A c-shaped cantilever beam loading assembly for an over-ear headphone

Abstract

The application discloses a C-shaped cantilever beam feeding assembly for an outer clamp type earphone and belongs to the field of automatic assembly equipment. The assembly comprises a mounting bracket, a tray circulation station, a tray transfer assembly, a cantilever beam taking and placing assembly and a turnover transition assembly. The tray circulation station has a buffer feeding position, a grabbing feeding position and an empty tray buffer position. The turnover transition assembly comprises a cantilever beam clamping assembly and a rotating driving device. During feeding, the tray transfer assembly moves the tray containing the C-shaped cantilever beam to the grabbing feeding position, the cantilever beam taking and placing assembly grabs the C-shaped cantilever beam in a horizontal posture and moves it to the cantilever beam clamping assembly to be clamped, the rotating driving device drives the cantilever beam clamping assembly to rotate, the C-shaped cantilever beam is turned over to a vertical posture, and then is grabbed and output by the cantilever beam taking and placing assembly. The application realizes automatic feeding and vertical turning over of the C-shaped cantilever beam, avoids deformation and inconsistent postures caused by manual operation, and improves production efficiency and assembly precision.

Description

Technical Field

[0001] This invention belongs to the field of automated assembly equipment technology, specifically relating to a C-shaped cantilever beam feeding assembly for clip-on headphones, which is particularly suitable for converting a horizontal C-shaped cantilever beam in a tray into a vertical position and feeding materials precisely. 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, the conversion of C-shaped cantilever beams from a pallet to a vertical position mainly relies on manual operation or simple auxiliary tools, which presents the following technical problems: Operators manually pick up the horizontally placed C-shaped cantilever beams from the pallet, then manually flip them to a vertical position before placing them into a fixture. Because the C-shaped cantilever beams are elastic and have a small structure, 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. Furthermore, the consistency of the vertical position after each flip is poor, failing to meet the high-precision positioning requirements of subsequent assembly. In addition, the process is slow and inefficient, making it difficult to adapt to the needs of large-scale production.

[0004] Therefore, there is an urgent need to develop a feeding assembly specifically for C-shaped cantilever beams that can automatically and accurately convert horizontally oriented C-shaped cantilever beams into vertically oriented beams, in order to solve the problems of easy deformation, poor posture consistency, and low efficiency caused by manual operation in the existing technology. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a C-shaped cantilever beam feeding assembly for clip-on headphones. It aims to solve the problem that the prior art lacks a dedicated C-shaped cantilever beam feeding assembly for clip-on headphones, especially in the process of converting the C-shaped cantilever beam from a horizontal to a vertical position, where manual operation is prone to deformation, poor posture consistency, and low efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a C-shaped cantilever beam loading assembly for clip-on headphones, comprising a mounting bracket; a tray transfer station mounted on the mounting bracket, the tray transfer station having a buffer loading position, a gripping loading position, and an empty tray buffer position; a tray transfer assembly mounted on the mounting bracket for transferring trays from the buffer loading position to the gripping loading position, and transferring empty trays from the gripping loading position to the empty tray buffer position; a cantilever beam pick-and-place assembly mounted on the mounting bracket; and a flipping transition assembly mounted on the mounting bracket. The mounting bracket includes a cantilever beam clamping assembly and a rotation drive device. The cantilever beam pick-and-place assembly picks up a horizontally positioned C-shaped cantilever beam from a pallet located at the gripping loading position and transfers the C-shaped cantilever beam horizontally to the cantilever beam clamping assembly, where the clamping assembly clamps the C-shaped cantilever beam. The rotation drive device drives the cantilever beam clamping assembly to rotate, flipping the C-shaped cantilever beam from a horizontal position to a vertical position. The cantilever beam pick-and-place assembly also picks up the vertically positioned C-shaped cantilever beam from the flipped-up cantilever beam clamping assembly.

[0007] Based on the above technical solution, the technical solution provided by the present invention has at least the following advantages: Through the coordinated operation of the pallet transfer station, pallet transfer component, cantilever beam pick-and-place component, and flipping transition component, a fully automated process is achieved for the C-shaped cantilever beam from pallet loading, horizontal gripping, clamping, flipping to a vertical position, and then gripping again. Specifically, the flipping transition component uses a cantilever beam clamping component to reliably clamp the C-shaped cantilever beam before flipping, and the rotation drive device drives the cantilever beam clamping component to rotate together, thereby 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, while significantly improving loading efficiency. This effectively solves the problems of easy deformation, poor posture consistency, and low efficiency inherent in manual operation in the prior art.

