Method and system for automatic flip of positioning pin with vibration feed

Abstract

The application relates to the technical field of vibration feeding, and discloses a positioning pin automatic overturning vibration feeding method and system. The method comprises the following steps: calculating an axial gravity center offset amount by measuring the head-tail diameter and length parameters of the positioning pin, and determining a critical flow separation slope angle, setting a stepped gravity center capturing groove containing a micro step in front of a spiral track of a vibration disc to complete head-tail posture separation, and continuously discharging positioning pins after the positioning pins are converted from a lying posture to a standing posture in a linear compression overturning area of a top cover. The application improves the posture separation reliability and continuous discharging stability of the positioning pins in the feeding process of an assembly line.

Description

Technical Field

[0001] This application relates to the field of vibratory feeding technology, and in particular to a method and system for automatic flipping of positioning pins for vibratory feeding. Background Technology

[0002] In precision hardware assembly lines, locating pins, as the reference orienting components for hole-shaft mating, need to be continuously fed into the assembly station in an upright position with the head facing down and the axis vertical. Current feeding technologies generally employ a vibratory feeder combined with a tilting channel to achieve automatic orientation and continuous discharge of the locating pins. The vibratory feeder uses the vibration excitation of a bowl-shaped spiral track to transport the loose material one by one to the discharge end. The tilting channel relies on the geometric constraints of the groove to forcibly convert the horizontal pins to an upright position, and then continuously discharges them via a straight discharge track. This technical approach has already seen mature engineering applications in the feeding scenarios of parts with large diameter differences.

[0003] However, for tiny locating pins with extremely small head-to-tail diameter differences (typically on the order of 0.05 mm to 0.15 mm), the aforementioned existing technologies have two fundamental drawbacks. First, the flipping channel does not differentiate between the orientation of the entering parts; pins with both head and tail facing forward are allowed to enter the flipping zone. When a pin enters the flipping zone entrance in the wrong orientation, the larger diameter of the head forms a wedging self-locking with the channel wall. Subsequent pins continue to push, causing blockage at the entrance. Existing technologies use air blowing to remove the pins, but the air pressure is fixed and the action point is at the outlet rather than the entrance transition section, making it impossible to intervene before wedging occurs, thus failing to fundamentally eliminate the jamming problem. Second, for locating pins with excessively small head-to-tail diameter differences, the channel geometry alone cannot distinguish between the two orientations. The probability of the pin passing through the flipping zone entrance in an intermediate state increases significantly, further exacerbating the blockage frequency. Existing technologies do not address this issue specifically. Summary of the Invention

[0004] This application provides a method and system for automatic vibratory feeding of positioning pins, solving the problem of feeding interruption caused by the extremely small difference in diameter between the head and tail of tiny positioning pins, resulting in self-locking at the entrance of the flipping zone and jamming in the intermediate state. This application improves the reliability of posture diversion and the stability of continuous discharge of positioning pins during the feeding process on the assembly line.

[0005] In a first aspect, this application provides a method for automatic flipping and vibratory feeding of positioning pins, the method comprising: Step S1: Measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the locating pin, and calculate the axial centroid offset of the locating pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. Step S2: Based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate, calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward orientations. Step S3: A stepped center of gravity capture groove is set in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The width of the middle section of the stepped center of gravity capture groove is narrowed to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction, with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove is bifurcated into a positive positioning channel and a reset channel. The locating pin with the head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with the tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. Step S4: The positioning pin output from the positive positioning channel enters the flipping area. The net height of the top cover of the flipping area is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from horizontal to vertical position, it is continuously output by the discharge linear track.

[0006] Secondly, this application provides a system for automatic flipping and vibratory feeding of positioning pins, the system comprising: The extraction module is used to measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the positioning pin, and to calculate the axial centroid offset of the positioning pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. The calculation module is used to calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward postures based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate. An import module is used to set a stepped center of gravity capture groove in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The middle section of the stepped center of gravity capture groove narrows to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction, with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove branches into a positive positioning channel and a reset channel. The locating pin with its head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with its tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. The positioning module is used to allow the positioning pin output from the positive positioning channel to enter the flipping zone. The net height of the top cover of the flipping zone is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from a horizontal to a vertical position, it is continuously output by the discharge linear track.

[0007] Thirdly, a device for automatic rotation and vibration feeding of positioning pins is provided, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor invokes the instructions in the memory to cause the device for automatic rotation and vibration feeding of positioning pins to perform the above-described method for automatic rotation and vibration feeding of positioning pins.

[0008] Fourthly, a computer-readable storage medium is provided, wherein instructions are stored therein, which, when executed on a computer, cause the computer to perform the above-described method of automatic flipping vibration feeding of the positioning pin.

