A rotary table type assembly device for earphone C-shaped cantilever beam and VPU fixing member

Abstract

This invention discloses a rotary assembly device for a C-shaped cantilever beam and VPU fastener for headphones, belonging to the field of automated assembly equipment. The device includes a rotary table, an assembly fixture, a cable management assembly, auxiliary components, and a detection vision assembly. Around the rotary table, along the direction of rotation, are sequentially arranged a loading station, a cable management station, an assembly station, a detection station, and a unloading station. The rotary table can move the assembly fixture between these stations. The cable management assembly is located at the cable management station to compress and gather the cables of the C-shaped cantilever beam; the auxiliary components are located at the assembly station to clamp the cables to form intermediate fulcrums; and the detection vision assembly is located at the detection station to capture images of the assembled product. This invention achieves automated flow of cable management, assembly, and detection processes through a rotary table, effectively improving cable management efficiency and assembly accuracy, and realizing the automation of the assembly process of the C-shaped cantilever beam and VPU fastener.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly equipment technology, specifically relating to a rotary assembly device for a headphone C-shaped cantilever beam and VPU fastener. Background Technology

[0002] Clip-on (earhook) headphones widely use a C-shaped cantilever beam as the wearing support and vibration transmission structure, such as Figure 1 As shown, the C-shaped cantilever beam 7 is a C-shaped elastic structural component with wires at both ends. During the headphone manufacturing process, the VPU fastener 8 needs to be assembled to one end of the C-shaped cantilever beam 7, followed by sequential processes such as adhesive application, curing, foam application, and headphone assembly. Among these, assembling the VPU fastener 8 to the C-shaped cantilever beam 7 is a critical process in product manufacturing.

[0003] Currently, the following technical problems mainly exist in the assembly process: 1. The cables of the C-type cantilever beam arrive in a tangled state. Before assembling the VPU fasteners, the cables need to be compressed and gathered; otherwise, the VPU fasteners cannot be accurately installed. Currently, the cable management process mainly relies on manual operation, where operators must manually straighten the tangled cables one by one and keep them in a straight position. However, manual cable management makes it difficult to guarantee the consistency of the cable posture after each management session and is inefficient, directly affecting the assembly accuracy of the subsequent VPU fasteners.

[0004] 2. The cables of the C-type cantilever beam have a certain length. During the process of fitting the VPU fastener to the outside of the cable, the cable is prone to bending or shifting under axial fitting force, causing the VPU fastener to fail to fit accurately. Existing technology lacks a device to provide auxiliary support for the cable during the fitting process, making it difficult to guarantee fitting accuracy and resulting in a high defect rate.

[0005] 3. Existing technologies lack dedicated turntable assembly devices for C-type cantilever beams and VPU fasteners. Existing fixtures also cannot simultaneously meet the clamping requirements of C-type cantilever beams and VPU fasteners, making it difficult to complete the entire process from cable management to assembly and inspection on the turntable. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a turntable assembly device for C-shaped cantilever beams and VPU fasteners in headphones. This invention aims to solve the problems in the prior art, such as the lack of a dedicated turntable assembly device for C-shaped cantilever beams and VPU fasteners, low efficiency and poor consistency of manual cable management, and difficulty in ensuring assembly accuracy due to the lack of effective cable support during assembly.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a turntable assembly device for a C-shaped cantilever beam and VPU fastener for headphones, comprising a turntable, an assembly fixture, a cable management assembly, an auxiliary assembly, and a detection vision assembly; the assembly fixture is provided with multiple fixtures along the circumference of the turntable for clamping the C-shaped cantilever beam and the VPU fastener respectively; a loading station, a cable management station, an assembly station, an inspection station, and a unloading station are sequentially arranged around the turntable along the rotation direction, and the turntable can drive the assembly fixture to stop between the loading station, the cable management station, the assembly station, the inspection station, and the unloading station; the cable management assembly is provided at the cable management station for squeezing and gathering the cables of the C-shaped cantilever beam; the auxiliary assembly is provided at the assembly station for clamping the cables of the C-shaped cantilever beam to form an intermediate fulcrum; the detection vision assembly is provided at the inspection station for acquiring images of the assembled product.

[0008] Based on the above technical solution, the technical solution provided by this invention has at least the following advantages: This invention uses a turntable to sequentially move the assembly fixture between the loading station, cable management station, assembly station, inspection station, and unloading station. The fixture works collaboratively with the corresponding functional components at each station, and the processes are automatically connected via the turntable without manual intervention. Simultaneously, the assembly fixture can clamp both the C-shaped cantilever beam and the VPU fastener, meeting the clamping requirements of two different workpieces and achieving complete process integration of cable management, assembly, and inspection. The cable management component automatically squeezes, gathers, and straightens the scattered cables of the C-shaped cantilever beam at the cable management station, replacing manual cable straightening and significantly improving cable management efficiency and cable posture consistency, providing a reliable cable posture basis for the subsequent installation of the VPU fastener. The auxiliary component clamps the C-shaped cantilever beam cable at the middle position at the assembly station, forming a stable intermediate fulcrum. This prevents the cable from bending or shifting due to axial installation force when the VPU fastener is inserted from above, ensuring accurate installation of the VPU fastener and effectively reducing the defect rate. The inspection vision component automatically collects images of assembled products at the inspection station, providing a basis for product quality judgment. It eliminates the need for manual visual inspection or offline sampling, enabling online full inspection and meeting the quality control requirements of large-scale production.

[0009] As an optional embodiment of the present invention, the assembly fixture includes a base, a cantilever beam clamping unit, and a VPU clamping unit; the cantilever beam clamping unit includes a fixed clamping block, a first sliding clamping block, a first guide block, a first end stop, a first compression screw, and a first spring. The first sliding clamping block is slidably mounted on the base, the fixed clamping block is fixedly mounted on the base and is disposed opposite to the first sliding clamping block, the first guide block is fixedly connected to the first sliding clamping block, and the first guide block has a guide slope on the side facing the fixed clamping block. The first end stop is fixedly mounted on the base and is located outside the first sliding clamping block. The first compression screw slides through the first end stop and is fixedly connected to the first sliding clamping block. The first spring is sleeved outside the first compression screw and pressed between the first end stop and the first sliding clamping block; the VPU clamping unit includes a second sliding clamping block, a second guide block, a second end stop, and a second compression screw. The system includes a nail and a second spring. Two second sliding clamping blocks are slidably mounted on the base, with the second guide block fixedly connected to the corresponding second sliding clamping block. A guide slope is provided on the inner side of the second guide block. A second end stop is fixedly mounted on the base and located on the outer side of the corresponding second sliding clamping block. A second limiting screw slides through the second end stop and is fixedly connected to the corresponding second sliding clamping block. A second spring is sleeved outside the second limiting screw and pressed between the second end stop and the corresponding second sliding clamping block. Below the turntable are a first lifting cylinder and a second lifting cylinder. The first lifting cylinder pushes against the guide slope of the first guide block to drive the first sliding clamping block to slide, thereby activating the cantilever beam clamping unit. The second lifting cylinder pushes against the guide slope of the second guide block to drive the two second sliding clamping blocks to slide in opposite directions, thereby activating the VPU clamping unit. This solution uses a lifting cylinder to push the guide ramp on the guide block to drive the sliding clamping block to slide, overcoming the spring force to achieve rapid opening of the clamping unit, which facilitates the placement and removal of the workpiece. After the workpiece is placed, the lifting cylinder resets, and the spring automatically drives the sliding clamping block to reset and clamp the workpiece, realizing reliable clamping and rapid release of the assembly fixture. It has a compact structure and a rapid response.

[0010] As an optional embodiment of the present invention, rollers are respectively installed at the output ends of the first lifting cylinder and the second lifting cylinder. This design effectively reduces friction by having the rollers contact the guide slope, thereby reducing component wear and improving the smoothness and service life of the lifting cylinder driving the sliding clamp.

[0011] As an optional embodiment of the present invention, the first lifting cylinder is positioned below the loading station and the unloading station, and the second lifting cylinder is positioned below the assembly station and the unloading station. This scheme clearly defines the station layout of each lifting cylinder. The first lifting cylinder activates the cantilever beam clamping unit at the loading station to allow the C-shaped cantilever beam to be inserted, and activates the cantilever beam clamping unit at the unloading station to release the product; the second lifting cylinder activates the VPU clamping unit at the assembly station to allow the VPU fastener to be inserted, and activates the VPU clamping unit at the unloading station to release the product. The layout is reasonable and the logic is clear.

[0012] As an optional embodiment of the present invention, the cable management assembly includes a cable management lifting cylinder and a gathering mechanism. The cable management lifting cylinder is used to drive the gathering mechanism to rise and fall. The gathering mechanism includes a lifting platform, a cable management opening and closing cylinder, and four gathering blocks. The four gathering blocks are slidably mounted on the lifting platform, and the sliding directions of the four gathering blocks are arranged in a square. Each gathering block has a first working plane and a second working plane that are perpendicular to each other. The first working plane and the second working plane are both at a 45° angle to the sliding direction of the corresponding gathering block. The first working planes of two adjacent gathering blocks are in contact with the second working plane, and the first working planes of the four gathering blocks together form a gathering opening. The cable management opening and closing cylinder is used to drive two non-adjacent gathering blocks to move towards or away from each other. This solution, with the four gathering blocks arranged in a square and adjacent gathering blocks in contact with each other through their working planes, allows the other two gathering blocks to move synchronously when the cable management opening and closing cylinder drives two non-adjacent gathering blocks to move, through the inclined surface cooperation of the first working plane and the second working plane, so that the gathering opening is uniformly reduced. Because the first working planes of the four gathering blocks together form a closed gathering opening, the cable is fully constrained within the enclosed space during the cable gathering process, preventing it from leaking out of the gaps between the grippers and ensuring the reliability of the gathering. Simultaneously, since the sliding direction of the first working plane is at a 45° angle to the corresponding gathering block, the first working plane moves obliquely relative to the cable during movement, creating a twisting effect on the cable. Utilizing the cable's flexibility, the strands intertwine, maintaining a neat and gathered state after gathering. This prevents the cable from loosening again after the external force is removed, resulting in excellent cable management. Furthermore, the size of the gathering opening can be controlled by the limiting screws to adapt to different cable management conditions.

