Intelligent sorting and flexible assembling production equipment for tiny workpieces

Abstract

The invention relates to the technical field of assembly production, in particular to intelligent sorting and flexible assembly production equipment for tiny workpieces. The flexible feeding work station is arranged on one side of the top face of the workbench, and the flexible feeding work station is used for sorting and feeding the tiny workpieces. And the visual system is arranged in the flexible feeding work station, and the visual system is used for photographing and recognizing the postures, angles and coordinates of the materials and transmitting data to the industrial controller for analysis. Compared with the prior art, the flexible feeding work station is arranged to be matched with the visual system, full-automatic sorting of workpieces is achieved, the grabbing path is optimized, efficient operation of equipment is guaranteed, manual intervention is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly production, and in particular to an intelligent sorting and flexible assembly production device for micro workpieces. Background Art

[0002] The intelligent sorting and flexible assembly production device for micro workpieces is a highly efficient production device integrating intelligence, automation and flexibility. It is mainly used for the precise sorting and assembly of micro workpieces. Its flexible design enables the device to automatically adjust according to the size, shape and processing requirements of different workpieces, supports flexible switching of various assembly processes. In addition, the device can also be integrated with other production links such as quality inspection and packaging systems to form an efficient automated production line, improving production efficiency and product quality, and meeting the production requirements of small batches and high precision.

[0003] The existing technologies in the market mainly adopt flexible loading and unloading single machines or semi-flexible devices, which have many limitations. First of all, the flexible loading and unloading single machine only realizes the loading and unloading function combining visual recognition and flexible vibrating discs, but cannot be seamlessly connected with other process modules, resulting in low flexibility of the whole production line and difficulty in meeting the production requirements of multi-category workpieces. Secondly, although the semi-flexible device integrates different process modules through matching line bodies, its process mechanisms and fixtures and other components are relatively fixed, resulting in a long changeover cycle and inability to quickly adapt to the production of different models or shapes of workpieces. In addition, the modularity of traditional devices is low, and different process modules cannot be freely combined according to needs like building blocks, restricting the scalability and adaptability of the production line, and also being difficult to be compatible with the production of multiple materials, resulting in low equipment utilization rate and insufficient production flexibility, and being difficult to meet the requirements of modern manufacturing for multi-category, small-batch and high-precision production. Therefore, this application discloses an intelligent sorting and flexible assembly production device for micro workpieces. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an intelligent sorting and flexible assembly production device for micro workpieces to solve the problems that the existing process mechanisms and some fixtures and other components are relatively fixed, cannot quickly change production, cannot be built like building blocks, and cannot realize the compatible production of multiple materials.

[0005] Based on the above purpose, the present invention provides an intelligent sorting and flexible assembly production device for micro workpieces, including a workbench;

[0006] A flexible loading workstation, which is arranged on one side of the top surface of the workbench, and the flexible loading workstation is used for sorting and loading micro workpieces;

[0007] A vision system is disposed inside the flexible feeding workstation. The vision system is used to photographically identify the posture, angle, and coordinates of the material and transmit the data to the industrial controller for analysis.

[0008] Preferably, the flexible feeding workstation includes a fixed frame fixedly installed on one side of the top surface of the workbench. A feeding control box is arranged on the top surface of the fixed frame. Two replenishment bins are arranged on one side of the bottom of the fixed frame. Two flexible vibrating bowls are arranged in the middle of the bottom of the fixed frame. One side of each of the two replenishment bins is respectively located directly above the two flexible vibrating bowls. A picking robot is further arranged at the bottom of the feeding control box. The picking robot is used to grab the tiny workpieces above the flexible vibrating bowls for sorting and feeding.

[0009] Preferably, the picking robot is set as a multi-arm parallel robot.

[0010] Preferably, the vision system includes a primary positioning camera arranged at the bottom of the feeding control box, a secondary positioning camera fixedly installed on the other side of the fixed frame, and a vision software arranged inside the feeding control box. The primary positioning camera is used to cooperate with the picking robot for material grabbing and sorting and feeding. The secondary positioning camera can secondarily identify the posture and angle of the material when the picking robot grabs the tiny workpiece and performs feeding.