[0009] In the technical solution provided in this application, by systematically measuring four physical parameters of the locating pin—the major diameter of the head end, the minor diameter of the tail end, the total length, and the axial length of the head end step—the geometric volume distribution of the locating pin is transformed into a quantifiable axial center of gravity offset. Then, this offset, together with the vibration excitation acceleration of the vibratory plate, is used to establish a mechanical discrimination model for the difference in axial overturning torque under two postures. The critical diversion slope angle is determined through iterative calculation, so that the slope angle design no longer relies on the engineer's experience estimation, but is directly derived from the physical characteristics of the locating pin itself. This fundamentally establishes a quantitative correspondence between the geometric parameters of the feeding track and the physical properties of the fed part. Based on this, the stepped center of gravity capture groove integrates the critical diversion slope angle, the narrowed middle section groove width to the large diameter of the head end, and the side wall arc surface with a radius of curvature three times the large diameter of the head end into a synergistic geometric constraint system. This allows the positioning pins with the head end facing forward and the tail end facing forward to complete active diversion before entering the flipping zone. This completely changes the design logic of the existing technology where the flipping zone passively receives parts in any posture, eliminating the triggering condition for jamming before the entrance of the flipping zone rather than remedying it after jamming occurs.

[0010] The micro-step array, evenly spaced along the axial direction at the bottom of the middle section of the trough, has its spacing determined by the vibration period and the forward speed of the pin. This ensures that each vibration period corresponds exactly to one micro-step contact. The periodic pulse disturbance and vibration excitation are precisely synchronized in time. This is specifically designed to address the intermediate-state jamming problem caused by the degradation of the flow separation judgment in the tiered capture trough when the center of gravity offset approaches zero. Without introducing any additional drive device, the vibration energy of the vibratory plate itself is used to actively eliminate the intermediate state, achieving adaptive robustness of the flow separation mechanism in scenarios with extremely small diameter difference positioning pins. The coordinated design of the linear compression parameter of the top cover of the flipping zone and the boss trigger ensures that the positioning pin output through the positive positioning channel completes the transition from horizontal to vertical posture with deterministic rather than probabilistic flipping. The consistency of the discharge posture converges from the statistical distribution of existing technologies to a deterministic result. Each link directly affects the posture state of the positioning pin, with no redundant modules. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of an embodiment of the method for automatic flipping vibration feeding of positioning pins in this application; Figure 2 This is a schematic diagram showing the parameter distribution of the influence of the bottom slope angle and axial centroid offset of the capture tank on the axial overturning moment difference in the embodiments of this application. Detailed Implementation

[0013] This application provides a method and system for automatic vibratory feeding with a positioning pin. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0014] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the method for automatic flipping vibration feeding of positioning pins in this application includes: Step S1: Measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the locating pin. Calculate the axial centroid offset of the locating pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. Specifically, the locating pin consists of two coaxial cylindrical sections: a head end platform and a tail end polished rod. The diameter of the head end platform is larger than that of the tail end polished rod, resulting in unequal volumes and the overall center of gravity shifting towards the larger head end. The axial center of gravity offset refers to the distance the overall center of gravity of the locating pin shifts along the axial direction relative to its geometric midpoint. This amount is obtained by weighted averaging of the volumes of the two cylindrical sections with their respective center of gravity positions, minus half of the total length. During measurement, at least fifty locating pins are individually measured with a micrometer, including the head end major diameter, tail end minor diameter, total length, and the axial length of the head end step. The average value is then taken to eliminate the influence of individual piece machining tolerances on the calculation results, ensuring that the obtained axial center of gravity offset represents the true statistical characteristics of the batch of locating pins.

[0015] Step S2: Based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate, calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward orientations. Specifically, the physical meaning of the critical diversion slope angle is: when the bottom surface of the stepped center of gravity capture trough is tilted to this angle, the locating pins with the head-facing and tail-facing orientations have different axial center of gravity offsets, resulting in a distinguishable difference in the axial overturning torque generated around the contact fulcrum at the bottom of the trough. This difference exceeds the random disturbance torque applied axially to the pins by the vibration excitation of the vibratory plate. During the calculation, the initial slope angle value is substituted into the torque expression to determine whether the difference in overturning torque between the two orientations exceeds the vibration excitation torque. If it does not exceed the threshold, the slope angle is increased and substituted again. This process is iterated until the torque difference stably exceeds the threshold. The slope angle value is then taken plus three degrees as the design margin. The basis for setting the three-degree engineering margin is that when the dimensional tolerance between batches of locating pins is within ±0.05 mm, the maximum impact on the axial center of gravity offset, converted to the equivalent change in slope angle, does not exceed two degrees. The three-degree margin ensures coverage of the entire batch.

[0016] Step S3: A stepped center of gravity capture groove is set in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The width of the middle section of the stepped center of gravity capture groove is narrowed to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove is bifurcated into a positive positioning channel and a reset channel. The locating pin with the head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with the tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. Specifically, the stepped center-of-gravity capturing groove is a customized groove section embedded in front of the spiral track outlet of the vibratory feeder. The width of the middle section narrows to be equal to the average of the major diameter at the head end. The purpose is to create a lateral geometric constraint between the pin axis and the groove wall, restricting the pin to only move forward axially or to overturn axially, thus eliminating interference from lateral random displacement on the flow division judgment. The micro-steps are tiny step structures machined at equal intervals along the axial direction at the bottom of the middle section groove. The spacing is taken as the axial forward distance of the pin in each vibration cycle of the vibratory feeder, that is, the product of the reciprocal of the vibration frequency and the forward speed of the pin. This spacing design ensures that the pin passes through exactly one step in each vibration cycle. Each time it passes through a step, it receives an upward pulse contact, pushing the intermediate state pin, which is near torque balance, into a clearly defined unilateral deflection state with the head end lower or the tail end lower, thereby being captured by the slope angle and divided into the corresponding channel. The radius of curvature of the sidewall arc surface is three times the average value of the major diameter of the head end. This value ensures that when the counter-positioning pin deflects and contacts the sidewall under the constraint of the slot width, the normal guiding force component applied to the pin by the arc surface is sufficient to overcome the axial component of the vibration excitation, stably guiding the pin to the reset channel without springback jamming.

