An assembly device and method for an external clip-on earphone with a C-shaped cantilever beam and VPU fastener.

Abstract

This invention discloses an assembly device and method for an external clip-on earphone with a C-shaped cantilever beam and VPU fasteners, belonging to the field of automated assembly equipment. The device includes a frame and a turntable assembly, a C-shaped cantilever beam feeding assembly, a VPU feeding assembly, and a finished product unloading assembly mounted on the frame. The turntable assembly includes a turntable, an assembly fixture, a cable management assembly, and a detection vision assembly. Feeding, cable management, assembly, detection, and unloading stations are sequentially arranged around the turntable. The C-shaped cantilever beam feeding assembly is used to flip the horizontally positioned C-shaped cantilever beam to a vertical position and load it into the assembly fixture; the cable management assembly is used to compress and gather the cables of the C-shaped cantilever beam; the VPU feeding assembly is used to assemble the VPU fasteners to the cable ends; the detection vision assembly is used to capture images of the assembled product for determining its conformity; and the finished product unloading assembly is used to remove the product from the assembly fixture. This invention achieves full automation of the entire process of feeding, cable management, assembly, detection, and unloading of the C-shaped cantilever beam and VPU fasteners.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly equipment technology, specifically relating to an assembly device and method for an external clip-on 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. In the headphone manufacturing process, the VPU fastener 8 needs to be assembled to one end of the C-shaped cantilever beam 7, followed by 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. In mass production, the C-shaped cantilever beams are usually stored horizontally in trays. However, during the assembly of the VPU fasteners, the C-shaped cantilever beams need to be converted to a vertical position to facilitate the alignment and installation of the VPU fasteners.

[0003] Currently, there is no fully automated equipment capable of automatically feeding, positioning, assembling, inspecting, and unloading C-shaped cantilever beams. Existing solutions mostly combine manual labor with simple fixtures, relying on manual coordination between processes—operators must manually pick up the C-shaped cantilever beam from the pallet, flip it to a vertical position, and then assemble the VPU fastener to one end of the C-shaped cantilever beam. Due to the elasticity and small structure of the C-shaped cantilever beam, it is difficult to precisely control the flipping angle manually. Uneven force applied by fingers can easily cause irreversible elastic deformation or even breakage of the cantilever beam, affecting product performance. At the same time, the consistency of the vertical posture after each flipping is poor, which cannot meet the high-precision positioning requirements of subsequent VPU fastener assembly. Manually passing the C-shaped cantilever beam through the holes of the VPU fastener and clamping it into the preset slot of the VPU fastener also suffers from poor positioning accuracy and incomplete engagement, and is slow and inefficient, making it difficult to meet the needs of large-scale production. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an assembly device and method for the C-shaped cantilever beam and VPU fastener of external clip-on headphones. It aims to solve the problems of the lack of fully automated assembly equipment for the C-shaped cantilever beam and VPU fastener of external clip-on headphones in the prior art, and the problems of easy deformation of the C-shaped cantilever beam when flipping, poor vertical posture consistency, low assembly accuracy of VPU fastener, and low efficiency caused by manual operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an assembly device for an external clip-on earphone C-shaped cantilever beam and VPU fixing component, comprising a frame and a turntable assembly, a C-shaped cantilever beam feeding assembly, a VPU feeding assembly, and a finished product discharging assembly mounted on the frame; the turntable assembly includes a turntable, an assembly fixture, a cable management assembly, and an inspection vision assembly; multiple assembly fixtures are arranged around the turntable circumferentially for clamping the C-shaped cantilever beam and the VPU fixing component respectively; a feeding station, a cable management station, an assembly station, an inspection station, and a discharging station are sequentially arranged around the turntable along the rotation direction, and the turntable can drive the assembly fixture to rotate between the stations; the C-shaped cantilever beam feeding assembly is arranged corresponding to the feeding station, using... The horizontal C-shaped cantilever beam in the tray is flipped to a vertical position and loaded into the assembly fixture; the cable management component is set at the cable management station and is used to squeeze and gather the cables of the C-shaped cantilever beam; the VPU loading component is set at the assembly station and includes a collaborative robot and a VPU gripper component installed at its end, the collaborative robot is used to drive the VPU gripper component to assemble the VPU fastener to the cable end of the C-shaped cantilever beam; the inspection vision component is set at the inspection station and is used to collect images of the assembled product; the finished product unloading component is set at the unloading station and includes a product transfer component, the product transfer component is used to grab the product from the assembly fixture and remove it from the assembly fixture.

[0006] Based on the above technical solution, the technical solution provided by this invention has at least the following advantages: it realizes full automation of the C-shaped cantilever beam and VPU fastener from pallet loading, pallet unloading, posture conversion, cable management, assembly, inspection, and unloading. This invention uses a turntable assembly to sequentially transfer the assembly fixture between each workstation. In conjunction with the C-shaped cantilever beam loading assembly, cable management assembly, VPU loading assembly, inspection vision assembly, and finished product unloading assembly located at each workstation, the processes are automatically connected via the turntable, requiring no manual intervention. This significantly improves production efficiency, reduces labor costs, and eliminates quality problems such as poor positioning accuracy and incomplete engagement caused by manual operation. The result is good product consistency and can meet the needs of large-scale production.