[0013] As an optional embodiment of the present invention, the gathering mechanism further includes connecting blocks and connecting shafts; two connecting blocks are provided and respectively fixedly connected to the two output ends of the cable management opening and closing cylinder, and the two connecting blocks are respectively connected to two non-adjacent gathering blocks through two connecting shafts; the connecting blocks are provided with oblong holes, the extension direction of the oblong holes being perpendicular to the sliding direction of the connecting blocks; one end of the connecting shaft slides into the oblong hole, and the other end is fixedly connected to the corresponding gathering block. This solution, through the sliding engagement of the oblong hole on the connecting block and the connecting shaft, effectively compensates for the movement deviation of the gathering blocks caused by processing errors or installation errors, avoids the gathering blocks from getting stuck during sliding, and improves the operational stability and reliability of the cable management assembly.

[0014] As an optional embodiment of the present invention, the gathering block is provided with a vertically extending extension boss at the intersection of the first working plane and the second working plane. The extension boss has a third working plane coplanar with the first working plane. This solution utilizes the vertically extending extension boss on the gathering block. In the early stages of gathering, when the cable is thicker and the compressive pressure is lower, no additional contact surface is required. Towards the final stage of gathering, the cable is compressed and thinner, and the compressive pressure increases. At this point, the third working plane on the extension boss is coplanar with the first working plane, forming contact with the thinned cable. This increases the compression contact area, effectively dispersing local stress and reducing the risk of cable damage due to excessive local pressure. Simultaneously, the extension boss can also indicate the installation direction of the gathering block, preventing reverse installation.

[0015] As an optional embodiment of the present invention, the auxiliary components are configured corresponding to the assembly station and include auxiliary front and rear cylinders, an auxiliary lifting cylinder, an auxiliary opening and closing cylinder, and two auxiliary grippers. The auxiliary front and rear cylinders are used to drive the auxiliary lifting cylinder to move back and forth, the auxiliary lifting cylinder is used to drive the auxiliary opening and closing cylinder to move up and down, and the auxiliary opening and closing cylinder is used to drive the two auxiliary grippers to move towards or away from each other. Each of the two auxiliary grippers has at least one clamping plate, and the clamping plates of the two auxiliary grippers are staggered in the vertical direction so that the two auxiliary grippers can form a finger-joint structure. The opposite sides of the two auxiliary grippers are provided with triangular clamping openings, and when the two auxiliary grippers are close to each other, the two clamping openings together form a clamping space. This solution uses two auxiliary grippers with their clamping plates staggered vertically to form a finger joint structure, allowing the two auxiliary grippers to insert into each other. This allows for precise control of the clamping space to accommodate different cable sizes. At the same time, the cable is clamped through a triangular clamping opening, preventing it from wobbling during VPU fastener assembly, ensuring assembly accuracy. The clamping can also be quickly removed after assembly to avoid interfering with subsequent pressing.

[0016] As an optional embodiment of the present invention, a side-view component is also included. This side-view component is disposed at the cable management station and is used to acquire cable images of the C-shaped cantilever beam after cable management. This solution acquires cable images after management through the side-view component, providing a basis for judging the cable management effect, facilitating timely adjustments to the cable management actions, and ensuring that the cable posture meets subsequent assembly requirements.

[0017] As an optional embodiment of the present invention, an assembly vision component is also included. This assembly vision component is disposed at the assembly station and is used to acquire the position and orientation information of the cable of the C-shaped cantilever beam. This solution obtains the precise position and orientation of the cable through the assembly vision component, providing accurate positioning information for the assembly of VPU fasteners, thereby improving assembly accuracy and success rate. Attached Figure Description

[0018] Figure 1 This is an assembly drawing of the C-shaped cantilever beam and VPU fastener.

[0019] Figure 2 This is a top view of the turntable assembly device for the headphone C-shaped cantilever beam and VPU fastener in Example 1.

[0020] Figure 3 This is a perspective view of the turntable assembly device for the headphone C-shaped cantilever beam and VPU fastener in Example 1.

[0021] Figure 4 This is a top view of the assembly fixture in Example 1.

[0022] Figure 5 This is a perspective view of the assembly fixture in Example 1.

[0023] Figure 6 This is a perspective view of the cable management component in Example 1.

[0024] Figure 7 This is a perspective view of the gathering mechanism in Example 1.

[0025] Figure 8 This is a top view of the retracting mechanism in Example 1.

[0026] Figure 9 For along Figure 8 Sectional view along the AA direction.

[0027] Figure 10 For along Figure 9 Sectional view along the BB direction.

[0028] Figure 11 This is a reference diagram showing the usage state of the gathering mechanism in Example 1.

[0029] Figure 12 This is a perspective view of the auxiliary component in Example 1.

[0030] Figure 13 This is a perspective view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in Example 2.

[0031] Figure 14 This is a top view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in Example 2.

[0032] Figure 15 This is a perspective view of the C-shaped cantilever beam loading assembly in Example 2.

[0033] Figure 16 This is a front view of the C-shaped cantilever beam loading assembly in Example 2.

[0034] Figure 17 This is a top view of the C-shaped cantilever beam loading assembly in Example 2.

[0035] Figure 18 This is a left view of the C-shaped cantilever beam loading assembly in Example 2.

[0036] Figure 19 This is a 3D view of the buffer loading position in Example 2.

[0037] Figure 20 This is a perspective view of the disassembly assembly in Example 2.

[0038] Figure 21 This is a three-dimensional view of the empty disk cache bit in Example 2.

[0039] Figure 22 This is a top view of the empty disk cache bit in Example 2.

[0040] Figure 23 This is a perspective view of the pallet transfer assembly in Example 2.

[0041] Figure 24 This is a perspective view of the cantilever beam loading and unloading assembly in Example 2.

[0042] Figure 25 This is a perspective view of the compaction component in Example 2.

[0043] Figure 26 This is a perspective view of the cantilever beam clamping assembly in Example 2.

[0044] Figure 27 Reference for the usage status of the flip-transition component in Example 2 Figure 1 .

[0045] Figure 28 Reference for the usage status of the flip-transition component in Example 2 Figure 2 .

[0046] Figure 29This is a perspective view of the contour-following mold in Example 2.

[0047] Figure 30 This is a three-dimensional view of the contour pressing block in Example 2.

[0048] Figure 31 This is a schematic diagram showing the cooperation of the contour-following mold, the contour-following pressure block, and the second pneumatic gripper in Example 2.

[0049] Figure 32 This is a perspective view of the VPU feeding assembly in Example 2.

[0050] Figure 33 This is a perspective view of the VPU gripper assembly in Example 2.

[0051] Figure 34 This is a perspective view of the finished product discharge assembly in Example 2.

[0052] Figure 35 This is a perspective view of the fixture cover opening and closing assembly in Example 2.

[0053] Figure 36 This is a perspective view of the product transfer component in Example 2.