[0017] Step S4: The positioning pin output from the positive positioning channel enters the flipping zone. The net height of the top cover of the flipping zone is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from horizontal to vertical position, it is continuously output by the discharge linear track.

[0018] Specifically, the initial value of the net height of the top cover in the flipping zone is set to be equal to the average value of the large diameter at the head end, and the final value is set to be equal to the average value of the small diameter at the tail end. The difference between the two is the amount of compression of the top cover within the axial length of the flipping zone. The large diameter of the head end of the positioning pin, which enters in a horizontal position, just fills the net height of the top cover at the entrance. As the pin moves forward, the top cover continues to be compressed, and the head end, constrained downward by the top cover, cannot maintain a horizontal position. It then flips axially with the bottom of the head end as the fulcrum. A boss trigger with a height of 0.1 mm is set in the middle section of the flipping zone. The reason for setting this height is that for positioning pins with a small axial center of gravity offset, the flipping driving torque generated by the compression of the top cover alone is insufficient to overcome the self-weight resistance torque before the flipping angle reaches 45 degrees. The boss trigger applies an additional downward impact when the pin passes by, so that the flipping driving torque exceeds the resistance torque at that instant, triggering a complete 90-degree flip. The pin enters the discharge straight track in an upright position with its head end facing down and its axis vertical.

[0019] In one specific embodiment, step S1 includes: The major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the locating pin are measured by micrometer. The sample size is no less than fifty pieces, and the average values ​​are taken to obtain the average values ​​of the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. Calculate the cylinder volume at the head end of the locating pin based on the average major diameter and the average axial length of the head end step; calculate the cylinder volume at the tail end of the locating pin based on the average minor diameter, the average total length, and the average axial length of the head end step. Based on the volumes of the head cylinder and the tail cylinder, with the tail end face of the locating pin as the origin of the coordinate system and the head direction as the positive direction, calculate the positions of the head center of mass and the tail center of mass respectively. Substitute the volumes of the head cylinder, the tail cylinder, the head center of mass, and the tail center of mass into the weighted average formula to obtain the overall center of gravity position of the locating pin. The axial offset of the locating pin relative to its geometric midpoint is obtained by subtracting half of the average total length from the overall center of gravity position of the locating pin.

[0020] Specifically, the locating pin is simplified as a combination of two coaxial cylinders. The head cylinder's volume is calculated using the cylinder volume formula, with the average major diameter of the head end as its diameter and the average axial length of the head end step as its height. The tail cylinder's volume is calculated using the same formula, with the average minor diameter of the tail end as its diameter and the difference between the average total length and the average axial length of the head end step as its height. A one-dimensional coordinate axis is established with the tail end face of the locating pin as the origin and the head end direction as the positive direction. The head end's center of mass is taken as half the difference between the average total length and the average axial length of the head end step, and the tail end's center of mass is taken as half the difference between the average total length and the average axial length of the head end step. The overall center of gravity of the locating pin is obtained by multiplying the head end cylinder volume by the head end's center of mass position and vice versa, summing the results, and then dividing by the sum of the head end cylinder volume and tail end cylinder volume.

[0021] The sample size was set at no less than fifty pieces because the manufacturing tolerance of the outer diameter of precision hardware locating pins is usually within ±0.05 mm. Within this tolerance range, the influence of a single piece's dimensional deviation on the axial center of gravity offset is on the order of a few tenths of a millimeter. After taking the average of fifty pieces, the standard error of the mean is reduced to less than one-seventh of the standard deviation of a single piece, which is sufficient to suppress the influence of batch dimensional fluctuations on the calculation results of the axial center of gravity offset to a negligible range. The axial center of gravity offset obtained by subtracting the overall center of gravity position of the locating pin from half of the average total length indicates that the center of gravity is biased towards the head end when the value is positive, and that it is biased towards the tail end when the value is negative. This sign rule is consistent with the direction set by the coordinate origin and does not cause ambiguity.

[0022] In one specific embodiment, step S2 includes: Based on the axial center of gravity offset, the axial overturning moment of the positioning pin around the bottom support of the groove in the head-forward posture and the axial overturning moment of the positioning pin around the bottom support of the groove in the tail-forward posture are calculated respectively. The difference between the axial overturning moment of the head-forward posture and the axial overturning moment of the tail-forward posture is obtained. Based on the vibration excitation acceleration of the vibratory feeder and the mass of the positioning pin, the vibration excitation torque applied by the vibratory feeder to the positioning pin in the axial direction is calculated. Substituting the difference in axial overturning moment and the vibration excitation moment into the moment balance judgment condition, and taking the difference in axial overturning moment exceeding the vibration excitation moment as the judgment threshold, the initial value of the slope angle is iteratively updated to obtain the minimum slope angle value that makes the difference in axial overturning moment stably exceed the vibration excitation moment. By adding a three-degree engineering margin to the minimum slope angle value, the critical diversion slope angle is obtained.