[0011] This application also discloses a flexible assembly production device for tiny workpieces, which is applied to the above-mentioned intelligent sorting device for tiny workpieces and includes:

[0012] An assembly table is arranged in the middle of the top surface of the workbench. The assembly table is used to receive the tiny workpieces grabbed by the picking robot.

[0013] A marking mechanism is arranged on one side of the top surface of the workbench, and the marking mechanism is located above one side of the assembly table. The marking mechanism is used to perform marking operations on the tiny workpieces above the assembly table.

[0014] A marking detection mechanism is arranged on one side of the top surface of the workbench, and the marking detection mechanism is arranged on the side far from the flexible feeding workstation. The marking detection mechanism is used to photographically detect the marking effect.

[0015] A discharging mechanism is arranged on one side of the top surface of the workbench, and the discharging mechanism is located on the side far from the marking mechanism. The discharging mechanism is used to grab and discharge the processed tiny workpieces.

[0016] Preferably, the assembly table includes a mounting plate fixedly installed in the middle of the top surface of the workbench. A rotating motor is arranged on the mounting plate. The output end of the rotating motor is fixedly connected with a turntable. A plurality of turntable jigs are arranged on the turntable, and the turntable jigs are detachably arranged.

[0017] Preferably, sensors are arranged on both sides of the turntable jig near the side of the discharging mechanism. The sensors are used to detect the grabbed state of the material to prevent collision.

[0018] Preferably, the marking mechanism includes a vertical lifting module arranged on one side of the top surface of the workbench. A laser marking machine is arranged on the top surface of the vertical lifting module. The vertical lifting module is used to control the laser marking machine to perform focusing and marking.

[0019] Preferably, the marking detection mechanism includes a mounting frame fixedly installed on one side of the workbench. A detection camera is arranged at the top of the mounting frame, and a detection light source is arranged below the detection camera.

[0020] Preferably, the discharging mechanism includes a horizontal sliding module fixedly installed on one side of the workbench and a grasping manipulator arranged on one side of the horizontal sliding module. A recycling chute and a discharging chute are also arranged on one side of the workbench. The finished products grabbed by the grasping manipulator are respectively put into the recycling chute or the discharging chute after being detected.

[0021] Advantages of the present invention:

[0022] 1. For this intelligent sorting and flexible assembly production equipment for micro workpieces, by setting a flexible feeding workstation in cooperation with a vision system, the flexible vibrating bowl can adjust the vibration frequency according to the workpiece state, making the workpieces evenly distributed and optimizing the grasping posture, avoiding material blockage or accumulation from affecting the feeding efficiency. The vision system identifies the angle, coordinates and posture of the material through a primary positioning camera and transmits the data to the industrial controller. The picking robot precisely grabs the workpiece according to the identified data, ensuring the accuracy and stability of material picking. During the feeding process, the secondary positioning camera further detects the workpiece posture. If the workpiece angle deviates, the industrial controller will adjust the robot's action to ensure the correct feeding angle and avoid affecting subsequent processing links due to errors. The whole process is coordinated by the industrial controller to realize the full-automatic sorting of workpieces, optimize the grasping path, ensure the efficient operation of the equipment, reduce manual intervention, and improve production efficiency. At the same time, the two groups of flexible vibrating bowls operate alternately. When one group vibrates and feeds, the other group grabs, ensuring the continuity of the equipment operation, increasing the feeding speed, avoiding production stagnation caused by feeding delay, and making the whole production process more smooth, efficient and stable.

[0023] 2. The intelligent sorting and flexible assembly production equipment for such tiny workpieces is equipped with a marking mechanism cooperating with a marking detection mechanism. The vertical lifting module controls the laser marking machine to automatically focus, adjusts the focal length according to the heights of different workpieces, ensures uniform and clear marking effects, improves the stability and accuracy of the markings. The laser marking machine can precisely control the spot energy and position, making the marks clear and permanent, suitable for high-precision workpieces. The marking detection mechanism takes pictures of the marking area through a detection camera, combines with a detection light source to provide stable illumination, reduces the influence of the external environment, and improves the imaging quality. The detection camera can automatically identify whether marks such as characters, QR codes, and patterns are clear and complete, detect defects such as blurring, uneven depth, or position deviation, promptly remove unqualified workpieces, reduce the production error rate, ensure the stable quality of the products leaving the factory, and improve the production reliability and intelligent level.