[0008] As an optional embodiment of the present invention, the cantilever beam clamping assembly includes a conforming placement mold, a conforming pressure block, a clearance cylinder, and a clamping cylinder. The clearance cylinder drives the clamping cylinder and the conforming pressure block to move horizontally above the conforming placement mold. The clamping cylinder drives the conforming pressure block to clamp the C-shaped cantilever beam within the conforming placement mold. This solution, through the cooperation of the conforming placement mold and the conforming pressure block, achieves conforming positioning and conforming clamping of the C-shaped cantilever beam, effectively preventing twisting or slippage caused by elastic deformation during the flipping process. The clearance cylinder can move the clamping cylinder and the conforming pressure block away during horizontal material receiving, avoiding interference with the placement of the C-shaped cantilever beam, thus balancing smooth material feeding and clamping reliability.

[0009] As an optional embodiment of the present invention, a groove-shaped space is formed between the conforming mold and the conforming pressure block. When the conforming pressure block presses the C-shaped cantilever beam into the conforming mold, the middle arc position of the C-shaped cantilever beam is exposed in the groove-shaped space. This solution, through the groove-shaped space formed between the conforming mold and the conforming pressure block, precisely exposes the middle arc position of the C-shaped cantilever beam under compression, providing a dedicated clamping point for subsequent vertical gripping. The vertical cantilever beam gripping assembly can extend into this groove-shaped space to directly clamp the middle arc position, avoiding elastic deformation that may be caused by clamping other parts of the cantilever beam, and ensuring the consistency of the gripping position each time, thereby improving the reliability and assembly accuracy of gripping in a vertical posture.

[0010] As an optional embodiment of the present invention, the rotation drive device includes a rotating shaft, a tilting drive cylinder, a rack, and a gear; the tilting drive cylinder drives the rack to move linearly, and the rack meshes with the gear; the gear is fixedly connected to the rotating shaft; the cantilever beam clamping assembly is mounted on the rotating shaft and rotates together with the rotating shaft. This method uses a cylinder-driven gear and rack mechanism, which has a simple structure, rapid response, and precise controllable tilting angle.

[0011] As an optional embodiment of the present invention, the cantilever beam picking and placing assembly includes a dual-movement linear drive module, a horizontal cantilever beam gripping assembly, and a vertical cantilever beam gripping assembly; the stroke of the dual-movement linear drive module covers the gripping loading position and the flipping transition assembly, and the dual-movement linear drive module is provided with a first mover and a second mover; the horizontal cantilever beam gripping assembly is mounted on the first mover and includes a first lifting module and a first pneumatic gripper, the first lifting module being used to drive the first pneumatic gripper to lift and lower; the horizontal cantilever beam gripping assembly is used to grip a horizontally oriented C-shaped cantilever beam from the pallet located at the gripping loading position and transfer the C-shaped cantilever beam horizontally to the cantilever beam clamping assembly; the vertical cantilever beam gripping assembly is mounted on the second mover and includes a second lifting module and a second pneumatic gripper, the second lifting module being used to drive the second pneumatic gripper to lift and lower, and the vertical cantilever beam gripping assembly is used to grip a vertically oriented C-shaped cantilever beam from the flipped cantilever beam clamping assembly. This solution adopts a dual-mover linear drive module, with horizontal and vertical gripping mounted on two separate movers. The two gripping components can move independently and share the same drive module, resulting in a compact structure and efficient operation, which helps improve gripping accuracy and cycle speed.

[0012] As an optional embodiment of the present invention, the horizontal cantilever beam gripping assembly further includes a rotary drive motor, which drives the first pneumatic gripper to rotate in the horizontal plane. This solution, by adding a rotary drive motor, allows the first pneumatic gripper to rotate in the horizontal plane, thereby adjusting the posture of the gripped C-shaped cantilever beam to smoothly transfer it to the cantilever beam clamping assembly.