[0023] Specifically, for the head-forward orientation, the locating pin on the slope of the tiered center of gravity capture trough has its fulcrum at the point where its head contacts the bottom of the trough. The axial distance from the center of gravity to this fulcrum is the sum of half the average total length and the axial offset of the center of gravity. The product of this distance and the normal component of the locating pin's weight along the slope is the axial overturning moment for the head-forward orientation. For the tail-forward orientation, the locating pin has its fulcrum at the point where its tail contacts the bottom of the trough. The axial distance from the center of gravity to this fulcrum is the difference between half the average total length and the axial offset of the center of gravity. The product of this distance and the normal component of the locating pin's weight along the slope is the axial overturning moment for the tail-forward orientation. The difference between these two values ​​yields the axial overturning moment difference. This difference increases with the slope angle because the normal component of gravity along the slope changes with the slope angle, thus amplifying the moment difference between the two orientations. The vibration excitation torque is calculated by multiplying the product of the vibration excitation acceleration of the vibratory plate and the mass of the single positioning pin by half of the average total length. This product represents the maximum equivalent overturning disturbance torque exerted by the vibration excitation on the pin in the axial direction, and is used as the discrimination threshold.

[0024] In the iterative calculation, the initial slope angle is set at 15 degrees, and the step size is 1 degree. In each iteration, the current slope angle is substituted into the two torque difference expressions mentioned above to determine if the axial overturning torque difference exceeds the vibration excitation torque. If it does not exceed, the slope angle is increased by 1 degree and substituted again, until three consecutive iterations meet the condition. This slope angle is then taken as the minimum slope angle value. The termination condition of passing three consecutive checks is set to eliminate misjudgments caused by slight fluctuations in the torque difference around the threshold when the slope angle is just near the critical point. A 3-degree engineering margin is added to the minimum slope angle value. The 3-degree setting is based on the fact that when the manufacturing tolerance of the head end major diameter and tail end minor diameter of the positioning pin is within ±0.05 mm between batches, the effect on the axial center of gravity offset, converted to an equivalent slope angle change of no more than 2 degrees, covers this fluctuation range with a 3-degree margin and retains a 1-degree safety redundancy, thus obtaining the critical diversion slope angle.

[0025] Figure 2 This is a schematic diagram showing the parameter distribution of the influence of the bottom slope angle and axial centroid offset of the capture tank on the axial overturning moment difference in the embodiments of this application. Figure 2In the diagram, the horizontal axis represents the slope angle of the bottom surface of the capture trough, and the vertical axis represents the axial center-of-gravity offset Δx of the positioning pin. The shade of gray indicates the magnitude of the difference in axial overturning torque between the two postures; the darker the color, the greater the torque difference. The color scale on the right indicates the corresponding value range. The dashed line in the diagram is the contour line of the vibration excitation torque threshold. This contour line divides the parameter space into the diversion failure zone in the lower left and the effective diversion zone in the upper right. The combination of the slope angle and the center-of-gravity offset within the effective diversion zone can generate a distinguishable difference in axial overturning torque between the positioning pins in the head-forward posture and the tail-forward posture, thereby completing reliable head-tail posture diversion in the stepped center-of-gravity capture trough. The iterative value of the critical diversion slope angle is the minimum slope angle value that makes the parameter point cross the threshold contour line under the current axial center-of-gravity offset Δx of the positioning pin.

[0026] In one specific embodiment, step S3 involves setting a stepped center of gravity capture groove in front of the exit end of the vibratory feeder spiral track, including: Based on the critical diversion slope angle, the bottom slope angle of the cascade center of gravity capture tank is set to the critical diversion slope angle plus 3 degrees to obtain the bottom slope angle of the capture tank. Based on the average diameter of the head end, the inlet width of the trapezoidal center of gravity capture trough is set to the average diameter of the head end plus 0.3 mm to obtain the inlet width of the capture trough; the width of the middle section of the trapezoidal center of gravity capture trough is narrowed to be equal to the average diameter of the head end to obtain the middle section width of the capture trough. Based on the bottom slope angle of the capture trough and the width of the middle section of the capture trough, the side walls of the stepped center of gravity capture trough are set with an arc surface with a radius of curvature of 3 times the average of the major diameter at the head end in the section from the middle to the bifurcation point, and the side wall arc surface parameters are obtained. The slope angle of the bottom surface of the capture trough, the width of the inlet trough, the width of the middle section of the capture trough, and the arc surface parameters of the side wall are input into the machining process of the stepped center of gravity capture trough to obtain a solid stepped center of gravity capture trough with geometric constraints of center of gravity diversion.

[0027] Specifically, the bottom slope angle of the capture tank is set to the critical diversion slope angle plus 3 degrees. This 3 degrees is different in nature from the 3-degree engineering margin added to the minimum slope angle value in step S2. The critical diversion slope angle already includes a margin covering batch tolerances. The additional 3 degrees here is a structural margin resulting from the superposition of machining errors (usually within ±1 degree) and tank installation angle deviations (usually within ±1 degree) during the solid machining process of the tiered center of gravity capture tank. The two are added independently and do not overlap. The inlet width of the capture tank is set to the average of the large diameter at the head end plus 0.3 mm. The 0.3 mm gap is based on the fact that the positioning pin moves in a slightly jumping manner on the vibratory feeder's spiral track. When the pin enters the capture tank inlet, there is a slight lateral swing. The 0.3 mm gap is sufficient to accommodate this swing without causing collision and jamming at the inlet. At the same time, it is less than the difference between the large diameter at the head end and the small diameter at the tail end, so it will not cause the pin to enter the inlet in an abnormal posture of wedging into the inlet from the tail end. The width of the middle section of the groove is narrowed to be equal to the average value of the major diameter at the head end. Its function is to make the major diameter end of the pin form a lateral geometric contact with the groove wall, and the pin axis is constrained to be parallel to the axial direction of the groove bottom, eliminating the possibility of the pin rotating laterally in the middle section, and ensuring that the direction of the axial overturning moment of the slope on the pin is consistent with the design.