[0024] 3. The intelligent sorting and flexible assembly production equipment for such tiny workpieces is equipped with a discharging mechanism. After the marking detection mechanism completes the workpiece detection, the gripping manipulator automatically adjusts the clamping force according to the detection results, ensures stable gripping, and classifies and places the workpieces into the qualified or recycling chutes. The sensor continuously detects whether the workpiece is successfully taken out. If the material taking fails, the gripping action can be adjusted to avoid omission or misoperation, prevent the equipment from crashing, improve the system stability. The whole process is intelligent and automated, reduces manual intervention, improves the operation accuracy and safety, makes the discharging process more efficient and reliable, and ensures the smooth operation of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a three-dimensional structure schematic diagram of the first perspective of the present invention;

[0027] Figure 2 For the present invention Figure 1 The enlarged structure schematic diagram at A in;

[0028] Figure 3 It is a three-dimensional structure schematic diagram of the flexible feeding workstation of the present invention;

[0029] Figure 4 It is a planar structure schematic diagram of the flexible feeding workstation of the present invention;

[0030] Figure 5 It is a schematic diagram of the assembly table structure of the present invention;

[0031] Figure 6Schematic structural diagram of the marking detection mechanism of the present invention;

[0032] Figure 7 Schematic three-dimensional structure diagram of the second perspective of the present invention;

[0033] Figure 8 For the present invention Figure 7 Enlarged structural diagram at position B in the present invention.

[0034] The markings in the figure are:

[0035] 1. Workbench; 2. Flexible feeding workstation; 3. Secondary positioning camera; 4. Assembly table; 5. Marking mechanism; 6. Marking detection mechanism; 7. Discharging mechanism; 8. Feeding control box; 9. Supplementary material bin; 10. Pick-up robot; 11. Flexible vibrating disk; 12. Primary positioning camera; 13. Turntable; 14. Turntable fixture; 15. Mounting plate; 16. Rotating motor; 17. Vertical lifting module; 18. Laser marking machine; 19. Mounting frame; 20. Detection camera; 21. Detection light source; 22. Horizontal sliding module; 23. Sensor; 24. Gripping manipulator; 25. Recycling chute; 26. Discharging chute. Detailed implementation manners

[0036] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to specific embodiments.

[0037] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those with ordinary skills in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "up", "down", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0038] Such as Figure 1 、 Figure 3 、 Figure 4 、 Figure 7As shown, the intelligent sorting device for micro workpieces includes a workbench 1; a flexible feeding workstation 2, which is arranged on one side of the top surface of the workbench 1 and is used for sorting and feeding micro workpieces; a vision system, which is arranged inside the flexible feeding workstation 2 and is used for taking pictures to identify the posture, angle and coordinates of the materials and transmitting the data to the industrial controller for analysis. The flexible feeding workstation 2 includes a fixed frame fixedly installed on one side of the top surface of the workbench 1. There is a feeding control box 8 on the top surface of the fixed frame. There are two replenishment bins 9 on one side of the bottom of the fixed frame. There are two flexible vibrating bowls 11 in the middle of the bottom of the fixed frame. One side of each of the two replenishment bins 9 is respectively directly above the two flexible vibrating bowls 11. There is also a picking robot 10 at the bottom of the feeding control box 8, which is used for grasping the micro workpieces above the flexible vibrating bowls 11 for sorting and feeding. The picking robot 10 is set as a multi-arm parallel robot. The vision system includes a primary positioning camera 12 arranged at the bottom of the feeding control box 8, a secondary positioning camera 3 fixedly installed on the other side of the fixed frame, and a vision software arranged inside the feeding control box 8. The primary positioning camera 12 is used to cooperate with the picking robot 10 for material grasping and sorting and feeding. The secondary positioning camera 3 can re-identify the posture and angle of the material when the picking robot 10 is feeding after grasping the micro workpiece.