[0054] In the diagram: 1. Frame; 2. C-type cantilever beam loading assembly; 2.1. Mounting bracket; 2.2. Pallet transfer station; 2.2.1. Buffer loading station; 2.2.1.1. Side fixing plate; 2.2.1.2. Side guard fixing seat; 2.2.1.3. Loading station side guard; 2.2.1.4. Long side guard; 2.2.1.5. Side side guard; 2.2.1.6. Side protective plate; 2.2.1.7. Foolproof sheet metal; 2.2.2. Gripping loading station; 2.2.3. Empty pallet buffer station; 2.3. Pallet transfer assembly; 2.3.1. Pallet transfer horizontal module; 2.3.2. Lifting assembly; 2.3.3. Pallet transfer plate; 2.3.4. Clamping mechanism; 2.3.4.1. Clamping cylinder; 2.3.4.2. Clamping... Clamping plate, 2.4, Cantilever beam pick-and-place assembly, 2.4.1, Dual-mover linear drive module, 2.4.1.1, First mover, 2.4.1.2, Second mover, 2.4.2, Horizontal cantilever beam gripping assembly, 2.4.2.1, First lifting module, 2.4.2.2, First pneumatic gripper, 2.4.2.3, Rotary drive motor, 2.4.3, Vertical cantilever beam gripping assembly, 2.4.3.1, Second lifting module, 2.4.3.2, Second pneumatic gripper, 2.4.3.3, Compaction assembly, 2.4.3.3.1, Compaction drive cylinder, 2.4.3.3.2, Compaction needle, 2.5, Tilting transition assembly, 2.5.1, Cantilever beam clamping assembly, 2.5.1.1, Contouring container mold, 2. 5.1.1.1 First contouring groove; 2.5.1.1.2 First clearance groove; 2.5.1.2 Contouring pressure block; 2.5.1.2.1 Second contouring groove; 2.5.1.2.2 Second clearance groove; 2.5.1.3 Clearance cylinder; 2.5.1.4 Pressing cylinder; 2.5.1.5 Slide cylinder; 2.5.2 Rotation drive device; 2.5.2.1 Rotating shaft; 2.5.2.2 Tilting drive cylinder; 2.5.2.3 Rack; 2.5.2.4 Gear; 2.6 Dismantling assembly; 2.6.1 Lateral drive cylinder; 2.6.2 Sliding seat; 2.6.3 Dismantling cylinder; 2.6.4 Pallet peeling plate; 2.6.5 Pallet support plate; 2.7 Empty 2.7.1 Empty disc lifting cylinder, 2.7.2 Lifting support plate, 2.7.2.1 Notch, 2.7.3 Empty disc support plate, 2.8 Upper vision guide assembly, 2.9 Lower vision assembly, 3. VPU feeding assembly, 3.1 Vibration feeding assembly, 3.1.1 Straight vibration hopper, 3.1.2 Planar vibrating disc, 3.2 Collaborative robot, 3.3 VPU gripper assembly, 3.3.1 Robot connection plate, 3.3.2 Gripper mounting plate, 3.3.3 Elastic guide shaft assembly, 3.3.4 Third pneumatic gripper, 3.4 Feeding vision assembly, 3.5 Flying camera vision assembly, 4. Turntable assembly device for headphone C-shaped cantilever beam and VPU fastener, 4.1 Turntable, 4.4.1a. Loading station; 4.1b. Cable management station; 4.1c. Assembly station; 4.1d. Inspection station; 4.1e. Unloading station; 4.2. Assembly fixture; 4.2.1. Base; 4.2.2. First guide rail; 4.2.3. Fixed clamping block; 4.2.4. First sliding clamping block; 4.2.5. First guide block; 4.2.6. First end stop; 4.2.7. First compression screw; 4.2.8. First spring; 4.2.9. Second guide rail; 4.2.10. Second sliding clamping block; 4.2.11. Second guide block; 4.2.12. Second end stop; 4.2.13. Second compression screw; 4.2.14. Second spring; 4.3. First lifting cylinder; 4.4. Second lifting cylinder. 4.5 Cable Management Assembly, 4.5.1 Cable Management Lifting Cylinder, 4.5.2 Gathering Mechanism, 4.5.2.1 Lifting Platform, 4.5.2.2 Cable Management Opening and Closing Cylinder, 4.5.2.3 Connecting Block, 4.5.2.3.1 Waist-shaped Hole, 4.5.2.4 Connecting Shaft, 4.5.2.5 Gathering Block, 4.5.2.5.1 First Working Plane, 4.5.2.5.2 Second Working Plane, 4.5.2.5.3 Extension Boss, 4.5.2.5.3.1 Third Working Plane, 4.5.2.6 Gathering Opening, 4.5.2.7 Limiting Screw, 4.5.2.8 Slide Rail, 4.5.3 Cable Management Base, 4.6 Side Vision Assembly, 4.7 Auxiliary Assembly 4.7.1 Auxiliary front and rear cylinders; 4.7.2 Auxiliary lifting cylinders; 4.7.3 Auxiliary opening and closing cylinders; 4.7.4 Auxiliary grippers; 4.7.5 Auxiliary detection fiber optics; 4.7.6 Auxiliary base; 4.8 Assembly vision components; 4.9 Detection vision components; 5. Finished product discharge components; 5.1 Incoming material conveyor; 5.1.1 Incoming material lifting platform; 5.1.2 Incoming material blocking component; 5.2 Return material conveyor; 5.2.1 Return material lifting platform; 5.2.2 Return material blocking component; 5.3 Fixture transfer components; 5.3.1 Rodless cylinder; 5.3.2 Paddle plate; 5.4 Fixture cover opening and closing components; 5.4.1 Left and right cover opening cylinders; 5.4.2 Front and rear cover opening cylinders. 5.4.3. Opening and lifting cylinder; 5.4.4. Opening pneumatic gripper; 5.4.5. Opening base; 5.5. Product transfer assembly; 5.5.1. Product transfer horizontal module; 5.5.2. Product transfer lifting module; 5.5.3. Product gripper assembly; 5.5.3.1. Cantilever beam pneumatic gripper; 5.5.3.2. VPU pneumatic gripper; 5.5.3.3. Product gripping and detection fiber optic cable; 5.5.3.4. Product detection and displacement cylinder; 5.5.3.5. Product in-situ detection fiber optic cable; 5.5.3.6. Gripper platform; 5.5.4. Product transfer base; 5.6. Transfer fixture; 5.6.1. Fixture base; 5.6.2. Fixture cover; 5.7. Non-conforming product receiving box; 5.8. Transition plate; 6. Pallet; 7. C-shaped cantilever beam; 8. VPU fasteners. Detailed Implementation

[0055] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0056] In the embodiments, "front and back" and "left and right" are relative positional relationships, rather than absolute directions.

[0057] Example 1 Figure 1 The diagram shows an assembly of the C-shaped cantilever beam 7 and the VPU fastener 8. This embodiment uses a rotary assembly device for the headphone's C-shaped cantilever beam and VPU fastener, which sequentially performs cable straightening, VPU fastener 8 assembly, and inspection on the C-shaped cantilever beam 7 in the fixture, ultimately obtaining the desired result. Figure 1 The assembly shown is a C-shaped cantilever beam 7 and a VPU fastener 8.

[0058] like Figure 2 , Figure 3 As shown, this embodiment provides a turntable assembly device 4 for a headphone C-shaped cantilever beam and VPU fastener, including a turntable 4.1, an assembly fixture 4.2, a first lifting cylinder 4.3, a second lifting cylinder 4.4, a cable management assembly 4.5, a side vision assembly 4.6, an auxiliary assembly 4.7, an assembly vision assembly 4.8, and an inspection vision assembly 4.9.

[0059] The turntable 4.1 is driven by a direct drive motor, which can move the fixture 4.2 to stop sequentially between each workstation.

[0060] Four identical assembly fixtures 4.2 are evenly distributed around the circumference of the turntable 4.1. For example... Figure 4 , Figure 5 As shown, the assembly fixture 4.2 includes a base 4.2.1, a cantilever beam clamping unit, and a VPU clamping unit.

[0061] The cantilever beam clamping unit is used to position and fix the vertically oriented C-shaped cantilever beam 7. It includes a first guide rail 4.2.2, a fixed clamping block 4.2.3, a first sliding clamping block 4.2.4, a first guide block 4.2.5, a first end stop 4.2.6, a first limiting screw 4.2.7, and a first spring 4.2.8. The first guide rail 4.2.2 is horizontally mounted on the base 4.2.1. The fixed clamping block 4.2.3 is fixedly mounted on the base 4.2.1, and the first sliding clamping block 4.2.4 is slidably mounted on the first guide rail 4.2.2. The fixed clamping block 4.2.3 and the first sliding clamping block 4.2.4 are arranged opposite to each other along the extension direction of the first guide rail 4.2.2. The opposite sides of the fixed clamping block 4.2.3 and the first sliding clamping block 4.2.4 are respectively provided with contoured clamping surfaces that match the shape of the C-shaped cantilever beam 7. The first guide block 4.2.5 is fixedly connected to the first sliding clamping block 4.2.4, and has a guide slope on the side facing the fixed clamping block 4.2.3. The first end stop 4.2.6 is fixedly installed on the base 4.2.1 and is located outside the first sliding clamping block 4.2.4. The first compression screw 4.2.7 slides through the first end stop 4.2.6 and is fixedly connected to the first sliding clamping block 4.2.4. The first spring 4.2.8 is sleeved on the outside of the first compression screw 4.2.7 and pressed between the first end stop 4.2.6 and the first sliding clamping block 4.2.4.

[0062] The VPU clamping unit is used to position and fix the VPU fastener 8, and includes a second guide rail 4.2.9, a second sliding clamp 4.2.10, a second guide block 4.2.11, a second end stop 4.2.12, a second compression screw 4.2.13, and a second spring 4.2.14. The second guide rail 4.2.9 is mounted on the base 4.2.1 and is parallel to the first guide rail 4.2.2. Two sets of each of the second sliding clamp 4.2.10, second guide block 4.2.11, second end stop 4.2.12, second compression screw 4.2.13, and second spring 4.2.14 are provided, symmetrically arranged on both sides of the extension direction of the second guide rail. Each second sliding clamp 4.2.10 is slidably mounted on the second guide rail 4.2.9, and the two second sliding clamps 4.2.10 are arranged opposite each other along the extension direction of the second guide rail 4.2.9. Each second sliding clamping block 4.2.10 has a contoured clamping surface on its inner side that matches the shape of the VPU fixing member 8. A second guide block 4.2.11 is fixedly connected to the corresponding second sliding clamping block 4.2.10, and its inner side has a guide slope. A second end stop 4.2.12 is fixedly installed on the base 4.2.1 and located on the outer side of the corresponding second sliding clamping block 4.2.10. A second limiting screw 4.2.13 slides through the second end stop 4.2.12 and is fixedly connected to the corresponding second sliding clamping block 4.2.10. A second spring 4.2.14 is sleeved on the outside of the second limiting screw 4.2.13 and presses against the second end stop 4.2.12 and the corresponding second sliding clamping block 4.2.10.