[0028] The radius of curvature of the sidewall arc surface is set to three times the average of the major diameter of the head end. This value is determined based on the following: when the radius of curvature is too small, the instantaneous normal contact force when the repositioning pin deflects and contacts the sidewall arc surface is too large. The pin may bounce back axially after being subjected to the arc surface's rebound, causing accumulation at the entrance of the reset channel. When the radius of curvature is too large, the guiding force of the arc surface on the repositioning pin is too gentle in the initial deflection phase, failing to overcome the random component of the vibration excitation in the axial direction, and the repositioning pin may return to an intermediate state. Setting the radius of curvature to three times the average of the major diameter of the head end ensures that the normal guiding force component generated by the arc surface when the repositioning pin deflects at a 15-degree angle just exceeds the component of the vibration excitation torque in that direction, ensuring that the repositioning pin is stably guided to the reset channel direction once it contacts the sidewall arc surface, without rebounding. The stepped center of gravity capture trough is embedded in the vibratory feeder spiral track steel plate in a dovetail groove manner and is locked and fixed by two M2 hexagon socket screws. The embedding position is located 40 mm in front of the spiral track outlet end. The bottom surface of the trough is flush with the bottom surface of the spiral track. The transition section is provided with a 0.5 mm × 45 degree chamfer to eliminate the impact and vibration when the pin enters.

[0029] In one specific embodiment, in step S3, the bottom of the middle section of the stepped center-of-gravity capturing groove is provided with microsteps along the axial direction, the spacing of which matches the vibration period and the forward speed of the pin, including: Based on the forward speed of the pin on the spiral track under standard working conditions of the vibratory feeder and the reciprocal of the vibration frequency of the vibratory feeder, the micro-step spacing is obtained by multiplying the two. Based on the difference between the average of the large diameter at the head end and the average of the small diameter at the tail end, the height of the micro-step is set to one-fifth of the difference between the average of the large diameter at the head end and the average of the small diameter at the tail end, and the height of the micro-step is not less than ten times the surface roughness value of the locating pin, thus obtaining the height of the micro-step. Based on the length of the middle section of the tiered center of gravity capture groove and the spacing between microsteps, the number of microsteps is obtained by dividing the length of the middle section by the spacing between microsteps. The microstep spacing, microstep height, and number of microsteps are input into the mid-section groove bottom processing procedure. The mid-section groove bottom of the groove entity, which is captured by the center of gravity of the steps, is processed at equal intervals along the axial direction to obtain a microstep array with periodic touch disturbance function.

[0030] Specifically, the micro-step spacing is the product of the reciprocal of the vibration frequency of the vibratory plate (i.e., the duration of a single vibration cycle) and the forward speed of the pin under standard working conditions on the helical track. This product is physically equal to the distance the pin travels axially within one vibration cycle. Setting the micro-step spacing to this value ensures that the pin advances to the next micro-step position exactly during each complete vibration excitation cycle, meaning each vibration cycle corresponds to one micro-step contact. The contact pulse and vibration excitation are aligned in time cycle by cycle, avoiding contact occurring during the reverse stroke phase of the vibration excitation, which would cause the disturbance to be canceled out. The length of the middle section of the ladder center of gravity capture groove is taken as 1 / 3 of the total axial length of the capture groove. The total axial length of the capture groove is set to 1.5 times the average total length of the positioning pins, so the middle section length is therefore 1 / 2 of the average total length. The number of micro-steps is obtained by dividing the middle section length by the micro-step spacing and rounding down. This integer division operation ensures that the micro-steps are evenly distributed at the bottom of the middle section groove and do not exceed the middle section boundary.

[0031] The upper limit of the micro-step height is set at 1 / 5 of the difference between the average major diameter at the head end and the average minor diameter at the tail end. This upper limit is based on the fact that if the micro-step height exceeds 1 / 5 of the difference between the head and tail diameters, the axial resistance generated by the leading edge of the step when the pin passes through is too large, causing unnecessary obstruction to the normal forward movement of the positioning pin and interfering with the smooth output of the positioning channel. The lower limit of the micro-step height is set at 10 times the surface roughness value of the positioning pin. The surface roughness Ra of precision hardware positioning pins is typically no greater than 0.002 mm, so 10 times is 0.02 mm. Below this lower limit, the height of the leading edge of the micro-step is on the same order of magnitude as the micro-unevenness of the pin surface. The step contact force is absorbed by the surface roughness and cannot be effectively transmitted to the center of mass of the pin, resulting in periodic disturbance failure. The micro-steps are machined using precision milling, with machining tolerances controlled within ±0.005 mm. This accuracy requirement is derived by working backward from the lower limit of the micro-step height of 0.02 mm, and the tolerance is within 25% of the lower limit, ensuring that the actual machining height is not lower than the effective contact lower limit.