[0039] After the device is started, the micro workpieces in the replenishment bin 9 gradually fall into the flexible vibrating bowl 11. The flexible vibrating bowl 11 makes the workpieces evenly distributed by vibrating and adjusts them to a state suitable for grasping. At the same time, the primary positioning camera 12 starts to take pictures to identify the position, posture and angle of the materials and transmits the identification data to the industrial controller. After receiving the data, the industrial controller calculates the optimal grasping path and instructs the picking robot 10 to perform the grasping operation. The picking robot 10 accurately grasps the workpiece according to the calculated coordinates and moves to the target feeding position. During the feeding process, the secondary positioning camera 3 performs another posture detection on the workpiece to judge whether fine adjustment is needed. If the posture of the workpiece is deviated, the industrial controller will adjust the action of the picking robot 10 to ensure that the workpiece is fed at the correct angle. After the feeding is completed, the picking robot 10 returns to the initial position and waits for the next round of grasping tasks. The whole process is carried out in a cycle to ensure continuous and stable sorting and feeding, improving production efficiency and quality.

[0040] As Figures 1 to 8As shown in the figure, the present application also discloses a flexible assembly production device for micro-workpieces, which applies the above-mentioned intelligent sorting device for micro-workpieces, including: an assembly table 4, which is arranged in the middle of the top surface of the workbench 1. The assembly table 4 is used to receive the micro-workpieces grabbed by the picking robot 10; a marking mechanism 5, which is arranged on one side of the top surface of the workbench 1, and the marking mechanism 5 is located above one side of the assembly table 4. The marking mechanism 5 is used to perform marking operations on the micro-workpieces above the assembly table 4; a marking detection mechanism 6, which is arranged on one side of the top surface of the workbench 1, and the marking detection mechanism 6 is arranged on the side away from the flexible feeding workstation 2. The marking detection mechanism 6 is used to detect the marking effect by taking pictures; a discharging mechanism 7, which is arranged on one side of the top surface of the workbench 1, and the discharging mechanism 7 is arranged on the side away from the marking mechanism 5. The discharging mechanism 7 is used to grab and discharge the processed micro-workpieces.

[0041] After the micro-workpieces enter the production process, the picking robot 10 grabs the workpieces from the flexible vibrating disk of the flexible feeding workstation 2 and accurately places them on the assembly table 4 to ensure the correct positioning of the workpieces. With the arrival of the workpieces, the marking mechanism 5 starts to work, and uses an automatic zoom laser marking system to mark the micro-workpieces. After the marking is completed, the assembly table 4 automatically transports the workpieces to the marking detection mechanism 6. The marking detection mechanism 6 accurately identifies the marking effect through a vision detection system. If the identification result meets the standard, the system transmits an instruction to the discharging mechanism 7. The discharging mechanism 7 automatically grabs the qualified micro-workpieces and sends them into the discharging channel. If it is detected that the marking quality of the workpieces does not meet the standard, the discharging mechanism 7 transfers the unqualified workpieces to the recycling channel 25 to prevent defective products from flowing into subsequent processes. The whole process is highly automated, ensuring the efficient and accurate operation of the entire process of sorting, assembling, marking, detecting, and discharging of micro-workpieces. The marking mechanism 5, the marking detection mechanism 6, and the discharging mechanism 7 form a complete automated production process to ensure the precise connection of each link.

[0042] As Figure 5 shown in the figure, the assembly table 4 includes a mounting plate 15 fixedly installed in the middle of the top surface of the workbench 1. A rotating motor 16 is arranged on the mounting plate 15. The output end of the rotating motor 16 is fixedly connected to a turntable 13. A number of turntable fixtures 14 are arranged on the turntable 13. The turntable fixtures 14 are detachably arranged.

[0043] The rotating motor 16 drives the turntable 13 to rotate, enabling multiple turntable 13 fixtures to enter different workstations in turn, ensuring seamless connection during the processes of workpiece sorting, marking, inspection, and discharging, improving the overall production efficiency. The multiple turntable 13 fixtures on the turntable 13 can accurately fix the workpiece, ensuring the same position of each workpiece at each workstation, and improving the accuracy of assembly and marking. Each turntable fixture is set to be detachable and is provided with an adapter structure (such as snap connection, plug connection, threaded connection, all of which are existing technologies and will not be elaborated here) that can be quickly disassembled and installed. By replacing turntable 13 fixtures of different specifications, different types of micro workpieces can be flexibly adapted, achieving rapid production changeover and improving the versatility and adaptability of the equipment.