[0007] As an optional embodiment of the present invention, the C-shaped cantilever beam loading assembly includes a pallet transfer station, a pallet transfer assembly, a pallet disassembly assembly, a cantilever beam pick-and-place assembly, and a flipping transition assembly; the pallet transfer station has a buffer loading station, a gripping loading station, and an empty pallet buffer station; the pallet disassembly assembly is used to separate pallets one by one from a stack of pallets; the pallet transfer assembly is used to transfer the separated pallets from the buffer loading station to the gripping loading station, and to transfer empty pallets to the empty pallet buffer station; the cantilever beam pick-and-place assembly is used to pick up pallets from the pallets located at the gripping loading station. A horizontally positioned C-shaped cantilever beam is grasped and transferred horizontally to a flipping transition assembly. The flipping transition assembly includes a cantilever beam clamping assembly and a rotation drive device. The clamping assembly holds the horizontally positioned C-shaped cantilever beam, and the rotation drive device drives the clamping assembly to rotate, flipping the C-shaped cantilever beam from a horizontal to a vertical position. A cantilever beam pick-and-place assembly further grasps the vertically positioned C-shaped cantilever beam from the flipped clamping assembly and places it into the assembly fixture at the loading station. This solution, through the coordinated operation of the pallet transfer station, pallet transfer assembly, cantilever beam pick-and-place assembly, and flipping transition assembly, achieves a fully automated process for the C-shaped cantilever beam, from pallet loading, horizontal grasping, clamping, flipping to a vertical position, and re-grabbing. The flipping transition component uses a cantilever beam clamping assembly to reliably clamp the C-shaped cantilever beam before flipping. The cantilever beam clamping assembly is driven to rotate together by a rotation drive device, thus maintaining stable constraint on the C-shaped cantilever beam throughout the flipping process. This avoids elastic deformation, twisting, or slippage caused by unstable clamping in manual operation or traditional devices, ensuring the accuracy and consistency of the vertical posture after flipping. At the same time, it greatly improves the feeding efficiency and effectively solves the problems of easy deformation, poor posture consistency, and low efficiency in manual operation in the existing technology.

[0008] As an optional embodiment of the present invention, the cantilever beam picking and placing assembly includes a dual-moving linear drive module, a horizontal cantilever beam gripping assembly, and a vertical cantilever beam gripping assembly. The dual-moving linear drive module is equipped with a first moving part and a second moving part. The horizontal cantilever beam gripping assembly is mounted on the first moving part and is used to grip a horizontally oriented C-shaped cantilever beam from the pallet at the loading station and transfer it to the flipping transition assembly. The vertical cantilever beam gripping assembly is mounted on the second moving part and is used to grip a vertically oriented C-shaped cantilever beam from the flipping transition assembly and load it into the assembly fixture at the loading station. This solution uses a dual-moving linear drive module, mounting the horizontal and vertical cantilever beam gripping assemblies on two separate moving parts. The two gripping assemblies can move independently while sharing the same drive module, resulting in a compact structure and efficient operation. This improves gripping accuracy and cycle speed while reducing equipment space requirements.

[0009] As an optional embodiment of the present invention, the vertical cantilever beam gripping assembly further includes a compaction assembly, which includes a compaction drive cylinder and compaction needles driven by the cylinder, for pressing the C-shaped cantilever beam, which is installed in the assembly fixture, into place. This solution uses the compaction drive cylinder of the compaction assembly to drive two compaction needles to push downwards at both ends of the C-shaped cantilever beam, ensuring that the C-shaped cantilever beam is properly installed in the assembly fixture and avoiding subsequent assembly deviations caused by inaccurate positioning.

[0010] 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, a second compression screw, and a second... The system includes a spring, two second sliding clamps slidably mounted on the base, a second guide block fixedly connected to the corresponding second sliding clamp, a guide slope on the inner side of the second guide block, a second end stop fixedly mounted on the base and located outside the corresponding second sliding clamp, a second limiting screw sliding through the second end stop and fixedly connected to the corresponding second sliding clamp, and a second spring sleeved on the outside of the second limiting screw and pressed between the second end stop and the corresponding second sliding clamp. The turntable assembly also includes a first lifting cylinder and a second lifting cylinder located below the turntable. The first lifting cylinder pushes against the guide slope of the first guide block to drive the first sliding clamp to slide, thereby opening 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 clamps to slide in opposite directions, thereby opening the VPU clamping unit. This solution, through the combination of a spring-return clamping unit and a lifting cylinder, achieves reliable clamping and rapid release of the C-shaped cantilever beam and VPU fastener by the assembly fixture. The first lifting cylinder pushes against the first guide block to open the cantilever beam clamping unit, and the second lifting cylinder pushes against the second guide block to open the VPU clamping unit. The structure is compact and the response is rapid, which facilitates the quick placement and removal of workpieces between various workstations and improves the assembly efficiency of the whole machine.

[0011] 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.

[0012] 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.

[0013] As an optional embodiment of the present invention, the turntable assembly further includes an auxiliary component, which is configured corresponding to the assembly station and includes an auxiliary front and rear cylinder, an auxiliary lifting cylinder, an auxiliary opening and closing cylinder, and two auxiliary grippers. The auxiliary front and rear cylinder is 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.

[0014] As an optional embodiment of the present invention, the finished product discharge assembly further includes a transfer fixture, an incoming material conveyor, a return material conveyor, a fixture transfer assembly, and a fixture cover opening and closing assembly; the transfer fixture includes a fixture base and a fixture cover, the fixture base having a receiving position for accommodating products; the incoming material conveyor supplies transfer fixtures without loaded products; the return material conveyor outputs transfer fixtures loaded with products; the fixture transfer assembly transfers the transfer fixture from the incoming material conveyor to the return material conveyor; the fixture cover opening and closing assembly opens and closes the fixture cover of the transfer fixture on the return material conveyor; the product transfer assembly transfers assembled products to the transfer fixture. This solution utilizes an incoming material conveyor to supply empty transfer fixtures, a fixture transfer assembly to move the empty transfer fixtures to a return material conveyor, a fixture cover opening and closing assembly to open the fixture cover for product placement, a product transfer assembly to transfer the product from the assembly fixture to the transfer fixture, a fixture cover opening and closing assembly to close the fixture cover, and a return material conveyor to output the transfer fixture loaded with the product. This achieves automatic supply of transfer fixtures, automatic transfer and fixation of products, and automatic output of the loaded fixtures, forming a complete discharge cycle and ensuring the stability and reliability of products during the circulation process.