[0032] In one specific embodiment, in step S3, the outlet of the step center of gravity capturing groove branches into a positive positioning channel and a reset channel. The positioning pin with its head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the step center of gravity capturing groove, and the positioning pin with its tail facing forward is guided into the reset channel by the side wall arc surface of the step center of gravity capturing groove, including: Based on the slope angle of the bottom surface of the capture tank and the axial center of gravity offset, the axial overturning moment generated by the positioning pin with the head facing forward in the middle section of the stepped center of gravity capture tank is greater than the vibration excitation moment. The head end sinks down first to contact the bottom of the tank and slides forward along the slope angle of the bottom surface of the capture tank, leading into the positioning channel; the width of the positioning channel is set to be equal to the average value of the small diameter of the tail end, thus obtaining the width of the positioning channel. Based on the side wall arc surface parameters, the axial overturning moment generated by the forward-facing locating pin in the middle section of the step center of gravity capture groove is less than the vibration excitation moment. The tail end deflects first and contacts the side wall arc surface. Guided by the side wall arc surface, it deflects in the reset direction and enters the reset channel. The reset channel is set as a 15-degree inclined groove to the outside of the side wall. The width of the inclined groove is set as the average of the head end major diameter plus 0.5 mm, thus obtaining the reset channel parameters. After the positioning pin is broken from the intermediate state by the micro-step array, it is introduced into the positive positioning channel and the reset channel respectively according to the width of the positive positioning channel and the parameters of the reset channel. This completes the head and tail attitude separation of the positioning pin. The positioning pin output from the reset channel falls back to the bottom of the vibrating plate through the funnel-shaped recycling guide groove to rejoin the cycle.

[0033] Specifically, the width of the positive positioning channel is set to be equal to the average value of the tail end minor diameter. The function of this geometric constraint is as follows: the positioning pin with its head facing forward enters the positive positioning channel in a horizontal position with its head sinking first and its axis nearly horizontal. At this time, the large diameter head of the pin is in front and the small diameter tail end is behind. The channel width is exactly equal to the average value of the tail end minor diameter, allowing the tail end to pass through unobstructed. However, the large diameter of the head end is limited by the channel side wall because it is larger than the channel width. Under the constraint of the side wall, the head end maintains a forward direction and does not deflect, ensuring that the pin enters the flipping area with a fixed head-facing posture. The tail-facing reverse positioning pin has a head-facing large diameter that is larger than the width of the positive positioning channel and cannot enter the positive positioning channel. It is intercepted by the geometric boundary of the channel entrance and deflected towards the side wall arc surface. This interception mechanism and the side wall arc surface guidance together constitute a double reverse positioning rejection guarantee. The reset channel is designed as a 15-degree inclined groove towards the outer sidewall. The 15-degree inclination angle is based on the following: when the inclination angle is less than 10 degrees, the reverse pin may slide backwards along the inclined groove towards the positive channel under vibration excitation; when the inclination angle exceeds 20 degrees, the pin will experience impact acceleration due to the excessive component of gravity along the inclined groove, resulting in excessive speed when it reaches the inlet of the funnel-shaped recovery guide groove, causing the pin to bounce and stack within the guide groove. The 15-degree inclination angle ensures that the reverse pin slides into the recovery guide groove at a uniform speed under the combined action of gravity and vibration excitation, without reverse sliding or bouncing.

[0034] The width of the reset channel chute is set to the average diameter of the head end plus 0.5 mm. The 0.5 mm margin is based on the fact that when the reversing pin enters the reset channel in a deflected posture, there is a deflection angle between the pin axis and the channel axis. When the deflection angle is within the range of 10 degrees to 20 degrees, the equivalent width occupied by the pin in the channel is the average diameter of the head end multiplied by the reciprocal of the cosine of the deflection angle. This equivalent width does not exceed the average diameter of the head end plus 0.4 mm. The 0.5 mm margin covers this maximum value and retains a 0.1 mm channel clearance to prevent the reversing pin from getting stuck in the reset channel. The funnel-shaped recovery guide chute outlet direction is set vertically downward, with the outlet facing the bottom plane of the vibrating plate. The inlet width of the recovery guide chute is not less than the width of the reset channel chute. The inner wall of the guide chute has a 0.5 mm × 45 degree chamfer transition to ensure that the reversing pin slides out of the reset channel and falls freely into the bottom of the plate in the vertical direction, with the landing point far away from the inner wall of the spiral track, so as not to collide or interfere with the positioning pin being transported.

[0035] In one specific embodiment, step S4 includes: Based on the average of the large diameter at the head end and the average of the small diameter at the tail end, the starting value of the net height of the top cover in the flipping zone is set to be equal to the average of the large diameter at the head end, and the ending value is set to be equal to the average of the small diameter at the tail end. A linear compression function for the net height of the top cover is established with the axial length of the flipping zone as the independent variable, and the compression parameters of the net height of the top cover are obtained. Input the top cover net height compression parameter into the flipping zone processing procedure, and process the top cover track along the axial direction at the exit end of the positive positioning channel, linearly compressing the top cover net height from the average value of the large diameter at the head end to the average value of the small diameter at the tail end, to obtain the flipping zone entity. Based on the axial center of gravity offset and vibration excitation torque, a boss trigger is set on the bottom surface of the top cover track in the middle section of the flipping zone. The height of the boss trigger is set to 0.1 mm. When the positioning pin output from the positive channel passes through the boss trigger, it is subjected to an additional downward impact force, which causes the flipping driving torque generated by the positioning pin around the head end fulcrum to exceed the resistance torque generated by the positioning pin's own weight around the same fulcrum, thus obtaining the flipping trigger condition. Based on the flip trigger condition, the positioning pin completes a 90-degree flip from a horizontal to an upright position within the flip zone. It is then continuously output from the discharge linear track in an upright position with its head facing down and its axis vertical, resulting in a positioning pin discharge sequence with a defined posture.

