the actuator component 3 is used to grab the small iron pieces and place the small iron pieces on the substrate; in the locking state, the actuator component 3 is used to grab the fastening screws and connect the small iron pieces to the substrate through the fastening screws.

[0061] like Figure 1 , Figure 6 and Fig. 9 As shown, the identification component 4 includes a first identification unit 41, a second identification unit 42 and a third identification unit 43; the first identification unit 41 is used to identify small iron pieces in the material grabbing state; the second identification unit 42 is used to identify the relative position of the small iron pieces and the execution component 3 after the execution component 3 grabs the small iron pieces; the third identification unit 43 is used to identify the position of the substrate.

[0062] like Figure 1 and Figure 4 As shown, specifically, the first feeding assembly 1 includes a turning unit 11 and a feeding unit 12 .

[0063] The flip unit 11 is used to flip the small iron piece to a preset posture. For example, the flip unit 11 may include a flexible vibration plate 111, which is driven to vibrate by a vibration motor and other components, so that the small iron piece inside it is automatically flipped to the correct posture. For example, when the back of the small iron piece is used to stick to the substrate, the posture of the front side of the small iron piece facing up can be set as a preset posture. After the actuator 3 grabs the small iron piece facing up, it only needs to keep the small iron piece in its original posture and move it, so that the small iron piece can be placed on the substrate, and the back of the small iron piece is in contact with the substrate. The actuator 3 does not need to perform the work of adjusting the posture of the small iron piece, which simplifies the complexity of the work of the actuator 3.

[0064] The first identification unit 41 can identify the small iron pieces in a preset posture in the flexible vibration plate 111, so that the control module can obtain the number and position information of the small iron pieces in the preset posture in the flexible vibration plate 111, and control the execution component 3 to accurately grasp one or more of the small iron pieces in the preset posture according to the position information.

[0065] When the first identification unit 41 recognizes that there are no small iron pieces in a preset posture in the flexible vibration plate 111, the control module can control the flexible vibration plate 111 to vibrate, so that the small iron pieces in the flexible vibration plate 111 vibrate and flip over until one or more small iron pieces in a preset posture appear in the flexible vibration plate 111, and the flexible vibration plate 111 stops vibrating.

[0066] The feeding unit 12 is used to convey small iron pieces to the turning unit 11. The feeding unit 12 can be a vibrating feeding tray, in which a plurality of small iron pieces are placed. The vibrating feeding tray has a feeding port and a guide portion, and the guide portion is used to connect the feeding port and the flexible vibration plate 111. The vibrating feeding tray can be driven to vibrate by a vibration motor and other components, so that the small iron pieces inside it are discharged from the feeding port and enter the flexible vibration plate 111 through the guide portion, thereby replenishing the number of small iron pieces in the flexible vibration plate 111. Among them, the guide portion can be a guide plate arranged obliquely.

[0067] The recognition area of ​​the first recognition unit 41 includes at least the entire flexible vibration plate 111, and the first recognition unit 41 can also recognize the total number of small iron pieces in the flexible vibration plate 111. When the number of small iron pieces in the flexible vibration plate 111 is less than the preset number, the control module can control the vibration feeding plate to vibrate, thereby conveying the small iron pieces into the flexible vibration plate 111. For example, when the number of small iron pieces in the flexible vibration plate 111 is less than ten, the vibration feeding plate vibrates to feed; when the number of small iron pieces in the flexible vibration plate 111 is greater than thirty, the vibration feeding plate stops vibrating.

[0068] like Figure 6 and Figure 7As shown, the actuator 3 has a grasping state and a locking state. The actuator 3 can be a six-axis robot. The actuator 3 is provided with a first grasping mechanism 31 for grasping small iron pieces and a second grasping mechanism for grasping fastening screws. The types of the first grasping mechanism 31 and the second grasping mechanism are not strictly limited. For example, the first grasping mechanism 31 can be a vacuum suction cup, an electromagnetic suction cup or a mechanical finger; the second grasping mechanism can also be a vacuum suction cup, an electromagnetic suction cup or a mechanical finger. The first grasping mechanism 31 and the second grasping mechanism can be the same component or different components, depending on the actual structure of the small iron pieces and the fastening screws.

[0069] In the material grabbing state, according to the recognition information of the first recognition unit 41, the execution component 3 grabs the small iron piece in a preset posture, and drives the small iron piece to move to the recognition area of ​​the second recognition unit 42, and the second recognition unit 42 recognizes the relative position of the small iron piece and the execution component 3. Afterwards, the control module controls the movement of the execution component 3 according to the recognition information of the second recognition unit 42 and the substrate position information recognized by the third recognition unit 43, so as to accurately place the small iron piece at the target position on the substrate.