[0015] As an optional embodiment of the present invention, the VPU gripper assembly includes a robot connecting plate, a gripper mounting plate, an elastic guide shaft assembly, and a third pneumatic gripper. The robot connecting plate is fixedly connected to the end effector of the collaborative robot and connected to the gripper mounting plate via the elastic guide shaft assembly. The gripper mounting plate can move linearly toward the robot connecting plate under external force and reset after the external force is removed. The third pneumatic gripper is mounted on the gripper mounting plate and is used to grip the VPU fixture. This solution connects the robot connecting plate and the gripper mounting plate through the elastic guide shaft assembly, enabling the gripper mounting plate to move linearly toward the robot connecting plate and automatically reset under external force. This provides elastic buffering when gripping the VPU fixture, avoiding damage to the VPU fixture due to hard pressure, achieving flexible gripping of the VPU fixture, and improving gripping reliability and product yield.

[0016] Based on the same inventive concept, this invention also provides a method for assembling an external clip-on headphone C-shaped cantilever beam and a VPU fastener, comprising the following steps: S1: The C-shaped cantilever beam loading assembly flips the horizontal C-shaped cantilever beam in the tray to a vertical position and inserts it into the assembly fixture at the loading station; S2: The turntable rotates the assembly fixture to the cable management station, and the cable management assembly squeezes and gathers the cable of the C-shaped cantilever beam; S3: The turntable rotates the assembly fixture to the assembly station, and the VPU loading assembly assembles the VPU fastener to the cable end of the C-shaped cantilever beam; S4: The turntable rotates the assembly fixture to the inspection station, and the inspection vision component acquires an image of the assembled product to determine whether the product is qualified; S5: If qualified, the turntable rotates the assembly fixture to the unloading station, and the finished product unloading assembly outputs the product; if unqualified, the finished product unloading assembly rejects the unqualified product. The assembly method for this external clip-on earphone's C-shaped cantilever beam and VPU fasteners fully covers the entire automated process, from C-shaped cantilever beam flipping and loading, installation into the assembly fixture, turntable rotation, cable management, VPU fastener assembly, inspection, to the separation and output of qualified and unqualified products. Each step is seamlessly connected via a turntable, requiring no manual intervention, significantly improving production efficiency, ensuring product consistency and assembly accuracy, and making it suitable for large-scale production needs. Attached Figure Description

[0017] Figure 1 This is an assembly drawing of the C-shaped cantilever beam and VPU fastener.

[0018] Figure 2 This is a perspective view of the automated assembly equipment for the C-shaped cantilever beam and VPU fastener of the clip-on earphone with shell in the embodiment.

[0019] Figure 3This is a perspective view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in the embodiment.

[0020] Figure 4 This is a top view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in the embodiment.

[0021] Figure 5 This is a perspective view of the C-shaped cantilever beam loading assembly in the embodiment.

[0022] Figure 6 This is a front view of the C-shaped cantilever beam loading assembly in the embodiment.

[0023] Figure 7 This is a top view of the C-shaped cantilever beam loading assembly in the embodiment.

[0024] Figure 8 This is a left view of the C-shaped cantilever beam loading assembly in the embodiment.

[0025] Figure 9 This is a 3D view of the buffer loading position in the embodiment.

[0026] Figure 10 This is a perspective view of the disassembly assembly in the embodiment.

[0027] Figure 11 This is a 3D view of the empty disk cache bits in the embodiment.

[0028] Figure 12 This is a top view of the empty disk cache bits in the embodiment.

[0029] Figure 13 This is a perspective view of the tray transfer assembly in the embodiment.

[0030] Figure 14 This is a perspective view of the cantilever beam loading and unloading assembly in the embodiment.

[0031] Figure 15 This is a perspective view of the compaction component in the embodiment.

[0032] Figure 16 This is a perspective view of the cantilever beam clamping assembly in the embodiment.

[0033] Figure 17 This is a reference for the usage state of the flip transition component in the embodiment. Figure 1 .

[0034] Figure 18 This is a reference for the usage state of the flip transition component in the embodiment. Figure 2 .

[0035] Figure 19 This is a perspective view of the contour-following mold in the embodiment.

[0036] Figure 20 This is a perspective view of the contour pressing block in the embodiment.

[0037] Figure 21 This is a schematic diagram illustrating the engagement of the contour-following mold, the contour-following pressure block, and the second pneumatic gripper in the embodiment.

[0038] Figure 22 This is a perspective view of the VPU feeding assembly in the embodiment.

[0039] Figure 23 This is a perspective view of the VPU gripper assembly in the embodiment.

[0040] Figure 24 This is a top view of the turntable assembly in the embodiment.

[0041] Figure 25 This is a perspective view of the turntable assembly in the embodiment.

[0042] Figure 26 This is a top view of the assembly fixture in the embodiment.

[0043] Figure 27 This is a perspective view of the assembly fixture in the embodiment.

[0044] Figure 28 This is a perspective view of the cable management component in the embodiment.

[0045] Figure 29 This is a perspective view of the folding mechanism in the embodiment.