[0044] As Figure 1 , Figure 2 shown, the marking mechanism 5 includes a vertical lifting module 17 arranged on one side of the top surface of the workbench 1. A laser marking machine 18 is arranged on the top surface of the vertical lifting module 17. The vertical lifting module 17 is used to control the laser marking machine 18 for focusing and marking.

[0045] The vertical lifting module 17 controls the laser marking machine 18 to perform lifting adjustment, automatically focuses according to the height of different workpieces, improves the marking accuracy, ensures uniform and clear marking effects. The laser marking machine 18 can accurately control the energy and position of the light spot, realizes high-quality and permanent marking, meets the marking requirements of precision micro workpieces. The automatic lifting adjustment reduces manual intervention, improves the automation degree of the marking process, and makes the entire production process more smooth and efficient.

[0046] As Figure 6 shown, the marking and inspection mechanism 6 includes a mounting bracket 19 fixedly installed on one side of the workbench 1. A detection camera 20 is arranged at the top of the mounting bracket 19, and a detection light source 21 is arranged below the detection camera 20.

[0047] The detection camera 20 and the detection light source 21 are used in cooperation to be able to take high-precision pictures of the marking area, detect whether the markings such as characters, two-dimensional codes, patterns are clear and complete, ensure product quality. The detection camera 20 can automatically identify marking defects, such as blurred characters, uneven depths, or position offsets, and promptly remove unqualified workpieces, reducing the production error rate. The detection light source 21 provides stable and uniform illumination, reduces environmental light interference, improves the imaging quality of the detection camera 20, and ensures accurate and reliable detection results.

[0048] As Figure 7 , Figure 8As shown in the figure, the discharging mechanism 7 includes a horizontal sliding module 22 fixedly installed on one side of the workbench 1, and a grasping manipulator 24 arranged on one side of the horizontal sliding module 22. A recycling chute 25 and a discharging chute 26 are also arranged on one side of the workbench 1. The finished products grasped by the grasping manipulator 24 are respectively put into the recycling chute 25 or the discharging chute 26 after being detected. Sensors 23 are arranged on both sides of the turntable fixture 14 close to the discharging mechanism. The sensors 23 are used to detect the grasped state of the materials to prevent collision of the machine.

[0049] After the marking and inspection mechanism 6 completes the inspection of the micro workpieces, the horizontal sliding module 22 is activated to drive the grasping manipulator 24 to move above the turntable 13 fixture. At the same time, the sensor 23 detects the presence state of the workpiece to ensure the accuracy of the grasping process. The grasping manipulator 24 adjusts the clamping force of the jaws according to the detection data. After stably grasping the workpiece, the horizontal sliding module 22 moves it to the corresponding discharging area. If the workpiece is detected to be qualified, the grasping manipulator 24 puts it into the discharging chute 26 and enters the qualified product collection area; if the detection is unqualified, the workpiece is put into the recycling chute 25 for reprocessing or abandonment. During the whole process, the sensor 23 continuously monitors the state of the workpiece to ensure that the workpiece is smoothly taken out, avoiding equipment damage or production interruption caused by misoperation, and completing the intelligent sorting and discharging of the whole micro workpiece. Sensors 23 are arranged on both sides of the turntable fixture 14 close to the discharging mechanism, which can detect in real time whether the workpiece is successfully grasped. If it is detected that the workpiece is not successfully taken out, the grasping operation can be adjusted to prevent collision of the machine or omission of the workpiece, improving the operation stability and reliability of the equipment.

[0050] Those of ordinary skill in the art should understand that the discussion of any embodiment above is only exemplary, and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, and they are not provided in detail for the sake of brevity.

[0051] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent sorting device for micro workpieces, characterized in that, Including: Workbench (1); Flexible loading workstation (2), which is arranged on one side of the top surface of the workbench (1). The flexible loading workstation (2) is used for sorting and loading micro workpieces; Vision system, which is arranged inside the flexible loading workstation (2). The vision system is used for taking pictures to identify the posture, angle and coordinates of materials, and transmitting the data to the industrial controller for analysis.