[0036] Specifically, the linear compression function of the top cover net height takes the entrance of the flipping zone as the origin and the axial direction of movement as the independent variable. The function value decreases linearly from the average of the large diameter at the head end to the average of the small diameter at the tail end. The slope of the decrease is the difference between the average of the large diameter at the head end and the average of the small diameter at the tail end divided by the axial length of the flipping zone. The axial length of the flipping zone is taken as 2.5 times the average total length of the positioning pin. The basis for setting this multiple is that the minimum axial stroke required for the positioning pin to complete a 90-degree flip in the flipping zone is about twice the average total length. Taking 2.5 times retains a stroke redundancy of 0.5 times to ensure that the flipping is completely completed before the pin reaches the exit of the flipping zone. The net height of the top cover at the entrance is equal to the average diameter of the head end, so that the head end of the positioning pin, which enters in a horizontal position, forms an initial contact constraint with the top cover. As the pin moves forward, the top cover continues to press down, and the head end, restricted downward by the top cover, can no longer maintain a horizontal position. It begins to rotate axially with the point where the bottom of the head end contacts the bottom of the groove as the fulcrum. During the rotation process, the supporting force of the groove bottom on the head end and the downward constraint force of the top cover on the pin together constitute the rotation driving force couple.

[0037] The boss trigger is located in the middle of the flipping zone, specifically at half the axial length of the flipping zone. This position corresponds to the axial coordinate when the pin flips at approximately 45 degrees. At a 45-degree flipping angle, the resistance torque generated by the self-weight of the locating pin around the head end fulcrum is nearly balanced with the flipping drive torque. At this point, without additional impact, the pin risks stalling at the 45-degree mid-position. The boss trigger height is set to 0.1 mm. This value is obtained by multiplying the product of the vibration excitation acceleration and the mass of the locating pin (i.e., the vibration excitation force) by half the average major diameter of the head end, yielding the maximum additional flipping torque that the vibration excitation can provide within the flipping zone. This torque is then compared with the difference between the flipping drive torque and the resistance torque at a 45-degree position. The additional flipping torque corresponding to the downward additional impact force generated by the 0.1 mm boss when the pin passes over exactly makes up for this difference, ensuring that the resultant torque clearly exceeds the resistance torque. This triggers the pin to cross the 45-degree equilibrium point, completing the remaining 45-degree flipping, and finally entering the discharge straight track with its head facing down and its axis vertical. The groove width at the inlet section of the discharge linear track is the same as the groove width at the outlet section of the flipping zone. The groove depth is set to the average total length of the positioning pin plus 0.5 mm to ensure that the upright pins are stably and continuously output in a vertical position within the discharge linear track.

[0038] The above describes the method of automatic flipping vibration feeding of positioning pins in the embodiments of this application. The following describes the system of automatic flipping vibration feeding of positioning pins in the embodiments of this application. One embodiment of the system of automatic flipping vibration feeding of positioning pins in the embodiments of this application includes: The extraction module is used to measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the positioning pin, and to calculate the axial centroid offset of the positioning pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. The calculation module is used to calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward postures based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate. An import module is used to set a stepped center of gravity capture groove in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The middle section of the stepped center of gravity capture groove narrows to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction, with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove branches into a positive positioning channel and a reset channel. The locating pin with its head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with its tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. The positioning module is used to allow the positioning pin output from the positive positioning channel to enter the flipping zone. The net height of the top cover of the flipping zone is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from a horizontal to a vertical position, it is continuously output by the discharge linear track.

[0039] This invention also provides a device for automatic tilting and vibratory feeding of positioning pins, which can be a server. The device includes a processor, memory, display screen, input device, network interface, and database connected via a system bus. The processor, designed as a computer, provides computing and control capabilities. The memory of the device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the device stores the data corresponding to this embodiment. The network interface of the device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the above-described method.

[0040] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the method of automatically flipping and vibrating to feed the positioning pin.

[0041] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0042] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a device (which can be a personal computer, server, or network device, etc.) to automatically rotate and vibrate to feed material (the positioning pin can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic flipping vibration feeding of positioning pins, characterized in that, The method includes: Step S1: Measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the locating pin, and calculate the axial centroid offset of the locating pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. Step S2: Based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate, calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward orientations. Step S3: A stepped center of gravity capture groove is set in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The width of the middle section of the stepped center of gravity capture groove is narrowed to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction, with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove is bifurcated into a positive positioning channel and a reset channel. The locating pin with the head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with the tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. Step S4: The positioning pin output from the positive positioning channel enters the flipping area. The net height of the top cover of the flipping area is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from horizontal to vertical position, it is continuously output by the discharge linear track.