[0046] Figure 30 This is a top view of the folding mechanism in the embodiment.

[0047] Figure 31 For along Figure 30 Sectional view along the AA direction.

[0048] Figure 32 For along Figure 31 Sectional view along the BB direction.

[0049] Figure 33 This is a reference diagram showing the usage state of the gathering mechanism in the embodiment.

[0050] Figure 34 This is a perspective view of the auxiliary components in the embodiment.

[0051] Figure 35 This is a perspective view of the finished product discharge component in the embodiment.

[0052] Figure 36 This is a perspective view of the fixture cover opening and closing assembly in the embodiment.

[0053] Figure 37 This is a perspective view of the product transfer component in the embodiment.

[0054] Figure 38 This is a flowchart illustrating the automated assembly process of the external clip-on earphone C-shaped cantilever beam and VPU fastener in this embodiment.

[0055] 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 clamp. 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 pallet. 2.7.1 Buffer Component, 2.7.2 Empty Disk Lifting Cylinder, 2.7.2 Lifting Support Plate, 2.7.2.1 Notch, 2.7.3 Empty Disk Support Plate, 2.8 Upper Vision Guiding Component, 2.9 Lower Vision Component, 3. VPU Feeding Component, 3.1 Vibration Feeding Component, 3.1.1 Straight Vibration Hopper, 3.1.2 Planar Vibration Plate, 3.2 Collaborative Robot, 3.3 VPU Gripper Component, 3.3.1 Robot Connecting Plate, 3.3.2 Gripper Mounting Plate, 3.3.3 Elastic Guide Shaft Component, 3.3.4 Third Pneumatic Gripper, 3.4 Feeding Vision Component, 3.5 Flying Shot Vision Component, 4. Turntable Component, 4.1 Turntable, 4.1a Feeding Station, 4.1b Cable Management Station, 4.4.1c 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 Clamp, 4.2.4 First Sliding Clamp, 4.2.5 First Guide Block, 4.2.6 First End Stop, 4.2.7 First Restricting Screw, 4.2.8 First Spring, 4.2.9 Second Guide Rail, 4.2.10 Second Sliding Clamp, 4.2.11 Second Guide Block, 4.2.12 Second End Stop, 4.2.13 Second Restricting 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 Lift 4.5.2 Lowering cylinder; 4.5.2.1 Gathering mechanism; 4.5.2.2 Lifting platform; 4.5.2.3 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... 4.7.3 Cylinder, 4.7.4 Auxiliary opening and closing cylinder, 4.7.5 Auxiliary gripper, 4.7.6 Auxiliary detection fiber optic cable, 4.7.7 Auxiliary base, 4.8 Assembly vision component, 4.9 Inspection vision component, 5 Finished product discharge component, 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 component, 5.3.1 Rodless cylinder, 5.3.2 Paddle plate, 5.4 Fixture cover opening and closing component, 5.4.1 Left and right cover opening cylinder, 5.4.2 Front and rear cover opening cylinder, 5.4.3 Cover opening lifting cylinder, 5.4.4 Cover opening pneumatic clamp. 5.4.5. Claw, 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 Grip Assembly, 5.5.3.1. Cantilever Beam Pneumatic Gripper, 5.5.3.2. VPU Pneumatic Gripper, 5.5.3.3. Product Grip Detection Fiber Optic, 5.5.3.4. Product Detection and Displacement Cylinder, 5.5.3.5. Product In-Situ Detection Fiber Optic, 5.5.3.6. Grip 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-type Cantilever Beam, 8. VPU Fixture. Detailed Implementation

[0056] 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.

[0057] In the embodiments, "front and back" and "left and right" are relative positional relationships, rather than absolute directions.

[0058] Figure 1 An assembly diagram of the C-shaped cantilever beam 7 and the VPU fastener 8 is shown. The automated assembly equipment for the external clip-on headphone C-shaped cantilever beam and VPU fastener in this embodiment is used to stably and accurately convert the horizontally positioned C-shaped cantilever beam 7 in the tray 6 into a... Figure 1 The vertical posture shown is followed by the fully automated process of cable retraction, VPU fastener 8 assembly, inspection, and unloading, ultimately yielding the desired result. Figure 1 The assembly shown is a C-shaped cantilever beam 7 and a VPU fastener 8.

[0059] This embodiment provides an automated assembly device for external clip-on headphones with a C-shaped cantilever beam and VPU fasteners, such as... Figure 3 , Figure 4 As shown, the equipment includes a frame 1, and a C-shaped cantilever beam feeding assembly 2, a VPU feeding assembly 3, a turntable assembly 4, and a finished product discharging assembly 5 mounted on the frame 1.

[0060] Frame 1 serves as the load-bearing foundation for the entire equipment, and the entire structure adopts a rigid frame design. Frame 1 is equipped with a mounting platform for fixing and supporting various functional components, transmission mechanisms, electrical control elements, control cabinets, etc. Figure 2 As shown, the rack 1 is surrounded by an outer shell, on which a keyboard and mouse assembly and a display screen assembly are installed to facilitate parameter setting and operation monitoring by operators.

[0061] like Figure 3 , Figure 4 As shown, the C-type cantilever beam feeding assembly 2, VPU feeding assembly 3, turntable assembly 4 and finished product discharge assembly 5 are all fixedly installed on the mounting platform of the frame 1. Each assembly is arranged around the turntable assembly 4 in sequence to form a compact automated assembly layout.

[0062] 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 provide it for subsequent assembly processes. For example... Figures 5-8 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.

[0063] 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.

[0064] 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.

[0065] like Figure 9 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.