[0063] The cantilever beam clamping unit is opened by a first lifting cylinder 4.3 located below the turntable 4.1. For example... Figure 3 As shown, a roller is installed at the output end of the first lifting cylinder 4.3. When the first lifting cylinder 4.3 drives the roller to rise, the roller pushes against the guide slope on the first sliding clamp 4.2.4, forcing the first sliding clamp 4.2.4 to slide along the first guide rail 4.2.2, thereby separating from the fixed clamp 4.2.3. At this time, the C-shaped cantilever beam 7 can be placed in or removed from the cantilever beam clamping unit. When the first lifting cylinder 4.3 drives the roller to descend, the first sliding clamp 4.2.4 resets under the action of the first spring 4.2.8, and together with the fixed clamp 4.2.3, clamps the C-shaped cantilever beam 7 to achieve positioning and fixation. The opening of the VPU clamping unit is driven by the second lifting cylinder 4.4 located below the turntable 4.1. Its structure and working principle are the same as those of the cantilever beam clamping unit, and will not be described again.

[0064] like Figure 2As shown, the turntable is arranged circumferentially with four stations: loading station 4.1a, cable management station 4.1b, assembly station 4.1c, inspection station 4.1d, and unloading station 4.1e. These stations are evenly distributed at 90° intervals. Each 90° rotation of the turntable allows the assembly fixture 4.2 to move between these stations. The cable management station 4.1b is located between the loading station 4.1a and the assembly station 4.1c. When an assembly fixture moves to the cable management station 4.1b, the other three assembly fixtures are not at their respective stations. The functions of each station are as follows: Loading station 4.1a: A first lifting cylinder 4.3 is installed below this station to open the cantilever beam clamping unit of the assembly fixture 4.2. The vertically positioned C-shaped cantilever beam 7 is moved above the assembly fixture 4.2 at loading station 4.1a by an external loading method (e.g., manually or by a robot). The first lifting cylinder 4.3 is activated, the cantilever beam clamping unit opens, the C-shaped cantilever beam 7 is placed in, and then the cantilever beam clamping unit closes to position and fix it.

[0065] Cable management station 4.1b: Cable management assembly 4.5 and side vision assembly 4.6 are respectively set in cable management station 4.1b. Cable management assembly 4.5 is used to gather the scattered cables of C-shaped cantilever beam 7 and keep them in a vertical position, in preparation for the subsequent assembly of VPU fasteners 8.

[0066] like Figure 6 As shown, the cable management assembly 4.5 includes a cable management lifting cylinder 4.5.1, a gathering mechanism 4.5.2, and a cable management base 4.5.3. The cable management lifting cylinder 4.5.1 is mounted on the cable management base 4.5.3 and is used to drive the gathering mechanism 4.5.2 to lift.

[0067] like Figures 7 to 9 As shown, the cable gathering mechanism 4.5.2 includes a lifting platform 4.5.2.1, a cable management opening and closing cylinder 4.5.2.2, a connecting block 4.5.2.3, a connecting shaft 4.5.2.4, a gathering block 4.5.2.5, a limit screw 4.5.2.7, and slide rails 4.5.2.8. The lifting platform 4.5.2.1 is connected to the output end of the cable management lifting cylinder 4.5.1. Four slide rails 4.5.2.8 are installed in a square on the lifting platform 4.5.2.1, and four gathering blocks 4.5.2.5 are slidably installed on the four slide rails 4.5.2.8 respectively. Each gathering block 4.5.2.5 has a first working plane 4.5.2.5.1 and a second working plane 4.5.2.5.2 that are perpendicular to each other. Both the first working plane 4.5.2.5.1 and the second working plane 4.5.2.5.2 are at a 45° angle to the sliding direction of the gathering block. The first working plane of a gathering block is in contact with the second working plane of the adjacent gathering block, and the first working planes of the four gathering blocks 4.5.2.5 4.5.2.5.1 together form a square gathering opening 4.5.2.6.

[0068] The cable management cylinder 4.5.2.2 is mounted on the lifting platform 4.5.2.1 and is used to drive the two connecting blocks 4.5.2.3 to move towards or away from each other. The two connecting blocks 4.5.2.3 are respectively connected to two non-adjacent gathering blocks 4.5.2.5 via two connecting shafts 4.5.2.4. Preferably, as follows... Figure 10 As shown, the connecting block 4.5.2.3 is provided with a waist-shaped hole 4.5.2.3.1. The extension direction of the waist-shaped hole 4.5.2.3.1 is perpendicular to the sliding direction of the connecting block 4.5.2.3. The connecting shaft 4.5.2.4 can slide within the waist-shaped hole 4.5.2.3.1, thereby avoiding the movement jamming of the gathering block 4.5.2.5 due to machining or installation errors. The limiting screw 4.5.2.7 is threadedly installed on the lifting platform 4.5.2.1 and is located in the movement direction of the gathering block 4.5.2.5. It is used to limit the stroke of the gathering block 4.5.2.5 to control the size of the gathering opening 4.5.2.6 and adapt to different cable management conditions.

[0069] Furthermore, each gathering block 4.5.2.5 has a vertically extending extension boss 4.5.2.5.3 at the intersection of the first working plane 4.5.2.5.1 and the second working plane 4.5.2.5.2. The extension boss 4.5.2.5.3 has a third working plane 4.5.2.5.3.1 that is coplanar with the first working plane 4.5.2.5.1. In the early stages of gathering, the cable is thicker and the compressive pressure is lower, requiring no additional contact surface. Towards the final stage of gathering, the cable is compressed and thinner, and the compressive pressure increases. At this point, the third working plane 4.5.2.5.3.1 contacts the thinned cable, increasing the compression contact area, effectively dispersing local stress, and reducing the risk of cable damage due to excessive local pressure. Simultaneously, the extension boss 4.5.2.5.3 also indicates the installation direction of the gathering block 4.5.2.5, preventing reverse installation.

[0070] The side vision component 4.6 is located on one side of the cable management component 4.5 and is used to obtain the cable status of the C-shaped cantilever beam 7 after cable management in order to determine whether cable management is required again.

[0071] When the turntable 4.1 drives the assembly fixture 4.2 to the cable management station 4.1b, the cable management lifting cylinder 4.5.1 drives the gathering mechanism 4.5.2 to descend, fitting the cable of the C-shaped cantilever beam 7 into the gathering opening 4.5.2.6. Subsequently, the cable management opening and closing cylinder 4.5.2.2 drives two gathering blocks 4.5.2.5 to move along their corresponding slide rails 4.5.2.8. Adjacent gathering blocks 4.5.2.5 interact through the first working plane 4.5.2.5.1 and the second working plane 4.5.2.5.2, causing the other two gathering blocks 4.5.2.5 to move synchronously along their slide rails 4.5.2.8, thereby narrowing the gathering opening 4.5.2.6 (see...). Figure 11 During this process, the first working plane 4.5.2.5.1 exerts a squeezing and twisting effect on the cable, squeezing and gathering the cable together.

[0072] Assembly station 4.1c: Auxiliary component 4.7 and assembly vision component 4.8 are respectively set in assembly station 4.1c. A second lifting cylinder 4.4 is installed below assembly station 4.1c, which is used to open the VPU clamping unit of assembly fixture 4.2.

[0073] like Figure 12 As shown, the auxiliary component 4.7 includes auxiliary front and rear cylinders 4.7.1, auxiliary lifting cylinder 4.7.2, auxiliary opening and closing cylinder 4.7.3, auxiliary gripper 4.7.4, auxiliary detection fiber optic cable 4.7.5, and auxiliary base 4.7.6.

[0074] Auxiliary front and rear cylinders 4.7.1 are mounted on the auxiliary base 4.7.6 and are used to drive the auxiliary lifting cylinder 4.7.2 to move back and forth. The auxiliary lifting cylinder 4.7.2 is used to drive the auxiliary opening and closing cylinder 4.7.3 to lift. There are two auxiliary grippers 4.7.4, and the auxiliary opening and closing cylinder 4.7.3 is used to drive the two auxiliary grippers 4.7.4 to move horizontally towards or away from each other.

[0075] Each of the two auxiliary grippers 4.7.4 has at least one clamping plate, and the clamping plates of the two auxiliary grippers 4.7.4 are staggered in the vertical direction so that the two auxiliary grippers 4.7.4 can form a finger-joint structure. In this embodiment, one auxiliary gripper 4.7.4 has one clamping plate, and the other auxiliary gripper 4.7.4 has two clamping plates. Triangular clamping openings are provided on opposite sides of the two auxiliary grippers 4.7.4. When they are close to each other, the two triangular clamping openings together form a clamping space for clamping the cable of the C-shaped cantilever beam 7. Furthermore, since the two auxiliary grippers 4.7.4 can form a finger-joint structure, the size of the clamping space can be controlled by controlling the distance between the two auxiliary grippers 4.7.4 to accommodate different cable sizes. An auxiliary detection fiber optic cable 4.7.5 is installed near the auxiliary grippers 4.7.4 for real-time detection of whether the cable has been stably clamped.

[0076] The assembly vision component 4.8 is located above the auxiliary component 4.7 and is used to obtain precise position and orientation information of the cable.