2. The intelligent sorting device for micro workpieces according to claim 1, wherein, The flexible loading workstation (2) includes a fixed frame fixedly installed on one side of the top surface of the workbench (1). There is a loading control box (8) arranged on the top surface of the fixed frame. There are two replenishment bins (9) arranged on one side of the bottom of the fixed frame. There are two flexible vibrating bowls (11) arranged in the middle of the bottom of the fixed frame. One side of each of the two replenishment bins (9) is respectively located directly above the two flexible vibrating bowls (11). There is also a picking robot (10) arranged at the bottom of the loading control box (8). The picking robot (10) is used for grasping the micro workpieces above the flexible vibrating bowls (11) for sorting and loading.

3. The intelligent sorting device for micro workpieces according to claim 2, characterized in that, The picking robot (10) is set as a multi-arm parallel robot.

4. The intelligent sorting device for micro workpieces according to claim 3, wherein The vision system includes a primary positioning camera (12) arranged at the bottom of the loading control box (8), a secondary positioning camera (3) fixedly installed on the other side of the fixed frame, and a vision software arranged inside the loading control box (8). The primary positioning camera (12) is used to cooperate with the picking robot (10) for material grasping and sorting and loading. The secondary positioning camera (3) can secondarily identify the posture and angle of the material when the picking robot (10) grabs the micro workpiece and performs loading.

5. A flexible assembly production device for micro workpieces, which is applied to the micro workpiece intelligent sorting device as described in claim 4, and is characterized in that, Including: Assembly table (4), which is arranged in the middle of the top surface of the workbench (1). The assembly table (4) is used to receive the micro workpieces grabbed by the picking robot (10); Marking mechanism (5), which is arranged on one side of the top surface of the workbench (1), and the marking mechanism (5) is located above one side of the assembly table (4). The marking mechanism (5) is used for performing marking operations on the micro workpieces above the assembly table (4); Marking detection mechanism (6), which is arranged on one side of the top surface of the workbench (1), and the marking detection mechanism (6) is arranged on the side far from the flexible loading workstation (2). The marking detection mechanism (6) is used for taking pictures to detect the marking effect; Discharging mechanism (7), which is arranged on one side of the top surface of the workbench (1), and the discharging mechanism (7) is arranged on the side far from the marking mechanism (5). The discharging mechanism (7) is used for grasping and discharging the processed micro workpieces.

6. The flexible assembly production equipment for micro workpieces according to claim 5, characterized in that, The assembly table (4) includes a mounting plate (15) fixedly installed in the middle of the top surface of the workbench (1). A rotating motor (16) is arranged on the mounting plate (15). The output end of the rotating motor (16) is fixedly connected to a turntable (13). A number of turntable jigs (14) are arranged on the turntable (13), and the turntable jigs (14) are detachably arranged.

7. The flexible assembly production equipment for micro workpieces according to claim 6, characterized in that, Sensors (23) are arranged on both sides of the turntable jig (14) close to the discharging mechanism side. The sensors (23) are used to detect the grabbed state of the material to prevent collision with the machine.

8. The flexible assembly production equipment for micro workpieces according to claim 5, characterized in that, The marking mechanism (5) includes a vertical lifting module (17) arranged on one side of the top surface of the workbench (1). A laser marking machine (18) is arranged on the top surface of the vertical lifting module (17). The vertical lifting module (17) is used to control the laser marking machine (18) to perform focusing and marking.

9. The flexible assembly production equipment for micro workpieces according to claim 5, characterized in that, The marking detection mechanism (6) includes a mounting frame (19) fixedly installed on one side of the workbench (1). A detection camera (20) is arranged on the top of the mounting frame (19), and a detection light source (21) is arranged below the detection camera (20).

10. The flexible assembly production equipment for micro workpieces according to claim 5, characterized in that, The discharging mechanism (7) includes a horizontal sliding module (22) fixedly installed on one side of the workbench (1), and a grabbing manipulator (24) arranged on one side of the horizontal sliding module (22). A recycling chute (25) and a discharging chute (26) are also arranged on one side of the workbench (1). The finished products grabbed by the grabbing manipulator (24) are respectively put into the recycling chute (25) or the discharging chute (26) after being detected.

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