[0066] like Figure 9 , Figure 10As 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.

[0067] like Figure 11 , Figure 12 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.

[0068] 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 13As 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.

[0069] 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 14 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 5 and Figure 8 For clarity, Figure 5 and Figure 8The components for the buffer loading position are hidden, as well as the loading station 4.1a of the turntable assembly 4. The dual-mover linear drive module 2.4.1 has 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 15 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 (see below), 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.

[0070] 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 16 , Figure 17 and Figure 18As 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 19 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 19 and Figure 20 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 21As 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.

[0071] like Figures 5-8 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.

[0072] 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 22 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.

[0073] 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.

[0074] The collaborative robot 3.2 has a VPU gripper assembly 3.3 installed at its end effector. For example... Figure 23 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.

[0075] 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 turntable component 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.

[0076] The turntable assembly 4 is mounted on the frame 1 and is used to carry and sequentially transport the C-shaped cantilever beam 7 and / or VPU fasteners 8, allowing them to move between stations to complete the assembly. Figure 24 , Figure 25 As shown, the component includes a turntable 4.1 and four identical assembly fixtures 4.2 evenly distributed around the turntable 4.1.

[0077] The turntable 4.1 is driven by a direct drive motor, which can move the fixture 4.2 to stop sequentially between each workstation.

[0078] like Figure 26 , Figure 27As shown, 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 is used to position and fix the vertically oriented C-shaped cantilever beam 7, and 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, with the fixed clamping block 4.2.3 and the first sliding clamping block 4.2.4 arranged opposite to each other along the extending direction of the first guide rail 4.2.2. 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 on their opposite sides. 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 its 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 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 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 fastener 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.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 stop 4.2.12 and the corresponding second sliding clamp 4.2.10.

[0079] The cantilever beam clamping unit is opened by a first lifting cylinder 4.3, which is fixedly mounted on the frame 1 and located below the turntable 4.1. Figure 25 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, which is fixedly installed on the frame 1 and 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.

[0080] like Figure 24 As 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 on the frame 1 below this station to open the cantilever beam clamping unit of the assembly fixture 4.2. The second pneumatic gripper 2.4.3.2 of the C-shaped cantilever beam loading assembly 2 for external clip-on headphones grabs the vertically positioned C-shaped cantilever beam 7 from the flipped cantilever beam clamping assembly 2.5.1 and moves it above the assembly fixture 4.2 at loading station 4.1a. 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.

[0081] Cable management station 4.1b: (e.g.) Figure 24 As shown, cable management station 4.1b is equipped with cable management assembly 4.5 and side vision assembly 4.6. 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, preparing for the subsequent assembly of VPU fasteners 8.

[0082] like Figure 28 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 base 4.5.3 is fixedly mounted on the frame 1, and the cable management lifting cylinder 4.5.1 is mounted on the cable management base 4.5.3 to drive the gathering mechanism 4.5.2 to lift.

[0083] like Figures 29 to 31 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.

[0084] 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 32 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.

[0085] 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.

[0086] The side vision component 4.6 is mounted on the rack 1 and located on one side of the cable management component 4.5. It 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.

[0087] 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 33 During this process, the first working plane exerts a squeezing and twisting effect on the cable, compressing and gathering the cable.

[0088] Assembly station 4.1c: A second lifting cylinder 4.4 is installed on the frame 1 below this station, used to open the VPU clamping unit of the assembly fixture 4.2. For example... Figure 24 As shown, assembly station 4.1c is equipped with auxiliary components 4.7 and assembly vision components 4.8, which are used in conjunction with collaborative robot 3.2 to assemble C-shaped cantilever beam 7 and VPU fastener 8.

[0089] like Figure 34 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.

[0090] The auxiliary base 4.7.6 is fixedly mounted on the frame 1. The 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. Two auxiliary grippers 4.7.4 are provided; 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.

[0091] 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-interlocking structure (i.e., a "finger-crossing" shape). 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 the two grippers 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-interlocking 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.

[0092] The assembly vision component 4.8 is mounted on the frame 1, above the auxiliary component 4.7, and is used to obtain the precise position and attitude information of the cable after stable clamping, and transmit it to the collaborative robot 3.2.

[0093] 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 grippers directly above the cable, and the auxiliary lifting cylinder 4.7.2 lowers, 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 inspection 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.

[0094] Collaborative robot 3.2 inserts the VPU retainer 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 it from the cable clamp to prevent interference during subsequent pressing. Then, collaborative robot 3.2 continues to press the VPU retainer 8 downwards into the cable root until it is fully in place.

[0095] 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 securely 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 discharge station 4.1e. The closing of the VPU clamping unit clamps and secures the VPU fastener 8, ensuring the stability of the product during its transfer to subsequent stations.

[0096] Inspection station 4.1d: such as Figure 24 As shown, inspection station 4.1d is equipped with an inspection vision component 4.9, which is used to take side-view photos of the assembly status of the C-shaped cantilever beam 7 and the VPU fastener 8 on the fixture to determine whether the product is qualified.

[0097] Unloading 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. The released finished product is discharged by the finished product unloading assembly 5.