[0077] When assembly fixture 4.2 moves to assembly station 4.1c, the second lifting cylinder 4.4 activates, opening the VPU clamping unit of assembly fixture 4.2. Subsequently, the auxiliary component 4.7 activates: the auxiliary front and rear cylinders 4.7.1 move the auxiliary grippers 4.7.4 directly above the cable, and the auxiliary lifting cylinder 4.7.2 descends, positioning the two auxiliary grippers 4.7.4 on either side of the cable's center position; then, the auxiliary opening and closing cylinder 4.7.3 drives the two auxiliary grippers 4.7.4 to move towards each other, lightly clamping the cable at this center position, forming a stable central fulcrum. After the auxiliary detection fiber optic 4.7.5 confirms the clamping is in place, the assembly vision component 4.8 captures the precise position and orientation of the cable.

[0078] Based on visual information, a manual or externally collaborative robot places the VPU fastener 8 onto the cable from above and moves it downwards to above the auxiliary clamping point (i.e., the upper-middle part of the cable). Then, the auxiliary opening / closing cylinder 4.7.3 reverses its movement, opening the auxiliary gripper 4.7.4 and releasing the cable clamp to prevent interference during subsequent pressing. The manual or externally collaborative robot then continues to press the VPU fastener 8 downwards into the cable root until it is fully in place. Finally, the second lifting cylinder 4.4 resets, and the VPU clamping unit closes to clamp the VPU fastener, completing the assembly. Since the VPU fastener 8 is only fitted onto the cable end at this point and not yet firmly connected, it could easily detach from the C-shaped cantilever beam 7 if not clamped during the subsequent rotation of the turntable to the inspection station 4.1d and the unloading station 4.1e. The VPU clamping unit's closure clamps and secures the VPU fastener 8, ensuring product stability during transfer to subsequent stations.

[0079] Inspection station 4.1d: Inspection vision component 4.9 is set at inspection station 4.1d. Inspection vision component 4.9 is used to photograph the assembly status of the C-shaped cantilever beam 7 and VPU fastener 8 on the fixture from the side to determine whether the product is qualified.

[0080] Discharge station 4.1e: This station is equipped with a first lifting cylinder 4.3 and a second lifting cylinder 4.4, which are used to open the cantilever beam clamping unit and VPU clamping unit of the assembly fixture 4.2, respectively, to release the finished product after assembly for subsequent discharge.

[0081] In this embodiment, the device operates as follows: First, an external loading mechanism (e.g., manual or robotic arm) places the vertically positioned C-shaped cantilever beam 7 into the assembly fixture 4.2 at loading station 4.1a, where the cantilever beam clamping unit clamps and secures it. Turntable 4.1 then delivers the assembly fixture 4.2 to cable management station 4.1b, where cable management component 4.5 gathers and compresses the scattered cables from the C-shaped cantilever beam 7. Next, turntable 4.1 delivers the assembly fixture 4.2 to assembly station 4.1c, where auxiliary component 4.7 clamps the cable at its center to form a central fulcrum. Manual or external collaborative robot inserts the VPU fixing piece 8 onto the cable from above. Auxiliary component 4.7 releases its clamp, and manual or external collaborative robot continues to press the VPU fixing piece 8 into the cable root. The VPU clamping unit closes, clamping and securing the cable, completing the assembly. Finally, turntable 4.1 delivers the assembly fixture 4.2 to inspection station 4.1d, where vision component 4.9 captures the assembly status and determines whether the product is qualified. Finally, turntable 4.1 delivers assembly fixture 4.2 to discharge station 4.1e. First lifting cylinder 4.3 and second lifting cylinder 4.4 lift simultaneously, respectively activating cantilever beam clamping unit and VPU clamping unit to release the product for subsequent discharge.

[0082] Example 2 This embodiment provides an automated assembly device for the external clip-on headphone C-shaped cantilever beam and VPU fastener, serving as a typical application environment for the aforementioned rotary assembly device for the headphone C-shaped cantilever beam and VPU fastener. For example... Figure 13 , Figure 14 As shown, the equipment includes a frame 1, and a C-shaped cantilever beam feeding assembly 2, a turntable assembly device 4 for the headphone C-shaped cantilever beam and VPU fastener mounted on the frame 1, a VPU feeding assembly 3, and a finished product discharging assembly 5. The turntable assembly device 4 for the headphone C-shaped cantilever beam and VPU fastener adopts the structure described in Embodiment 1, and its details will not be repeated here.

[0083] The frame 1 serves as the load-bearing foundation for the entire equipment, and the whole structure adopts a rigid frame structure. The frame 1 is equipped with a mounting platform for fixing and supporting various functional components, transmission mechanisms, electrical control components, control cabinets, etc.

[0084] The C-type cantilever beam loading assembly 2 is used to convert the horizontally positioned C-type cantilever beam 7 in the pallet 6 into a vertical position and load it into the assembly fixture 4.2 at the loading station 4.1a. For example... Figures 15-18 As shown, the C-type cantilever beam loading assembly 2 includes a mounting bracket 2.1, a pallet transfer station 2.2, a pallet transfer assembly 2.3, a cantilever beam pick-and-place assembly 2.4, a flipping transition assembly 2.5, an upper vision guide assembly 2.8, and a lower vision assembly 2.9.

[0085] In this embodiment, "mounting bracket 2.1" does not refer to a single integral bracket, but rather to a collective term for multiple rigid mounting seats, fixing plates, or support frames used to fix and support components such as the pallet transfer station 2.2, pallet transfer assembly 2.3, cantilever beam loading and unloading assembly 2.4, and flipping transition assembly 2.5. Therefore, in the attached drawings of each sub-component, the base portion connecting it to the mounting foundation is also indicated by the reference numeral 2.1. These dispersed rigid structures collectively constitute the mounting foundation of the entire C-shaped cantilever beam loading assembly.

[0086] A pallet transfer station 2.2 is installed on the mounting bracket 2.1. This pallet transfer station 2.2 has three functional positions: a buffer loading position 2.2.1, a gripping loading position 2.2.2, and an empty pallet buffer position 2.2.3. The buffer loading position 2.2.1 is used to temporarily store pallets filled with C-shaped cantilever beams 7; the gripping loading position 2.2.2 is the position where the cantilever beam pick-and-place assembly 2.4 grips the horizontally positioned C-shaped cantilever beams 7; the empty pallet buffer position 2.2.3 is used to store empty pallets after all C-shaped cantilever beams 7 have been removed.

[0087] like Figure 19 As shown, a pallet limiting and guiding structure is provided at the buffer loading position 2.2.1. Specifically, side fixing plates 2.2.1.1 are installed on both sides of the buffer loading position 2.2.1. One side of the side fixing plate 2.2.1.1 is fixed with two loading position baffles 2.2.1.3 via baffle fixing seats 2.2.1.2, and the other side is fixed with two side baffles 2.2.1.5 via baffle fixing seats 2.2.1.2, which limit the movement of the pallet 6 on both sides. Four long baffles 2.2.1.4 are fixedly installed on the sides of the loading position baffles 2.2.1.3 and the side baffles 2.2.1.5, which limit the other two sides of the pallet 6. The height of the loading position baffles 2.2.1.3 is less than the height of the side baffles 2.2.1.5 and the height of the long baffles 2.2.1.4, so as to facilitate manual placement of the pallet 6 into the buffer loading position 2.2.1. Side guard plates 2.2.1.6 are fixedly installed between the two side guards 2.2.1.5 and between the two long guards 2.2.1.4 on one side. The side guard plate 2.2.1.6 is provided with a foolproof sheet metal 2.2.1.7, which protrudes inward from the side guard plate 2.2.1.6 and can cooperate with the foolproof groove on the pallet 6 to prevent the pallet 6 from being placed backwards when placed manually.

[0088] like Figure 19 , Figure 20As shown, to achieve automated pallet unloading, a pallet unloading assembly 2.6 is provided at the buffer loading position 2.2.1. The pallet unloading assembly 2.6 is symmetrically arranged on both sides of the buffer loading position 2.2.1 in the width direction. Each side includes a transverse drive cylinder 2.6.1, a sliding seat 2.6.2, a pallet unloading cylinder 2.6.3, a pallet peeling plate 2.6.4, and a pallet support plate 2.6.5. The transverse drive cylinder 2.6.1 is used to drive the sliding seat 2.6.2 to move along the width direction of the buffer loading position 2.2.1; the pallet unloading cylinder 2.6.3 and the pallet support plate 2.6.5 are both mounted on the sliding seat 2.6.2; the pallet support plate 2.6.5 is used to support the entire stack of pallets; the pallet unloading cylinder 2.6.3 is used to drive the pallet peeling plate 2.6.4 to rise and fall.

[0089] like Figure 21 , Figure 22 As shown, the empty pallet buffer position 2.2.3 is equipped with an empty pallet buffer assembly 2.7, including an empty pallet lifting cylinder 2.7.1, a lifting support plate 2.7.2, and an empty pallet support plate 2.7.3. The lifting support plate 2.7.2 has a notch 2.7.2.1, the width of which is greater than the width of the pallet transfer plate 2.3.3 described below, allowing the pallet transfer plate 2.3.3 to be inserted. The empty pallet support plates 2.7.3 are symmetrically arranged on both sides of the width direction of the empty pallet buffer position 2.2.3 and pivotally connected to the mounting bracket 2.1. In its free state, it is horizontal and can only rotate upward in one direction under the action of external force. At the empty pallet buffer position 2.2.3, there is a pallet limiting and guiding structure that is basically the same as that of the buffer loading position 2.2.1, which serves to limit and guide the empty pallet.