[0013] As an optional embodiment of the present invention, the pallet transfer assembly includes a pallet transfer horizontal module, a lifting component, a pallet transfer plate, and a clamping mechanism. The pallet transfer plate is used to support the pallet. The clamping mechanism is disposed on the pallet transfer plate and used to clamp the pallet. The lifting component is used to drive the pallet transfer plate to rise and fall, and the pallet transfer horizontal module is used to drive the pallet transfer plate to move horizontally, so as to transfer the pallet from the buffer loading position to the gripping loading position, and transfer the empty pallet from the gripping loading position to the empty pallet buffer position. This solution achieves smooth pallet transfer through the combination of the pallet transfer horizontal module and the lifting component. The clamping mechanism can prevent the pallet from shaking or shifting during movement and gripping, ensuring the accuracy of the loading position.

[0014] As an optional embodiment of the present invention, a pallet unloading assembly is provided at the buffer loading position. The pallet unloading assembly is symmetrically arranged on both sides of the buffer loading position in the width direction. The pallet unloading assembly includes a lateral drive cylinder, a sliding seat, a pallet unloading cylinder, a pallet peeling plate, and a pallet support plate. The lateral drive cylinder is used to drive the sliding seat to move along the width direction of the buffer loading position. The pallet unloading cylinder and the pallet support plate are both mounted on the sliding seat. The pallet support plate is used to support the pallet. The pallet unloading cylinder is used to drive the pallet peeling plate to rise and fall, so as to peel off the pallet located below the pallet support plate. The pallet transfer assembly can move its pallet transfer plate to below the pallet unloading assembly. This solution realizes the automatic unloading function of the entire stack of pallets. Through the coordinated action of the lateral drive cylinder, the sliding seat, the pallet unloading cylinder, and the pallet peeling plate, the bottom pallet can be peeled off and transferred one by one, ensuring the continuous feeding capacity of the buffer loading position and improving the degree of automation.

[0015] As an optional embodiment of the present invention, the empty pallet buffer position is provided with an empty pallet buffer assembly, which includes an empty pallet lifting cylinder, a lifting support plate, and an empty pallet support plate. The empty pallet lifting cylinder is used to drive the lifting support plate to rise and fall. The lifting support plate has a notch for the pallet transfer plate to be inserted. The empty pallet support plates are symmetrically arranged on both sides of the width direction of the empty pallet buffer position. The empty pallet support plates are pivotally connected to the mounting bracket and are configured to be horizontal in the free state and can only rotate upward in one direction under the action of external force. This solution realizes automatic stacking and buffering of empty pallets. The notch design of the lifting support plate allows the pallet transfer plate to be directly inserted and the empty pallet to be sent onto the lifting support plate. After the empty pallet lifting cylinder pushes the empty pallet upward past the unidirectionally rotating empty pallet support plate, the empty pallet support plate returns to its original position and supports the empty pallet, thereby realizing the stacking of empty pallets one by one and saving the time of manual empty pallet cleaning.

[0016] As an optional embodiment of the present invention, the loading assembly further includes an upper vision guide component and a lower vision component. The upper vision guide component is installed above the gripping loading position and is used to acquire images of the C-shaped cantilever beam in the pallet. The lower vision component is installed between the gripping loading position and the flipping transition component and is used to acquire images of the C-shaped cantilever beam gripped by the cantilever beam pick-and-place component. This solution uses the upper vision guide component to acquire the position image of the C-shaped cantilever beam in the pallet, which can guide the cantilever beam pick-and-place component to achieve precise gripping. The lower vision component acquires the posture image of the gripped C-shaped cantilever beam, which can correct the position for transfer to the cantilever beam clamping component, thereby improving the overall assembly accuracy. 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 C-shaped cantilever beam loading assembly for clip-on headphones in Example 1.

[0019] Figure 3 This is a front view of the C-shaped cantilever beam loading assembly for clip-on headphones in Example 1.

[0020] Figure 4 This is a top view of the C-shaped cantilever beam loading assembly for clip-on headphones in Example 1.

[0021] Figure 5 This is a left view of the C-shaped cantilever beam loading assembly for clip-on headphones in Example 1.

[0022] Figure 6 This is a 3D view of the buffer loading position in Example 1.