[0070] like Figure 1 and Figure 8 As shown, after the small iron piece is placed on the substrate, the small iron piece and the substrate are locked by the locking assembly 6 to prevent the small iron piece and the substrate from moving relative to each other in the subsequent process. The locking assembly 6 can be arranged on the mounting frame 5, and the locking assembly 6 includes a driving unit 61 and a pressing head 62.

[0071] The driving unit 61 includes a linear module 611, a lifting cylinder 612 and a telescopic cylinder 613. The linear module 611 may include a linear slide, a mounting seat, a driving motor and a lead screw. The lead screw is arranged along the length direction of the linear slide and is rotatably connected to the linear slide. The mounting seat is slidably arranged on the linear slide and is connected to the nut of the lead screw. The lead screw is driven to rotate by the driving motor, so that the mounting seat can be moved along the length direction of the linear slide.

[0072] The lifting cylinder 612 is arranged on the mounting seat. The cylinder body of the telescopic cylinder 613 is connected to the lifting cylinder 612, the piston is connected to the pressure head 62, and the telescopic direction of the telescopic cylinder 613 is perpendicular to the length direction of the linear slide rail. The movement of the pressure head 62 in the space can be realized by the driving of the driving unit 61, so that the control module can control the driving unit 61 to drive the pressure head 62 to move according to the position information of the substrate identified by the third identification unit 43, so that the pressure head 62 moves to abut against the side of the small iron piece away from the substrate, and the small iron piece is firmly pressed on the substrate.

[0073] like Figure 6 and Figure 7As shown, after the small iron piece is locked with the substrate, the actuator 3 grabs the fastening screw and locks the fastening screw through the locking assembly 7, which is arranged on the actuator 3. The locking assembly 7 includes a cylinder 71 and an electric screwdriver 72. The cylinder 71 is arranged on the actuator 3, and the electric screwdriver 72 is connected to the cylinder 71. The cylinder 71 is used to drive the electric screwdriver 72 to move, and the electric screwdriver 72 is used to tighten the fastening screw.

[0074] Specifically, a screw hole is provided on the substrate, and a through hole aligned with the screw hole on the substrate is provided on the small iron piece. The actuator 3 first grabs the fastening screw through the second grabbing mechanism and passes the fastening screw through the through hole on the small iron piece and initially inserts it into the screw hole on the substrate, and then the locking assembly 7 rotates the fastening screw to tightly connect the small iron piece with the substrate.

[0075] The second feeding component 2 is a screw feeder, for example, a turntable feeder or an air-blowing feeder, without any mandatory limitation, as long as the screws can be fed.

[0076] like Figure 3 , Figure 6 and Figure 7 As shown, the third identification unit 43 may include a first identification member 431 and a second identification member 432. The first identification member 431 is disposed on the top of the mounting frame 5 and is used to identify the first area where the substrate is located. Since the first identification member 431 does not need to identify the precise position of the substrate, the identification time of the first identification member 431 can be greatly shortened.

[0077] The control module controls the execution component 3 to drive the small iron piece to move above the first area according to the identification information of the first identification component 431 .

[0078] The second identification member 432 is used to identify the specific position of the substrate in the first area. The second identification member 432 can be provided on the actuator 3 so as to identify the position information of the substrate in real time when the actuator 3 moves. According to the identification information of the second identification member 432, the control module controls the actuator 3 to drive the small iron piece to move to the target position on the substrate to complete the placement of the small iron piece.

[0079] At least one of the first recognition unit 41, the second recognition unit 42, and the third recognition unit 43 is a visual recognition component. For example, in this embodiment, the first recognition unit 41, the second recognition unit 42, the first recognition component 431, and the second recognition component 432 can all be industrial cameras. High-precision recognition is achieved through industrial cameras to improve the positioning accuracy during the assembly process. Taking the second recognition unit 42 as an example, Fig. 9 As shown, the second recognition unit 42 includes a CCD camera 421, a lens 422 and a light source 423 for fill light.

[0080] Embodiment 2: The difference between this embodiment and the above embodiment is that the locking assembly 7 is optimized so that the actuator 3 does not need to grasp the screw through the second grasping mechanism. The locking assembly 7 in this embodiment can directly grasp the screw and tighten the screw.

[0081] like Figure 7 As shown, specifically, the locking assembly 7 further includes a negative pressure pipeline 73. The negative pressure pipeline 73 is connected to the actuator assembly 3, and the negative pressure pipeline 73 can be connected to a negative pressure generator such as an air pump through a hose, so as to create negative pressure in the negative pressure pipeline 73.