[0090] The pallet transfer assembly 2.3 is mounted on the mounting bracket 2.1 and is used to transfer the pallet 6 between the buffer loading position 2.2.1, the gripping loading position 2.2.2, and the empty pallet buffer position 2.2.3. Specifically, as... Figure 23As shown, the pallet transfer assembly 2.3 includes a pallet transfer horizontal module 2.3.1, a lifting assembly 2.3.2, a pallet transfer plate 2.3.3, and a clamping mechanism 2.3.4. The pallet transfer horizontal module 2.3.1 is fixedly mounted on the mounting bracket 2.1. The lifting assembly 2.3.2 is mounted on the slider of the pallet transfer horizontal module 2.3.1. The pallet transfer plate 2.3.3 is mounted on the slider of the lifting assembly 2.3.2. The clamping mechanism 2.3.4 is located on the pallet transfer plate 2.3.3. The lifting assembly 2.3.2 is driven by a motor-driven screw transmission with an additional linear guide rail to drive the pallet transfer plate 2.3.3 to rise and fall. The pallet transfer plate 2.3.3 is used to support the pallet 6, and its width is smaller than the width of the pallet 6, so as to transfer the pallet 6 onto the lifting support plate 2.7.2. The clamping mechanism 2.3.4 is mounted on the pallet transfer plate 2.3.3 and includes a clamping cylinder 2.3.4.1 and a clamping plate 2.3.4.2. The clamping cylinder 2.3.4.1 drives the clamping plate 2.3.4.2 to move inward, which can clamp the pallet 6 from both sides to prevent it from shaking or shifting. The pallet transfer horizontal module 2.3.1 drives the pallet transfer plate 2.3.3 to move horizontally, thereby transferring the pallet 6 from the buffer loading position 2.2.1 to the gripping loading position 2.2.2. After the workpiece is removed, the empty pallet is transferred from the gripping loading position 2.2.2 to the empty pallet buffer position 2.2.3.

[0091] The cantilever beam pick-and-place assembly 2.4 is mounted on the mounting bracket 2.1 and is used to pick up and transfer the C-type cantilever beam 7. For example... Figure 24 As shown, the cantilever beam pick-and-place assembly 2.4 adopts a dual-actuator linear drive module 2.4.1, which is fixedly mounted on the mounting bracket 2.1. Its stroke covers the gripping loading position 2.2.2 and the flipping transition assembly 2.5 (see...). Figure 15 and Figure 18 For clarity, Figure 15 and Figure 18The components of the buffer loading position are hidden, as well as the loading station 4.1a of the rotary assembly device 4. The dual-mover linear drive module 2.4.1 is equipped with a first mover 2.4.1.1 and a second mover 2.4.1.2. The first mover 2.4.1.1 is equipped with a horizontal cantilever beam gripping assembly 2.4.2, including a first lifting module 2.4.2.1, a first pneumatic gripper 2.4.2.2, and a rotary drive motor 2.4.2.3. The first lifting module 2.4.2.1 can drive the first pneumatic gripper 2.4.2.2 to lift and lower, so as to grip the horizontally oriented C-shaped cantilever beam 7 from the tray of the loading position 2.2.2. The rotary drive motor 2.4.2.3 is used to drive the first pneumatic gripper 2.4.2.2 to rotate in the horizontal plane, so as to adjust the orientation of the C-shaped cantilever beam, allowing it to be smoothly placed into the subsequent contour-following container mold 2.5.1.1. The second actuator 2.4.1.2 is equipped with a vertical cantilever beam gripping assembly 2.4.3, including a second lifting module 2.4.3.1, a second pneumatic gripper 2.4.3.2 synchronously driven by the second lifting module 2.4.3.1, and a compaction assembly 2.4.3.3. The second pneumatic gripper 2.4.3.2 is used to grip the vertically positioned C-shaped cantilever beam 7 from the flipped contoured container mold 2.5.1.1. The gripping portions of both the first pneumatic gripper 2.4.2.2 and the second pneumatic gripper 2.4.3.2 adopt a contoured design, with shapes matching the curved surface of the C-shaped cantilever beam 7. Figure 25 As shown, the compaction assembly 2.4.3.3 includes a compaction drive cylinder 2.4.3.3.1 and two compaction needles 2.4.3.3.2 driven by it. After the vertically positioned C-shaped cantilever beam 7 is initially placed into the assembly fixture 4.2 of the turntable assembly device 4, the compaction drive cylinder 2.4.3.3.1 drives the two compaction needles 2.4.3.3.2 to push downwards at both ends of the C-shaped cantilever beam 7, so that the C-shaped cantilever beam 7 is installed in place.

[0092] The flip-over transition assembly 2.5, mounted on the mounting bracket 2.1, is the core component for converting the C-shaped cantilever beam from a horizontal to a vertical position. For example... Figure 26 , Figure 27 and Figure 28As shown, the flipping transition assembly 2.5 includes a cantilever beam clamping assembly 2.5.1 and a rotation drive device 2.5.2. The rotation drive device 2.5.2 includes a rotating shaft 2.5.2.1, a flipping drive cylinder 2.5.2.2, a rack 2.5.2.3, and a gear 2.5.2.4. The rotating shaft 2.5.2.1 is rotatably supported on the mounting bracket 2.1 by bearings to ensure smooth rotation. The rack 2.5.2.3 is horizontally slidably mounted on the mounting bracket 2.1 and meshes with the gear 2.5.2.4, which is fixedly connected to the rotating shaft 2.5.2.1. The flipping drive cylinder 2.5.2.2 is mounted on the mounting bracket 2.1 and is used to drive the rack 2.5.2.3 to linear motion. The linear motion of the rack 2.5.2.3 drives the gear 2.5.2.4 to rotate, thereby driving the rotating shaft 2.5.2.1 to rotate. The cantilever beam clamping assembly 2.5.1 is mounted on the rotating shaft 2.5.2.1, and therefore rotates together with the rotating shaft 2.5.2.1, completing a 90° rotation from horizontal to vertical. The cantilever beam clamping assembly 2.5.1 includes a contouring mold 2.5.1.1, a contouring pressure block 2.5.1.2, a clearance cylinder 2.5.1.3, and a clamping cylinder 2.5.1.4. Optionally, in this embodiment, the contouring mold 2.5.1.1 is mounted on the rotating shaft 2.5.2.1 via a slide cylinder 2.5.1.5. Figure 29 As shown, the conformal holding mold 2.5.1.1 has a first conformal groove 2.5.1.1.1 that matches the shape of the C-shaped cantilever beam 7, used to receive the horizontally placed C-shaped cantilever beam 7. The clearance cylinder 2.5.1.3 drives the clamping cylinder 2.5.1.4 and the conformal pressing block 2.5.1.2 to move horizontally above the conformal holding mold 2.5.1.1. The conformal pressing block 2.5.1.2 has a second conformal groove 2.5.1.2.1 that matches the C-shaped cantilever beam 7. The clamping cylinder 2.5.1.4 then drives the conformal pressing block 2.5.1.2 to press the C-shaped cantilever beam 7 into the first conformal groove 2.5.1.1.1 and the second conformal groove 2.5.1.2.1. Figure 29 and Figure 30 As shown, the conforming mold 2.5.1.1 has a first clearance groove 2.5.1.1.2, and the conforming pressing block 2.5.1.2 has a second clearance groove 2.5.1.2.2. When the conforming pressing block 2.5.1.2 presses against the C-shaped cantilever beam, a groove-shaped space formed by the first clearance groove 2.5.1.1.2 and the second clearance groove 2.5.1.2 is formed between the conforming pressing block 2.5.1.2 and the conforming mold 2.5.1.1. The middle arc portion of the C-shaped cantilever beam 7 is precisely exposed in this groove-shaped space. Figure 31As shown, after flipping, the second pneumatic gripper 2.4.3.2 of the vertical cantilever beam gripping assembly 2.4.3 can extend into the slot-shaped space and directly clamp the middle arc position of the C-shaped cantilever beam to complete the vertical gripping posture.

[0093] like Figures 15-18 As shown, the upper vision guide component 2.8 is installed above the gripping loading position 2.2.2 to acquire images of the C-shaped cantilever beam in the tray; the lower vision component 2.9 is installed between the gripping loading position 2.2.2 and the flipping transition component 2.5 to acquire images of the actual posture of the C-shaped cantilever beam gripped by the first pneumatic gripper 2.4.2.2. Image processing and control are performed by an external controller or a control system known in the art. This system calculates the workpiece's positional deviation based on the image, guides the horizontal cantilever beam gripping component 2.4.2 to perform positional compensation, and corrects the placement on the contour-following container mold 2.5.1.1 by fitting with the upper vision data to ensure accurate placement.

[0094] The VPU feeding assembly 3 is mounted on the frame 1 and is used to automatically supply VPU fasteners 8 for the assembly process. Figure 32 As shown, the component includes a vibration feeding assembly 3.1, a collaborative robot 3.2, a VPU gripper assembly 3.3, a feeding vision assembly 3.4, and a flying camera vision assembly 3.5.

[0095] The vibratory feeding assembly 3.1 consists of a linear vibratory hopper 3.1.1 and a planar vibratory plate 3.1.2. Bulk VPU fixtures 8 are manually fed into the linear vibratory hopper 3.1.1 in batches. The linear vibratory hopper 3.1.1 feeds the VPU fixtures to the planar vibratory plate 3.1.2 at a certain frequency. The planar vibratory plate 3.1.2 disperses the VPU fixtures and positions them approximately in a predetermined orientation. A feeding vision assembly 3.4 is mounted above the planar vibratory plate 3.1.2 to identify the orientation and position of the dispersed VPU fixtures 8 and transmit the information to the collaborative robot 3.2.