[0023] Figure 7This is a perspective view of the disassembly assembly in Example 1.

[0024] Figure 8 This is a three-dimensional view of the empty disk cache bit in Example 1.

[0025] Figure 9 This is a top view of the empty disk cache bit in Example 1.

[0026] Figure 10 This is a perspective view of the cantilever beam loading and unloading assembly in Example 1.

[0027] Figure 11 This is a perspective view of the tray transfer assembly in Example 1.

[0028] Figure 12 This is a perspective view of the cantilever beam clamping assembly in Example 1.

[0029] Figure 13 Reference for the usage status of the flip-transition component in Example 1 Figure 1 .

[0030] Figure 14 Reference for the usage status of the flip-transition component in Example 1 Figure 2 .

[0031] Figure 15 This is a perspective view of the contour-following mold in Example 1.

[0032] Figure 16 This is a three-dimensional view of the contour pressing block in Example 1.

[0033] Figure 17 This is a schematic diagram showing the cooperation of the contour-following mold, the contour-following pressure block, and the second pneumatic gripper in Example 1.

[0034] Figure 18 This is a perspective view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in Example 2.

[0035] Figure 19 This is a top view of the automated assembly equipment for the external clip-on earphone C-shaped cantilever beam and VPU fastener in Example 2.

[0036] Figure 20 This is a perspective view of the VPU feeding assembly in Example 2.

[0037] Figure 21 This is a perspective view of the VPU gripper assembly in Example 2.

[0038] Figure 22 This is a top view of the turntable assembly in Example 2.

[0039] Figure 23 This is a perspective view of the turntable assembly in Example 2.

[0040] Figure 24 This is a top view of the assembly fixture in Example 2.

[0041] Figure 25 This is a perspective view of the assembly fixture in Example 2.

[0042] Figure 26 This is a perspective view of the cable management component in Example 2.

[0043] Figure 27 This is a perspective view of the gathering mechanism in Example 2.

[0044] Figure 28 This is a top view of the retracting mechanism in Example 2.

[0045] Figure 29 For along Figure 28 Sectional view along the AA direction.

[0046] Figure 30 For along Figure 29 Sectional view along the BB direction.

[0047] Figure 31 This is a reference diagram showing the usage state of the gathering mechanism in Example 2.

[0048] Figure 32 This is a perspective view of the auxiliary components in Example 2.

[0049] Figure 33 This is a perspective view of the finished product discharge assembly in Example 2.

[0050] Figure 34 This is a perspective view of the fixture cover opening and closing assembly in Example 2.

[0051] Figure 35 This is a perspective view of the product transfer component in Example 2.