[0098] like Figure 35 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 36 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 36As 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 37 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] Figure 38 The workflow of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in this embodiment is shown. See also Figure 38 During operation, the machine runs according to the following procedure: C-type cantilever beam loading process: The pallet 6, filled with C-shaped cantilever beams 7, is manually placed into the buffer loading position 2.2.1. The pallet transfer assembly 2.3 moves its pallet transfer plate 2.3.3 to below the dismantling assembly 2.6 and rises to support the entire stack of pallets. The lateral drive cylinders 2.6.1 on both sides drive the sliding seat 2.6.2 to move outward, causing the pallet support plate 2.6.5 to leave the pallet 6. The dismantling cylinder 2.6.3 drives the pallet peeling plate 2.6.4 to rise. Then, the lifting assembly 2.3.2 drives the entire stack of pallets to descend by one pallet spacing. The lateral drive cylinder 2.6.1 then drives the sliding seat 2.6.2 to move inward, causing the pallet support plate 2.6.5 to insert under the second-to-last pallet 6 to support the entire stack of pallets above it. At the same time, the pallet peeling plate 2.6.4 is located between the bottom pallet and the second-to-last pallet. Finally, the dismantling cylinder 2.6.3 drives the pallet peeling plate 2.6.4 to descend, peeling the bottom pallet onto the pallet transfer plate 2.3.3, completing the dismantling process. Subsequently, the pallet transfer horizontal module 2.3.1 drives the pallet transfer plate 2.3.3 to move horizontally to the gripping and loading position 2.2.2.

[0107] The upper visual guidance component 2.8 identifies the position of the C-shaped cantilever beam 7 in the tray 6. The first pneumatic gripper 2.4.2.2 of the horizontal cantilever beam gripping component 2.4.2 descends to grip the horizontally positioned C-shaped cantilever beam 7 in the tray 6, then rises and moves with the first mover 2.4.1.1 to above the contoured serving mold 2.5.1.1 of the flipping transition component 2.5. The rotation drive motor 2.4.2.3 adjusts the orientation of the C-shaped cantilever beam 7 as needed, placing it into the first contoured groove 2.5.1.1.1. At this time, as... Figure 17 As shown, the flipping transition assembly 2.5 is in a horizontal receiving state. The clearance cylinder 2.5.1.3 drives the clamping cylinder 2.5.1.4 and the contouring block 2.5.1.2 to move horizontally above the contouring container mold 2.5.1.1. The clamping cylinder 2.5.1.4 then drives the contouring block 2.5.1.2 to descend, pressing the C-shaped cantilever beam 7 into the first contouring groove 2.5.1.1.1 and the second contouring groove 2.5.1.2.1. At this time, the middle arc portion of the C-shaped cantilever beam 7 is exposed in the grooved space.

[0108] Next, the tilting drive cylinder 2.5.2.2 drives the rack 2.5.2.3 to move linearly, which in turn drives the rotating shaft 2.5.2.1 to rotate 90° via the gear 2.5.2.4. The cantilever beam clamping assembly 2.5.1 rotates together with the rotating shaft 2.5.2.1, causing the C-shaped cantilever beam 7 to tilt from a horizontal position to a vertical position (as shown in the image). Figure 18(As shown). Then, the second pneumatic gripper 2.4.3.2 of the vertical cantilever beam gripping assembly 2.4.3 descends, extends into the slotted space and clamps the middle arc position of the C-shaped cantilever beam 7, and rises to remove the C-shaped cantilever beam 7 in a vertical position.

[0109] The vertical cantilever beam gripping assembly 2.4.3 places the vertically positioned C-shaped cantilever beam 7 into the assembly fixture 4.2 at the loading station 4.1a of the turntable assembly 4. The first lifting cylinder 4.3 lifts and opens the cantilever beam clamping unit. After the C-shaped cantilever beam 7 is placed in, the first lifting cylinder 4.3 resets, and the cantilever beam clamping unit closes to position and fix it.

[0110] Cable management and VPU loading process: Assembly fixture 4.2 clamps the C-shaped cantilever beam 7 and rotates it by turntable 4.1 to cable management station 4.1b for cable management. After cable management is completed, turntable 4.1 rotates the assembly fixture to assembly station 4.1c, auxiliary component 4.7 stably clamps the cable of C-shaped cantilever beam 7, and assembly vision component 4.8 acquires the cable posture.

[0111] Simultaneously, VPU fasteners 8 are manually placed in batches into the vertical vibration hopper 3.1.1, which then feeds the VPU fasteners to the planar vibrating plate 3.1.2 for dispersal. The feeding vision component 3.4 identifies the posture and position of the VPU fasteners 8, and the collaborative robot 3.2 drives the VPU gripper component 3.3 to grasp them. During the transfer process, the flying camera vision component 3.5 acquires the posture after grasping. After fitting the feeding vision data with the flying camera vision data, the collaborative robot 3.2 installs the VPU fasteners 8 onto the C-shaped cantilever beam 7.

[0112] Testing process: The turntable rotates the assembly fixture to inspection station 4.1d, where the vision component 4.9 determines whether the product assembly is qualified. The turntable then rotates the assembly fixture to unloading station 4.1e.

[0113] Discharge process: Simultaneously, the incoming material conveyor 5.1 supplies the unloaded transfer fixture 5.6, which is then transported to the incoming material lifting platform 5.1.1. The fixture transfer assembly 5.3 moves the transfer fixture to the return material conveyor 5.2, which then transports the transfer fixture to the return material blocking assembly 5.2.2 for blocking and positioning. The fixture cover opening and closing assembly 5.4 opens the fixture cover 5.6.2 of the transfer fixture.