[0082] The screwdriver bit of the electric screwdriver 72 extends from the first end of the negative pressure pipe 73 into the negative pressure pipe 73. When the negative pressure pipe 73 is under negative pressure, the second end of the negative pressure pipe 73 can be used to absorb the head of the screw, thereby grabbing the screw. When the screw is moved to the corresponding position of the threaded hole of the substrate, the electric screwdriver 72 can be driven to move by the cylinder 71 of the locking assembly 7, so that the screwdriver bit of the electric screwdriver 72 moves to abut against the head of the screw, and then the actuator 3 drives the negative pressure pipe 73 to move, so that the negative pressure pipe 73 releases the limit on the screw. During the movement of the actuator 3, the cylinder 71 of the locking assembly 7 is extended and retracted, so that the screwdriver bit of the electric screwdriver 72 is always abutted against the head of the screw to prevent the screw from moving. After the negative pressure pipe 73 releases the limit on the screw, the electric screwdriver 72 of the locking assembly 7 can tighten the screw.

[0083] Embodiment 3: The difference between this embodiment and the above-mentioned embodiment is that the turning unit 11 is optimized.

[0084] like Figure 4 and Figure 5 As shown, specifically, the flip unit 11 includes not only a flexible vibration plate 111, but also a push plate 112 and a push cylinder 113, wherein the push plate 112 is arranged in the flexible vibration plate 111. The push cylinder 113 is connected to the push plate 112 and is used to drive the push plate 112 to move in a direction parallel to the bottom wall of the flexible vibration plate 111. The distance between the push plate 112 and the bottom wall of the flexible vibration plate 111 is greater than the thickness of a single small iron piece and less than the sum of the thicknesses of the two small iron pieces.

[0085] When the flexible vibration plate 111 vibrates, the small iron pieces may be unevenly distributed or stacked. For example, the vibration amplitude in the middle of the flexible vibration plate 111 is larger, which may cause the small iron pieces to gather and stack at the edge of the flexible vibration plate 111, affecting the recognition of the first recognition unit 41 and the grasping of the execution component 3.

[0086] In this embodiment, the push plate 112 is used to push the small iron pieces to move, which helps to flatten the stacked small iron pieces.

[0087] Furthermore, a receiving groove for receiving the push plate 112 is further provided on the inner side wall of the flexible vibration plate 111. When the material is not needed to be pushed, the push plate 112 can be moved to the receiving groove and hidden to avoid interfering with the recognition process of the first recognition unit 41.

Claims

1. A small iron locking machine, characterized in that: include: A first feeding assembly (1) for feeding small iron pieces; A second feeding assembly (2) for feeding fastening screws; The execution component (3) has a material grabbing state and a locking state; In the material grabbing state, the actuator (3) is used to grab the small iron piece and place the small iron piece on the substrate; In the locked state, the actuator (3) is used to grab the fastening screw and connect the small iron piece to the substrate via the fastening screw; An identification component (4), comprising a first identification unit (41), a second identification unit (42) and a third identification unit (43); The first identification unit (41) is used to identify the small iron piece in the material grabbing state; The second identification unit (42) is used to identify the relative position of the small iron piece and the execution component (3) after the execution component (3) grabs the small iron piece; The third identification unit (43) is used to identify the position of the substrate.

2. The small iron piece locking machine according to claim 1, characterized in that: The first feeding assembly (1) comprises: A turning unit (11), used for turning the small iron sheet to a preset posture; A feeding unit (12), used for conveying the small iron pieces to the turning unit (11); The first recognition unit (41) is used to recognize the small iron piece in the preset posture.

3. The small iron piece locking machine according to claim 2, characterized in that: The flipping unit (11) comprises a flexible vibration plate (111); The feeding unit (12) comprises a vibrating feeding tray, the vibrating feeding tray comprises a feeding port and a guide portion, the guide portion being used to connect the feeding port and the flexible vibrating tray (111).

4. The small iron piece locking machine according to claim 3, characterized in that: The recognition area of ​​the first recognition unit (41) at least includes the entire flexible vibration plate (111); The first identification unit (41) is also used to identify the total number of the small iron pieces in the flexible vibration plate (111).

5. The small iron piece locking machine according to claim 1, characterized in that: At least one of the first identification unit (41), the second identification unit (42) and the third identification unit (43) is a visual identification element.

6. The small iron piece locking machine according to claim 1, characterized in that: The third identification unit (43) comprises a first identification element (431) and a second identification element (432); The first identification element (431) is used to identify the first area where the substrate is located; The second identification element (432) is used to identify the position of the substrate within the first area.

7. The small iron piece locking machine according to claim 6, characterized in that: The second identification component (432) is arranged on the execution component (3).

8. The small iron piece locking machine according to claim 1, characterized in that: The small iron piece locking machine further comprises a locking component (6), wherein the locking component (6) is used to lock the small iron piece with the substrate after the execution component (3) places the small iron piece on the substrate.

9. The small iron piece locking machine according to claim 8, characterized in that: The locking assembly (6) comprises a driving unit (61) and a pressing head (62); the driving unit (61) is connected to the pressing head (62) and is used to drive the pressing head (62) to move to abut against a side of the small iron piece facing away from the base material.

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