[0052] In the diagram: 1. Frame; 2. C-shaped cantilever beam loading assembly for clip-on headphones; 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 plate; 2.4 Cantilever beam pick-and-place assembly; 2.4.1 Dual-mover linear drive module; 2.4.1.1 First mover; 2.4.1.2 Second mover; 2.4.2 Horizontal cantilever beam gripping assembly; 2.4.2.1 First lifting module; 2.4.2.2 First pneumatic gripper; 2.4.2.3 Rotary drive motor; 2.4.3 Vertical cantilever beam gripping assembly; 2.4.3.1 Second lifting module; 2.4.3.2 Second pneumatic gripper; 2.5 Flipping 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 buffer assembly; 2.7.1. Empty pallet 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; 4.1c, Assembly Station; 4.1d, Inspection Station; 4.1e, Discharge 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 Restriction 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 Restriction Screw, 4.2.14, Second Spring, 4.3, First Lifting Cylinder, 4.4, Second Lifting Cylinder, 4.5, Cable Management Assembly, 4.5.1, Cable Management Lifting Cylinder, 4.5.2, Gathering Mechanism 4.5.2.1 Lifting platform; 4.5.2.2 Cable management opening and closing cylinder; 4.5.2.3 Connecting block; 4.5.2.3.1 Waist-shaped hole; 4.5.2.4 Connecting shaft; 4.5.2.5 Gathering block; 4.5.2.5.1 First working plane; 4.5.2.5.2 Second working plane; 4.5.2.6 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 cylinder; 4.7.3 Auxiliary opening and closing cylinder; 4.7.4 Auxiliary gripper; 4.7.5 4.7.6 Auxiliary detection fiber optic cable; 4.8 Auxiliary base; 4.9 Assembly vision components; 5.0 Inspection vision components; 5.1 Finished product discharge components; 5.1 Incoming material conveyor; 5.1.1 Incoming material lifting platform; 5.1.2 Incoming material blocking component; 5.2 Return material conveyor; 5.2.1 Return material lifting platform; 5.2.2 Return material blocking component; 5.3 Fixture transfer components; 5.3.1 Rodless cylinder; 5.3.2 Paddle plate; 5.4 Fixture cover opening and closing components; 5.4.1 Left and right cover opening cylinders; 5.4.2 Front and rear cover opening cylinders; 5.4.3 Cover opening lifting cylinder; 5.4.4 Cover opening pneumatic gripper; 5.4.5 Cover opening base; 5.5 Product transfer assembly, 5.5.1, Product transfer horizontal module, 5.5.2, Product transfer lifting module, 5.5.3, Product gripper assembly, 5.5.3.1, Cantilever beam pneumatic gripper, 5.5.3.2, VPU pneumatic gripper, 5.5.3.3, Product gripping and detection fiber optic cable, 5.5.3.4, Product detection and displacement cylinder, 5.5.3.5, Product in-situ detection fiber optic cable, 5.5.3.6, Gripper platform, 5.5.4, Product transfer base, 5.6, Transfer fixture, 5.6.1, Fixture base, 5.6.2, Fixture cover, 5.7, Non-conforming product receiving box, 5.8, Transition plate, 6, Pallet, 7, C-shaped cantilever beam, 8, VPU fastener. Detailed Implementation 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.

[0053] In the embodiments, "front and back" and "left and right" are relative positional relationships, rather than absolute directions.

[0054] Example 1 Figure 1 The diagram shows an assembly of the C-shaped cantilever beam and the VPU fastener. In this embodiment, the C-shaped cantilever beam loading assembly 2 for external clip-on headphones is designed to stably and accurately convert the horizontally positioned C-shaped cantilever beam 7 in the tray 6 into a vertically aligned position. Figure 1 The C-shaped cantilever beam 7, in its vertical position, is stably gripped. In subsequent processes, the vertically positioned C-shaped cantilever beam 7 will be installed into a fixture, and the VPU fastener 8 will be attached to one end of it.

[0055] like Figures 2-5 As shown, this embodiment provides a C-shaped cantilever beam loading assembly 2 for external clip-on headphones, including a mounting bracket 2.1, a tray transfer station 2.2, a tray transfer assembly 2.3, a cantilever beam picking and placing assembly 2.4, a flipping transition assembly 2.5, an upper vision guide assembly 2.8, and a lower vision assembly 2.9.

[0056] 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 pick-and-place assembly 2.4, and flipping transition assembly 2.5. Therefore, in the attached drawings of each sub-component, the base portion connected 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 loading assembly.

[0057] 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 full of C-type cantilever beams; 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-type cantilever beams 7; the empty pallet buffer position 2.2.3 is used to store empty pallets after all C-type cantilever beams 7 have been removed.

[0058] like Figure 6As 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 from being placed backwards when placed manually.

[0059] like Figure 6 , Figure 7 As 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.

[0060] like Figure 8 , Figure 9As 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.

[0061] 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 11 As 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.

[0062] 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 10 As shown, in this embodiment, the cantilever beam pick-and-place assembly 2.4 adopts a dual-actuator linear drive module 2.4.1. The dual-actuator linear drive module is mounted on the mounting bracket 2.1, and its stroke covers the gripping loading position 2.2.2 and the flipping transition assembly 2.5 (see...). Figure 2 and Figure 5 For clarity, Figure 2 and Figure 5 The component conceals the buffer loading position and is equipped with a first mover 2.4.1.1 and a second mover 2.4.1.2. The first mover 2.4.1.1 is fitted 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 drives the first pneumatic gripper 2.4.2.2 to lift and lower, for gripping the horizontally oriented C-shaped cantilever beam from the tray at the loading position 2.2.2. The rotary drive motor 2.4.2.3 drives the first pneumatic gripper 2.4.2.2 to rotate in the horizontal plane to adjust the orientation of the C-shaped cantilever beam, allowing it to be smoothly placed into the subsequent contour-following container 2.5.1.1. The second mover 2.4.1.2 is equipped with a vertical cantilever beam gripping assembly 2.4.3, which includes a second lifting module 2.4.3.1 and a second pneumatic gripper 2.4.3.2. The second lifting module 2.4.3.1 can drive the second pneumatic gripper 2.4.3.2 to lift and lower, for gripping the vertically positioned C-shaped cantilever beam from the flipped contoured container mold 2.5.1.1. The gripping parts of both the first pneumatic gripper 2.4.2.2 and the second pneumatic gripper 2.4.3.2 adopt a contoured design, and their shapes match the curved surface of the C-shaped cantilever beam 7.