[0096] The collaborative robot 3.2 has a VPU gripper assembly 3.3 installed at its end effector. For example... Figure 33 As shown, the VPU gripper assembly 3.3 includes a robot connecting plate 3.3.1, a gripper mounting plate 3.3.2, an elastic guide shaft assembly 3.3.3, and a third pneumatic gripper 3.3.4. The robot connecting plate 3.3.1 is fixedly mounted to the end of the collaborative robot 3.2 and connected to the gripper mounting plate 3.3.2 via the elastic guide shaft assembly 3.3.3. This elastic guide shaft assembly allows the gripper mounting plate 3.3.2 to move linearly towards the robot connecting plate 3.3.1 under external force and automatically reset after the external force is removed, thus preventing damage caused by hard pressure when gripping the VPU fixture 8. The third pneumatic gripper 3.3.4 is mounted on the gripper mounting plate 3.3.2, and its gripper has a contoured gripping block that matches the shape of the VPU fixture 8.

[0097] The aerial vision component 3.5 is positioned on one side of the vibratory feeding component 3.1. The collaborative robot 3.2, based on information provided by the feeding vision component 3.4, drives the VPU gripper component 3.3 to grasp the VPU fixture 8 from the planar vibratory disk 3.1.2 and transfers the VPU fixture 8 to the assembly station 4.1c of the rotary assembly device 4 for assembly. During this transfer, the aerial vision component 3.5 performs aerial photography on the VPU fixture 8 to accurately acquire its posture after grasping. By fitting this posture with the feeding vision data, the precise posture of the VPU fixture 8 is obtained, thereby guiding subsequent assembly actions.

[0098] The finished product unloading component 5 is set at the unloading station 4.1e and is used to remove the assembled product from the assembly fixture 4.2. For example... Figure 34 As shown, the finished product discharge assembly 5 includes an incoming material conveyor 5.1, a return material conveyor 5.2, a fixture transfer assembly 5.3, a fixture cover opening and closing assembly 5.4, a product transfer assembly 5.5, and a transfer fixture 5.6.

[0099] Because the assembled product is not yet secure, the VPU fastener 8 and the C-shaped cantilever beam 7 are prone to detachment. Therefore, the product needs to be loaded into the transfer fixture 5.6 and transferred as a whole to the next process. The transfer fixture 5.6 includes a fixture base 5.6.1 and a fixture cover 5.6.2. The fixture base 5.6.1 has a receiving position for accommodating the product. Figure 35 As shown, the top of the fixture base 5.6.1 is provided with an open position and a closed position. When the fixture cover 5.6.2 is installed in the open position, the fixture cover will not interfere with the product being placed in the receiving position; when the fixture cover 5.6.2 is installed in the closed position, the product is fixed in the receiving position by the fixture cover 5.6.2.

[0100] The incoming material conveyor 5.1 and the return material conveyor 5.2 are installed side by side on the frame 1, with opposite conveying directions. The incoming material conveyor 5.1 is used to transport the unloaded transfer fixture 5.6, which is equipped with an incoming material lifting platform 5.1.1 and an incoming material blocking assembly 5.1.2, located upstream of the incoming material lifting platform 5.1.1. A non-conforming product receiving box 5.7 is installed on the side of the incoming material conveyor 5.1 to collect non-conforming products detected at inspection station 4.1d. The return material conveyor 5.2 is used to transport the loaded transfer fixture 5.6, which is equipped with a return material lifting platform 5.2.1 and a return material blocking assembly 5.2.2, located downstream of the return material lifting platform 5.2.1.

[0101] The incoming material lifting platform 5.1.1, the incoming material blocking assembly 5.1.2, the return material lifting platform 5.2.1, and the return material blocking assembly 5.2.2 are all driven by pneumatic actuators. The incoming material lifting platform 5.1.1 and the return material lifting platform 5.2.1 are used to lift the transfer fixtures on their respective conveyors, cooperating with the fixture transfer assembly 5.3 to transfer the transfer fixtures from the incoming material conveyor 5.1 to the return material conveyor 5.2. The incoming material blocking assembly 5.1.2 is used to block the transfer fixture 5.6 on the incoming material conveyor 5.1 for buffering; the return material blocking assembly 5.2.2 is used to block the transfer fixture 5.6 on the return material conveyor 5.2 for loading products onto the transfer fixture 5.6. In this embodiment, the incoming material conveyor 5.1 and the return material conveyor 5.2 transport the transfer fixtures 5.6 in groups, with each group consisting of four transfer fixtures 5.6 arranged side-by-side.

[0102] The fixture transfer assembly 5.3 is mounted on the frame 1, spanning above the incoming material lifting platform 5.1.1 and the return material lifting platform 5.2.1. The fixture transfer assembly 5.3 includes a rodless cylinder 5.3.1 and a lever 5.3.2. The rodless cylinder 5.3.1 drives the lever 5.3.2 to move horizontally along the connection direction between the incoming material lifting platform 5.1.1 and the return material lifting platform 5.2.1. A transition plate 5.8 is installed between the incoming material conveyor 5.1 and the return material conveyor 5.2. When the incoming material lifting platform 5.1.1 and the return material lifting platform 5.2.1 are raised, the transition plate 5.8 engages with the incoming material lifting platform 5.1.1 and the return material lifting platform 5.2.1 respectively, forming a fixture transfer channel.

[0103] like Figure 35 As shown, the fixture cover opening and closing assembly 5.4 is mounted on the frame 1, located above the return material blocking assembly 5.2.2, and is used to switch the mounting position of the fixture cover 5.6.2 during the process of loading the product into the transfer fixture 5.6. The fixture cover opening and closing assembly 5.4 includes a left and right opening cylinder 5.4.1, an opening unit, and an opening base 5.4.5. The opening base 5.4.5 is fixedly mounted on the frame 1, and the left and right opening cylinders 5.4.1 are mounted on the opening base 5.4.5 to drive the two sets of opening units to move left and right. Each opening unit includes a front and rear opening cylinder 5.4.2, an opening lifting cylinder 5.4.3, and an opening pneumatic gripper 5.4.4. The front and rear opening cylinder 5.4.2 is connected to the output end of the left and right opening cylinder 5.4.1 and is used to drive the opening lifting cylinder 5.4.3 to move back and forth. The opening lifting cylinder 5.4.3 is used to drive the opening pneumatic gripper 5.4.4 to lift and lower. The opening pneumatic gripper 5.4.4 is used to grip the cover of the fixture 5.6.2. The left and right opening cylinder 5.4.1 can drive the opening unit to move left and right, so that the opening unit works at the first and third transfer fixtures or the second and fourth transfer fixtures respectively.

[0104] like Figure 36 As shown, the product transfer assembly 5.5 includes a product transfer horizontal module 5.5.1, a product transfer lifting module 5.5.2, a product gripper assembly 5.5.3, and a product transfer base 5.5.4. The product transfer base 5.5.4 is mounted on the frame 1. The product transfer horizontal module 5.5.1 is mounted on the product transfer base 5.5.4 and is used to drive the product transfer lifting module 5.5.2 to lift and lower. The product transfer lifting module 5.5.2 is used to drive the product gripper assembly 5.5.3 to lift and lower.

[0105] The product gripper assembly 5.5.3 includes a cantilever pneumatic gripper 5.5.3.1, a VPU pneumatic gripper 5.5.3.2, a product gripping and detection fiber optic cable 5.5.3.3, a product detection and displacement cylinder 5.5.3.4, a product in-situ detection fiber optic cable 5.5.3.5, and a gripper platform 5.5.3.6. The gripper platform 5.5.3.6 is mounted on the slider of the product transfer and lifting module 5.5.2. Both the cantilever pneumatic gripper 5.5.3.1 and the VPU pneumatic gripper 5.5.3.2 are mounted on the gripper platform 5.5.3.6, and are used to grip the C-shaped cantilever beam portion and the VPU fixing portion of the assembly fixture 4.2 at the material handling station 4.1e, respectively, ensuring that the product does not fall off during the transfer process. The product gripping and detection fiber optic cable 5.5.3.3 is installed on the side of the cantilever beam pneumatic gripper 5.5.3.1 and the VPU pneumatic gripper 5.5.3.2 to assist in detecting the gripping effect. The product detection and displacement cylinder 5.5.3.4 is installed on the gripper platform 5.5.3.6 to drive the product presence detection fiber optic cable 5.5.3.5 to move vertically to detect whether there is a product in the assembly fixture 4.2.