[0114] The product transfer assembly 5.5 begins operation: the product transfer horizontal module 5.5.1 and the product transfer lifting module 5.5.2 move the product gripper assembly 5.5.3 to above the assembly fixture 4.2 at the discharge station 4.1e. The product detection and displacement cylinder 5.5.3.4 drives the product in-situ detection fiber optic cable 5.5.3.5 to descend, detecting whether there is a product in the assembly fixture 4.2. If a product is detected, the cantilever beam pneumatic gripper 5.5.3.1 and the VPU pneumatic gripper 5.5.3.2 clamp the C-shaped cantilever beam 7 and the VPU fixing piece 8 respectively, and the product gripping detection fiber optic cable 5.5.3.3 confirms that the clamping is in place. Subsequently, the first lifting cylinder 4.3 and the second lifting cylinder 4.4 simultaneously lift up, respectively activating the cantilever beam clamping unit and the VPU clamping unit, releasing the product.

[0115] Based on the inspection results of the vision component 4.9: If the product is qualified, the product gripper component 5.5.3 transfers the product to the transfer fixture 5.6, the fixture cover opening and closing component 5.4 closes the fixture cover, and the return conveyor 5.2 transports the transfer fixture loaded with the product to the next process. If the product is unqualified, the product gripper component 5.5.3 places the product into the unqualified product receiving box 5.7.

[0116] Empty disk recycling process: After all the C-shaped cantilever beams 7 in pallet 6 have been removed, the pallet transfer assembly 2.3 transfers the empty pallets to the empty pallet buffer position 2.2.3 for stacking. Specifically, after the pallet transfer plate 2.3.3 delivers the empty pallet above the lifting support plate 2.7.2, the empty pallet lifting cylinder 2.7.1 drives the lifting support plate 2.7.2 to rise, pushing the empty pallet upwards past the empty pallet support plate 2.7.3. Subsequently, the empty pallet lifting cylinder 2.7.1 descends, the empty pallet support plate 2.7.3 automatically returns to its original position, and the empty pallet falls onto the empty pallet support plate 2.7.3, achieving stacking and buffering. Once the empty pallets have been stacked to a certain height, they are manually removed.

Claims

1. An assembly device for an external clip-on headphone C-shaped cantilever beam and VPU fastener, characterized in that, It includes a frame (1) and a turntable assembly (4), a C-type cantilever beam feeding assembly (2), a VPU feeding assembly (3) and a finished product discharge assembly (5) mounted on the frame (1). The turntable assembly (4) includes a turntable (4.1), an assembly fixture (4.2), a cable management assembly (4.5), and an inspection vision assembly (4.9). The assembly fixture (4.2) is provided with multiple fixtures around the turntable (4.1) for clamping the C-shaped cantilever beam (7) and the VPU fastener (8) respectively. The turntable (4.1) is provided with a loading station (4.1a), a cable management station (4.1b), an assembly station (4.1c), an inspection station (4.1d), and a discharge station (4.1e) in sequence around the turntable (4.1) along the rotation direction. The turntable (4.1) can drive the assembly fixture (4.2) to rotate between the stations. The C-shaped cantilever beam loading assembly (2) is set up corresponding to the loading station (4.1a) and is used to flip the horizontal C-shaped cantilever beam (7) in the pallet (6) to a vertical position and load it into the assembly fixture (4.2); The cable management component (4.5) is set up corresponding to the cable management station (4.1b) and is used to squeeze and gather the cables of the C-shaped cantilever beam (7); The VPU loading assembly (3) is set up in relation to the assembly station (4.1c), including a collaborative robot (3.2) and a VPU gripper assembly (3.3) installed at its end. The collaborative robot (3.2) is used to drive the VPU gripper assembly (3.3) to assemble the VPU fastener (8) to the cable end of the C-shaped cantilever beam (7). The detection vision component (4.9) is set up corresponding to the detection station (4.1d) and is used to collect images of the assembled product; The finished product unloading component (5) is set in relation to the unloading station (4.1e) and includes a product transfer component (5.5). The product transfer component (5.5) is used to pick up the product from the assembly fixture (4.2) and remove it from the assembly fixture (4.2).

2. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 1, characterized in that, The C-type cantilever beam loading assembly (2) includes a pallet transfer station (2.2), a pallet transfer assembly (2.3), a pallet unloading assembly (2.6), a cantilever beam pick-and-place assembly (2.4), and a flipping transition assembly (2.5); the pallet transfer station (2.2) has a buffer loading station (2.2.1), a gripping loading station (2.2.2), and an empty pallet buffer station (2.2.3); the pallet unloading assembly (2.6) is used to separate the pallets (6) one by one from the stack of pallets; the pallet transfer assembly (2.3) is used to transfer the separated pallets (6) from the buffer loading station (2.2.1) to the gripping loading station (2.2.3). 2.2.2), and transfer the empty pallet to the empty pallet buffer position (2.2.3); the cantilever beam pick-and-place assembly (2.4) is used to pick up the horizontally oriented C-shaped cantilever beam (7) from the pallet (6) located at the gripping loading position (2.2.2), and transfer the C-shaped cantilever beam (7) in a horizontal orientation to the flipping transition assembly (2.5); the flipping transition assembly (2.5) includes a cantilever beam clamping assembly (2.5.1) and a rotation drive device (2.5.2), the cantilever beam clamping assembly (2.5.1) and the cantilever beam clamping assembly (2.5.2) are used to pick up the horizontally oriented C-shaped cantilever beam (7) from the pallet (6) located at the gripping loading position (2.2.2), and transfer the C-shaped cantilever beam (7) in a horizontal orientation to the flipping transition assembly (2.5); the flipping transition assembly (2.5) includes a cantilever beam clamping assembly (2.5.1) and a rotation drive device (2.5.2), the cantilever beam clamping assembly (2.5.2) and the empty pallet is transferred to the empty pallet buffer position (2.2.3); the cantilever beam pick-and-place assembly (2.4) is used to pick up the horizontally oriented C-shaped cantilever beam (7) from the pallet (6) located at the gripping loading position (2.2.2), and transfer the horizontally oriented C-shaped cantilever beam (7) to the flipping transition assembly (2.5); the cantilever beam clamping assembly (2.5.1) includes a cantilever beam clamping assembly (2.5.2) and a rotation drive device (2.5.2), the cantilever beam clamping assembly (2.5.2) is used to pick up the horizontally oriented C-shaped cantilever beam (7) from the pallet (6) located at the gripping loading position (2.2.2), and transfer the The clamping assembly (2.5.1) is used to clamp the horizontally oriented C-shaped cantilever beam (7). The rotation drive device (2.5.2) is used to drive the cantilever beam clamping assembly (2.5.1) to rotate so as to flip the C-shaped cantilever beam (7) from the horizontal orientation to the vertical orientation. The cantilever beam pick-and-place assembly (2.4) is also used to pick up the vertically oriented C-shaped cantilever beam (7) from the flipped cantilever beam clamping assembly (2.5.1) and put it into the assembly fixture (4.2) at the loading station.

3. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 2, characterized in that, The cantilever beam pick-and-place assembly (2.4) includes a dual-actuator linear drive module (2.4.1), a horizontal cantilever beam gripping assembly (2.4.2), and a vertical cantilever beam gripping assembly (2.4.3). The dual-moving linear drive module (2.4.1) is provided with a first mover (2.4.1.1) and a second mover (2.4.1.2). The horizontal cantilever beam gripping assembly (2.4.2) is installed on the first mover and is used to grip the horizontal C-shaped cantilever beam (7) from the pallet (6) of the gripping loading position (2.2.2) and transfer it to the flipping transition assembly (2.5). The vertical cantilever beam gripping assembly (2.4.3) is mounted on the second mover and is used to grip the vertically oriented C-shaped cantilever beam (7) from the flipping transition assembly (2.5) and load it into the assembly fixture (4.2) at the loading station.

4. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 3, characterized in that, The vertical cantilever beam gripping assembly (2.4.3) further includes a compaction assembly (2.4.3.3), which includes a compaction drive cylinder (2.4.3.3.1) and a compaction needle (2.4.3.3.2) driven therefrom, for pressing the C-shaped cantilever beam (7) installed in the assembly fixture (4.2) into place.

5. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 1, characterized in that, 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). The turntable assembly (4) further includes a first lifting cylinder (4.3) and a second lifting cylinder (4.4) disposed below the turntable (4.1). 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.

6. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component 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.

7. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 6, characterized in that, 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).

8. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 1, characterized in that, The turntable assembly (4) also includes an auxiliary assembly (4.7), which is set in accordance with the assembly station (4.1c) and includes an auxiliary front and rear cylinder (4.7.1), an auxiliary lifting cylinder (4.7.2), an 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 assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 1, characterized in that, The finished product discharge assembly (5) also includes a transfer fixture (5.6), an incoming material conveyor (5.1), a return material conveyor (5.2), a fixture transfer assembly (5.3), and a fixture cover opening and closing assembly (5.4). The transfer fixture (5.6) includes a fixture base (5.6.1) and a fixture cover (5.6.2), wherein the fixture base (5.6.1) is provided with a receiving position for accommodating the product; The material conveyor (5.1) is used to supply the transfer fixture (5.6) that is not loaded with products. The return material conveyor (5.2) is used to output the transfer fixture (5.6) loaded with products. The fixture transfer assembly (5.3) is used to transfer the transfer fixture (5.6) from the incoming material conveyor (5.1) to the return material conveyor (5.2). The fixture cover opening and closing assembly (5.4) is used to open and close the fixture cover (5.6.2) of the transfer fixture (5.6) on the return conveyor (5.2). The product transfer assembly (5.5) is used to transfer the assembled product to the transfer fixture (5.6).

10. The assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fixing component according to claim 1, characterized in that, The VPU gripper assembly (3.3) includes a robot connection 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 connected to the end of the collaborative robot (3.2) and connected to the gripper mounting plate (3.3.2) through the elastic guide shaft assembly (3.3.3); the gripper mounting plate (3.3.2) can move linearly toward the robot connecting plate (3.3.1) under the action of external force and reset after the external force is removed; The third pneumatic gripper (3.3.4) is mounted on the gripper mounting plate (3.3.2) and is used to grip the VPU fixture (8).

11. A method for assembling an external clip-on headphone C-shaped cantilever beam and VPU fastener, using the assembly equipment for the external clip-on headphone C-shaped cantilever beam and VPU fastener as described in any one of claims 1 to 10, characterized in that, Includes the following steps: S1: The C-type cantilever beam loading assembly (2) flips the horizontal C-type cantilever beam (7) in the tray (6) to a vertical position and loads it into the assembly fixture (4.2) at the loading station (4.1a); S2: The turntable (4.1) rotates the assembly fixture (4.2) to the cable management station (4.1b), and the cable management assembly (4.5) squeezes and gathers the cables of the C-shaped cantilever beam (7); S3: The turntable (4.1) rotates the assembly fixture (4.2) to the assembly station (4.1c), and the VPU loading assembly (3) assembles the VPU fastener (8) to the cable end of the C-shaped cantilever beam (7); S4: The turntable (4.1) rotates the assembly fixture (4.2) to the inspection station (4.1d), and the inspection vision component (4.9) collects images of the assembled product to determine whether the product is qualified; S5: If qualified, the turntable (4.1) rotates the assembly fixture (4.2) to the discharge station (4.1e), and the finished product discharge component (5) outputs the product; if unqualified, the finished product discharge component (5) removes the unqualified product.

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