[0063] 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 orientation. For example... Figure 12 , Figure 13 and Figure 14As 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 15 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 15 and Figure 16 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 17As 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.

[0064] like Figures 2-5 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.

[0065] During operation, the pallet transfer assembly 2.3 moves its pallet transfer plate 2.3.3 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.

[0066] The first pneumatic gripper 2.4.2.2 of the horizontal cantilever beam gripping assembly 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. 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 13As shown, the flipping transition assembly 2.5 is in a horizontal receiving state. Then, 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 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 groove space.

[0067] 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 become vertical (as shown in the image). Figure 14 (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 vertically positioned C-shaped cantilever beam 7 for use in subsequent processes.

[0068] Finally, the pallet transfer assembly 2.3 transfers the empty pallet 6, after removing the C-shaped cantilever beam 7, from the gripping and loading position 2.2.2 to the empty pallet buffer position 2.2.3. 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 lands on the empty pallet support plate 2.7.3, achieving stacking buffering.

[0069] Example 2 This embodiment provides an automated assembly device for an external clip-on earphone C-shaped cantilever beam and VPU fastener, as a typical application scenario of the aforementioned C-shaped cantilever beam feeding assembly 2. For example... Figure 18 , Figure 19 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 for clip-on headphones mounted on the frame 1.

[0070] The frame 1 is a rigid frame structure with a mounting platform for fixing and supporting various functional components.

[0071] The C-shaped cantilever beam loading assembly 2 for clip-on headphones adopts the structure described in Embodiment 1, and its details will not be repeated here. The C-shaped cantilever beam loading assembly 2 for clip-on headphones is fixed to the frame 1 by its mounting bracket 2.1, and is used to convert the horizontal C-shaped cantilever beam 7 in the tray 6 into a vertical position and provide it for subsequent assembly processes.

[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 20 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 21 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 corresponding station of the turntable component 4 (assembly station 4.1c, hereinafter referred to as assembly station) for assembly. During this transfer process, 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 22 , Figure 23 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 24 , Figure 25As 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 23 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 22 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 22 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 26 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 27 to 29 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 30 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] 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.

[0086] 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, inserting 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 reducing the size of the gathering opening 4.5.2.6 (see...). Figure 31 During this process, the first working plane exerts a squeezing and twisting effect on the cable, compressing and gathering the cable.

[0087] 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 22 As shown, assembly station 4.1c is equipped with auxiliary component 4.7 and assembly vision component 4.8, which are used to cooperate with collaborative robot 3.2 to assemble C-shaped cantilever beam 7 and VPU fastener 8.

[0088] like Figure 32 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] Inspection station 4.1d: such as Figure 22 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.

[0096] 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.

[0097] like Figure 33 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.

[0098] 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 34 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] like Figure 34As 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.

[0103] like Figure 35 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.

[0104] 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.

[0105] After the inspection at inspection station 4.1d is completed, the turntable 4.1 rotates the assembly fixture 4.2 to the unloading station 4.1e.

[0106] Meanwhile, the incoming material conveyor 5.1 transports a set of unloaded transfer fixtures 5.6 (four side-by-side) to the incoming material lifting platform 5.1.1. The incoming material blocking component 5.1.2 blocks subsequent fixture buffers, and the incoming material lifting platform 5.1.1 lifts this set of transfer fixtures. The rodless cylinder 5.3.1 of the fixture transfer component 5.3 drives the lever 5.3.2 to move the entire set of transfer fixtures from the incoming material side to the return material lifting platform 5.2.1 on the return material side. Subsequently, the return material lifting platform 5.2.1 descends, placing the set of transfer fixtures back onto the return material conveyor 5.2, which then transports them to the return material blocking component 5.2.2 for positioning, awaiting product loading.