[0106] In this embodiment, during operation, the C-shaped cantilever beam loading assembly 2 flips the horizontal C-shaped cantilever beam 7 in the tray 6 to a vertical position. The vertical cantilever beam gripping assembly 2.4.3 grips the vertically positioned C-shaped cantilever beam 7 and loads it into the assembly fixture 4.2 at the loading station 4.1a of the turntable assembly device 4. Subsequently, the turntable 4.1 rotates sequentially according to the workflow described in Embodiment 1, causing the assembly fixture 4.2 to flow between the loading station 4.1a, the cable management station 4.1b, the assembly station 4.1c, the inspection station 4.1d, and the unloading station 4.1e. This, combined with the cable management assembly 4.5, the auxiliary assembly 4.7, the assembly vision assembly 4.8, and the inspection vision assembly 4.9, completes cable management, assembly, and inspection. At the assembly station 4.1c, the collaborative robot 3.2 drives the VPU gripper assembly 3.3 to grip the VPU fixing part 8 and transfer it to the assembly station 4.1c, where it cooperates with the auxiliary assembly 4.7 to complete the assembly. Finally, based on the detection results of the vision component 4.9, the finished product unloading component 5 removes qualified products from the assembly fixture 4.2 and loads them into the transfer fixture 5.6 for output, or places unqualified products into the unqualified product receiving box 5.7. Simultaneously, after all the C-shaped cantilever beams 7 in the pallet 6 have been removed, the pallet transfer component 2.3 transfers the empty pallet to the empty pallet buffer position 2.2.3 for stacking buffer.

Claims

1. A carousel assembly for earphone C-cantilever beam and VPU fixture, characterized in that, It includes a turntable (4.1), an assembly fixture (4.2), a cable management assembly (4.5), auxiliary components (4.7), and an inspection vision assembly (4.9). The assembly fixture (4.2) is provided with multiple fixtures along the circumference of the turntable (4.1) for clamping the C-shaped cantilever beam (7) and the VPU fastener (8) respectively. The turntable (4.1) is surrounded by a loading station (4.1a), a cable sorting station (4.1b), an assembly station (4.1c), an inspection station (4.1d), and a discharge station (4.1e) arranged sequentially along the rotation direction. The turntable (4.1) can drive the assembly fixture (4.2) to stop between the loading station (4.1a), the cable sorting station (4.1b), the assembly station (4.1c), the inspection station (4.1d), and the discharge station (4.1e). The cable management component (4.5) is located at the cable management station (4.1b) and is used to squeeze and gather the cables of the C-shaped cantilever beam (7). The auxiliary component (4.7) is located at the assembly station (4.1c) and is used to clamp the cable of the C-shaped cantilever beam (7) to form an intermediate support point; The detection vision component (4.9) is located at the detection station (4.1d) and is used to acquire images of the assembled product.

2. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 1, wherein, The assembly fixture (4.2) includes a base (4.2.1), a cantilever beam clamping unit, and a VPU clamping unit; The cantilever beam clamping unit includes a fixed clamping block (4.2.3), a first sliding clamping block (4.2.4), a first guide block (4.2.5), a first end stop (4.2.6), a first limiting screw (4.2.7), and a first spring (4.2.8). The first sliding clamping block (4.2.4) is slidably mounted on the base (4.2.1). The fixed clamping block (4.2.3) is fixedly mounted on the base (4.2.1) and is opposite to the first sliding clamping block (4.2.4). The first guide block (4.2.5) is fixedly connected to the first sliding clamping block (4.2.4). A guide slope is provided on the side of the block (4.2.5) facing the fixed clamping block (4.2.3). The first end stop (4.2.6) is fixedly installed on the base (4.2.1) and located outside the first sliding clamping block (4.2.4). The first limiting screw (4.2.7) slides through the first end stop (4.2.6) and is fixedly connected to the first sliding clamping block (4.2.4). The first spring (4.2.8) is sleeved on the outside of the first limiting screw (4.2.7) and pressed between the first end stop (4.2.6) and the first sliding clamping block (4.2.4). The VPU clamping unit includes a second sliding clamp (4.2.10), a second guide block (4.2.11), a second end stop (4.2.12), a second limiting screw (4.2.13), and a second spring (4.2.14). Two second sliding clamps (4.2.10) are provided, and the two second sliding clamps (4.2.10) are slidably mounted on the base (4.2.1). The second guide block (4.2.11) is fixedly connected to the corresponding second sliding clamp (4.2.10). The inner side of the second guide block (4.2.11)... A guide slope is provided. The second end block (4.2.12) is fixedly installed on the base (4.2.1) and located outside the corresponding second sliding clamp (4.2.10). The second limiting screw (4.2.13) slides through the second end block (4.2.12) and is fixedly connected to the corresponding second sliding clamp (4.2.10). The second spring (4.2.14) is sleeved on the outside of the second limiting screw (4.2.13) and pressed between the second end block (4.2.12) and the corresponding second sliding clamp (4.2.10). Below the turntable (4.1) are a first lifting cylinder (4.3) and a second lifting cylinder (4.4). The first lifting cylinder (4.3) is used to push against the guide slope of the first guide block (4.2.5) to drive the first sliding clamp (4.2.4) to slide, thereby opening the cantilever beam clamping unit. The second lifting cylinder (4.4) is used to push against the guide slope of the second guide block (4.2.11) to drive the two second sliding clamps (4.2.10) to slide in opposite directions, thereby opening the VPU clamping unit.

3. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 2, characterized in that, Rollers are installed at the output ends of the first lifting cylinder (4.3) and the second lifting cylinder (4.4).

4. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 2, wherein, The first lifting cylinder (4.3) is located below the loading station (4.1a) and the unloading station (4.1e), and the second lifting cylinder (4.4) is located below the assembly station (4.1c) and the unloading station (4.1e).

5. The rotary assembly device for the C-shaped cantilever beam and VPU fixing component of the earphone according to claim 1, characterized in that, The cable management assembly (4.5) includes a cable management lifting cylinder (4.5.1) and a gathering mechanism (4.5.2), wherein the cable management lifting cylinder (4.5.1) is used to drive the gathering mechanism (4.5.2) to lift up and down; The cable gathering mechanism (4.5.2) includes a lifting platform (4.5.2.1), a cable management opening and closing cylinder (4.5.2.2), and four gathering blocks (4.5.2.5). The four gathering blocks (4.5.2.5) are slidably mounted on the lifting platform (4.5.2.1), and the sliding direction of the four gathering blocks (4.5.2.5) is arranged in a square. Each gathering block (4.5.2.5) has a first working plane (4.5.2.5.1) and a second working plane (4.5.2.5) that are perpendicular to each other. .2), the first working plane (4.5.2.5.1) and the second working plane (4.5.2.5.2) are both at a 45° angle to the sliding direction of the corresponding gathering block (4.5.2.5). The first working plane (4.5.2.5.1) and the second working plane (4.5.2.5.2) of two adjacent gathering blocks (4.5.2.5) are in contact with each other. The first working plane (4.5.2.5.1) of the four gathering blocks (4.5.2.5) together form the gathering opening (4.5.2.6). The cable management cylinder (4.5.2.2) is used to drive two non-adjacent gathering blocks (4.5.2.5) to move towards or away from each other.

6. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 5, wherein, The gathering mechanism (4.5.2) further includes a connecting block (4.5.2.3) and a connecting shaft (4.5.2.4); two connecting blocks (4.5.2.3) are provided and fixedly connected to the two output ends of the cable management cylinder (4.5.2.2), and the two connecting blocks (4.5.2.3) are respectively connected to two non-adjacent gathering blocks (4.5.2.5) through the two connecting shafts (4.5.2.4); the connecting block (4.5.2.3) is provided with a waist-shaped hole (4.5.2.3.1), and the extension direction of the waist-shaped hole (4.5.2.3.1) is perpendicular to the sliding direction of the connecting block (4.5.2.3); one end of the connecting shaft (4.5.2.4) is slidably engaged with the waist-shaped hole (4.5.2.3.1), and the other end is fixedly connected to the corresponding gathering block (4.5.2.5).

7. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 5, wherein, The gathering block (4.5.2.5) has a vertically extending extension boss (4.5.2.5.3) at the intersection of the first working plane (4.5.2.5.1) and the second working plane (4.5.2.5.2). The extension boss (4.5.2.5.3) has a third working plane (4.5.2.5.3.1) that is coplanar with the first working plane (4.5.2.5.1).

8. The carousel assembly for C-cantilever beam and VPU fixture of earphone according to claim 1, wherein, The auxiliary component (4.7) is set up in accordance with the assembly station and includes auxiliary front and rear cylinders (4.7.1), auxiliary lifting cylinder (4.7.2), auxiliary opening and closing cylinder (4.7.3) and two auxiliary grippers (4.7.4). The auxiliary front and rear cylinders (4.7.1) are used to drive the auxiliary lifting cylinder (4.7.2) to move back and forth. The auxiliary lifting cylinder (4.7.2) is used to drive the auxiliary opening and closing cylinder (4.7.3) to move up and down. The auxiliary opening and closing cylinder (4.7.3) is used to drive the two auxiliary grippers (4.7.4) to move towards each other or away from each other. Each of the two auxiliary grippers (4.7.4) has at least one clamping plate, and the clamping plates of the two auxiliary grippers (4.7.4) are staggered in the vertical direction so that the two auxiliary grippers (4.7.4) can form a finger joint structure. The two auxiliary grippers (4.7.4) have triangular gripping openings on opposite sides. When the two auxiliary grippers (4.7.4) are close to each other, the two gripping openings together form a gripping space.

9. The carousel assembly of claim 1, wherein, It also includes a side vision component (4.6), which is located at the cable management station (4.1b) and is used to obtain cable images of the C-shaped cantilever beam (7) after cable management.

10. The carousel assembly for C-cantilever beam and VPU fixture of headphones of claim 1, wherein, It also includes an assembly vision component (4.8), which is set at the assembly station (4.1c) and is used to obtain the position and orientation information of the cable of the C-shaped cantilever beam (7).

Images