[0107] The product transfer assembly 5.5 begins operation as follows: First, 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. Then, 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 gripping is in place. Subsequently, the first lifting cylinder 4.3 and the second lifting cylinder 4.4 simultaneously lift, respectively activating the cantilever beam clamping unit and the VPU clamping unit, releasing the product.

[0108] Based on the inspection results of the vision component 4.9: If the product is qualified, the product gripper assembly 5.5.3 transfers the product to the transfer fixture 5.6 positioned at the return material blocking assembly 5.2.2. The fixture cover opening and closing assembly 5.4 first moves the fixture cover 5.6.2 of the transfer fixture from the closed position to the open position. After the product gripper assembly 5.5.3 places the product into the receiving position, the fixture cover opening and closing assembly 5.4 then moves the fixture cover back to the closed position, pressing and fixing the product. Subsequently, the return material conveyor 5.2 sends the transfer fixture assembly loaded with the product to the next process. If the product is unqualified, the product gripper assembly 5.5.3 places the product into the unqualified product receiving box 5.7.

[0109] Finally, the return material lifting platform 5.2.1 descends, placing the transferred fixture assembly with loaded products back onto the return material conveyor 5.2. The return material blocking assembly 5.2.2 opens, and the return material conveyor 5.2 sends the transferred fixture assembly to the next process. Simultaneously, the incoming material lifting platform 5.1.1 descends, and the next set of transferred fixture assemblies arrives, repeating the above cycle.

Claims

1. A C-shaped cantilever beam feeding assembly for clip-on headphones, characterized in that, include: Mounting bracket (2.1); The pallet transfer station (2.2) is installed on the mounting bracket (2.1). The pallet transfer station (2.2) has a buffer loading position (2.2.1), a gripping loading position (2.2.2), and an empty pallet buffer position (2.2.3). A pallet transfer assembly (2.3), mounted on the mounting bracket (2.1), is used to transfer the pallet (6) from the buffer loading position (2.2.1) to the gripping loading position (2.2.1). 2.2.2), and transfer the empty pallet from the gripping and loading position (2.2.2) to the empty pallet buffer position (2.2.3). The cantilever beam pick-and-place assembly (2.4) is mounted on the mounting bracket (2.1); and The flip-over transition assembly (2.5) is mounted on the mounting bracket (2.1) and includes a cantilever beam clamping assembly (2.5.1) and a rotation drive device (2.5.2). The cantilever beam pick-and-place assembly (2.4) is used to pick up a 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 cantilever beam clamping assembly (2.5.1), which clamps the 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 a horizontal orientation to a 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).

2. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 1, characterized in that, The cantilever beam clamping assembly (2.5.1) includes a conforming holding mold (2.5.1.1), a conforming pressure block (2.5.1.2), a clearance cylinder (2.5.1.3), and a clamping cylinder (2.5.1.4); the clearance cylinder (2.5.1.3) is used to drive the clamping cylinder (2.5.1.4) and the conforming pressure block (2.5.1.2). 2.5.1.2) Move horizontally above the contouring container mold (2.5.1.1); the pressing cylinder (2.5.1.4) is used to drive the contouring block (2.5.1.2) to press the C-shaped cantilever beam (7) into the contouring container mold (2.5.1.1).

3. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 2, characterized in that, A groove-shaped space is formed between the contour-forming container mold (2.5.1.1) and the contour-forming pressure block (2.5.1.2), and when the contour-forming pressure block (2.5.1.2) presses the C-shaped cantilever beam (7) into the contour-forming container mold (2.5.1.1), the middle arc position of the C-shaped cantilever beam (7) is exposed in the groove-shaped space.

4. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 1, characterized in that, The rotation drive device (2.5.2) includes a rotation shaft (2.5.2.1), a tilting drive cylinder (2.5.2.2), a rack (2.5.2.3), and a gear (2.5.2.4); the tilting drive cylinder (2.5.2.2) is used to drive the rack (2.5.2.3) to move linearly, and the rack (2.5.2.3) meshes with the gear (2.5.2.4); the gear (2.5.2.4) is fixedly connected to the rotation shaft (2.5.2.1); the cantilever beam clamping assembly (2.5.1) is mounted on the rotation shaft (2.5.2.1) and rotates together with the rotation shaft (2.5.2.1).

5. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 1, 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 stroke of the dual-moving linear drive module (2.4.1) covers the gripping loading position (2.2.2) and the flipping transition component (2.5). 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 ( 2.4.1.1) includes a first lifting module (2.4.2.1) and a first pneumatic gripper (2.4.2.2). The first lifting module (2.4.2.1) is used to drive the first pneumatic gripper (2.4.2.2) to lift. The horizontal cantilever beam gripping assembly (2.4.2) is used to grip a 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 cantilever beam clamping assembly (2.5.1). The vertical cantilever beam gripping assembly (2.4.3) is installed on the second mover ( 2.4.1.2) includes a second lifting module (2.4.3.1) and a second pneumatic gripper (2.4.3.2). The second lifting module (2.4.3.1) is used to drive the second pneumatic gripper (2.4.3.2) to lift. The vertical cantilever beam gripping assembly (2.4.3) is used to grip the vertically oriented C-shaped cantilever beam (7) from the flipped cantilever beam clamping assembly (2.5.1).

6. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 5, characterized in that, The horizontal cantilever beam gripping assembly (2.4.2) further includes a rotary drive motor (2.4.2.3), which is used to drive the first pneumatic gripper (2.4.2.2) to rotate in the horizontal plane.

7. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 1, characterized in that, 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 plate (2.3.3) is used to support the pallet (6); The clamping mechanism (2.3.4) is disposed on the pallet transfer plate (2.3.3) and is used to clamp the pallet (6). The lifting assembly (2.3.2) is used to drive the pallet transfer plate (2.3.3) to lift, and the pallet transfer horizontal module (2.3.1) is used to drive the pallet transfer plate (2.3.3) to move horizontally, so as to transfer the pallet (6) from the buffer loading position (2.2.1) to the gripping loading position (2.3.2.1). 2.2.2), and transfer the empty pallet (6) from the gripping loading position (2.2.2) to the empty pallet buffer position (2.2.3).

8. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 7, characterized in that, The buffer loading position (2.2.1) is provided with a tray removal assembly (2.6). The tray removal assembly (2.6) is symmetrically arranged on both sides of the buffer loading position (2.2.1) in the width direction. The tray removal assembly (2.6) includes a transverse drive cylinder (2.6.1), a sliding seat (2.6.2), a tray removal cylinder (2.6.3), a tray peeling plate (2.6.4), and a tray 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 disassembly 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 pallet (6). The disassembly cylinder (2.6.3) is used to drive the pallet peeling plate (2.6.4) to lift and lower, so as to peel off the pallet (6) located below the pallet support plate (2.6.5); The pallet transfer assembly (2.3) is capable of moving its pallet transfer plate (2.3.3) below the pallet removal assembly (2.6).

9. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 7, characterized in that, The empty disk cache position (2.2.3) is provided with an empty disk cache assembly (2.7), which includes an empty disk lifting cylinder (2.7.1), a lifting support plate (2.7.2), and an empty disk support plate (2.7.3). The empty plate lifting cylinder (2.7.1) is used to drive the lifting support plate (2.7.2) to rise and fall; The lifting support plate (2.7.2) has a notch (2.7.2.1) for inserting the pallet transfer plate (2.3.3). The empty disk support plate (2.7.3) is symmetrically arranged on both sides of the width direction of the empty disk cache position (2.2.3). The empty disk support plate (2.7.3) is pivotally connected to the mounting bracket (2.1) and is configured to be horizontal in the free state and can only rotate upward in one direction under the action of external force.

10. The C-shaped cantilever beam feeding assembly for clip-on headphones according to claim 1, characterized in that, It also includes an upper visual guide component (2.8) and a lower visual component (2.9). The upper visual guidance component (2.8) is installed above the gripping loading position (2.2.2) and is used to collect images of the C-shaped cantilever beam (7) in the pallet (6); 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 C-shaped cantilever beam (7) gripped by the cantilever beam pick-and-place component (2.4).

Images