2. The method for automatic flipping vibration feeding of positioning pins according to claim 1, characterized in that, Step S1 includes: The major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the locating pin are measured by micrometer. The sample size is no less than fifty pieces, and the average values ​​are taken to obtain the average values ​​of the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. The cylinder volume at the head end of the locating pin is calculated based on the average major diameter of the head end and the average axial length of the head end step; the cylinder volume at the tail end of the locating pin is calculated based on the average minor diameter of the tail end, the average total length, and the average axial length of the head end step. Based on the volume of the head cylinder and the volume of the tail cylinder, with the end face of the tail of the positioning pin as the origin of the coordinate system and the head direction as the positive direction, the position of the center of mass of the head and the position of the center of mass of the tail are calculated respectively. The volume of the head cylinder, the volume of the tail cylinder, the position of the center of mass of the head, and the position of the center of mass of the tail are substituted into the weighted average formula to obtain the overall center of gravity position of the positioning pin. The axial offset of the positioning pin relative to its geometric midpoint is obtained by subtracting half of the average total length from the overall center of gravity position of the positioning pin.

3. The method for automatic flipping vibration feeding of positioning pins according to claim 2, characterized in that, Step S2 includes: Based on the axial center of gravity offset, the axial overturning moment of the positioning pin around the bottom support point of the groove in the head-forward posture and the axial overturning moment of the positioning pin around the bottom support point of the groove in the tail-forward posture are calculated respectively. The difference between the axial overturning moment of the head-forward posture and the axial overturning moment of the tail-forward posture is obtained. Based on the vibration excitation acceleration of the vibratory feeder and the mass of the positioning pin, the vibration excitation torque applied by the vibratory feeder to the positioning pin in the axial direction is calculated. Substitute the axial overturning moment difference and the vibration excitation moment into the moment balance discrimination condition, and use the axial overturning moment difference exceeding the vibration excitation moment as the discrimination threshold to iteratively update the initial value of the slope angle, so as to obtain the minimum slope angle value that makes the axial overturning moment difference stably exceed the vibration excitation moment. Adding a three-degree engineering margin to the minimum slope angle value yields the critical diversion slope angle.

4. The method for automatic flipping vibration feeding of positioning pins according to claim 3, characterized in that, In step S3, a stepped center-of-gravity capture groove is set in front of the exit end of the vibratory feeder spiral track, including: Based on the critical diversion slope angle, the bottom slope angle of the stepped center of gravity capture tank is set to the critical diversion slope angle plus 3 degrees to obtain the bottom slope angle of the capture tank. Based on the average diameter of the head end, the inlet width of the trapezoidal center of gravity capture trough is set to the average diameter of the head end plus 0.3 mm to obtain the inlet width of the capture trough; the width of the middle section of the trapezoidal center of gravity capture trough is narrowed to be equal to the average diameter of the head end to obtain the middle section width of the capture trough. Based on the bottom slope angle of the capture trough and the width of the middle section of the capture trough, the side walls of the stepped center of gravity capture trough are set with an arc surface with a radius of curvature of 3 times the average of the major diameter at the head end in the section from the middle to the bifurcation point, and the side wall arc surface parameters are obtained. The bottom slope angle of the capture trough, the inlet width of the capture trough, the middle section width of the capture trough, and the side wall arc surface parameters are input into the machining process of the stepped center of gravity capture trough to obtain a stepped center of gravity capture trough entity with center of gravity splitting geometric constraints.

5. The method for automatic flipping vibration feeding of positioning pins according to claim 4, characterized in that, In step S3, the bottom of the middle section of the stepped center of gravity capturing groove is provided with micro-steps along the axial direction, the spacing of which matches the vibration period and the forward speed of the pin, including: Based on the forward speed of the pin on the spiral track under standard working conditions of the vibratory feeder and the reciprocal of the vibration frequency of the vibratory feeder, the micro-step spacing is obtained by multiplying the two. Based on the difference between the average large diameter of the head end and the average small diameter of the tail end, the height of the microstep is set to one-fifth of the difference between the average large diameter of the head end and the average small diameter of the tail end, and the height of the microstep is not less than ten times the surface roughness value of the locating pin, thus obtaining the height of the microstep. Based on the length of the middle section of the stepped center of gravity capture groove and the spacing between the microsteps, the number of microsteps is obtained by dividing the length of the middle section by the spacing between the microsteps. The microstep spacing, microstep height, and number of microsteps are input into the mid-section groove bottom processing procedure. The mid-section groove bottom of the trapezoidal center of gravity capture groove entity is processed at equal intervals along the axial direction to obtain a microstep array with periodic touch disturbance function.

6. The method for automatic flipping vibration feeding of positioning pins according to claim 5, characterized in that, In step S3, the outlet of the step center of gravity capturing groove branches into a positive positioning channel and a reset channel. The positioning pin with its head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the step center of gravity capturing groove, and the positioning pin with its tail facing forward is guided into the reset channel through the side wall arc surface of the step center of gravity capturing groove. Based on the slope angle of the bottom surface of the capture trough and the axial center of gravity offset, the axial overturning torque generated by the forward-facing positioning pin in the middle section of the stepped center of gravity capture trough is greater than the vibration excitation torque. The head end sinks down first to contact the bottom of the trough and slides forward along the slope angle of the bottom surface of the capture trough, guiding it into the positioning channel. The width of the positioning channel is set to be equal to the average value of the small diameter of the tail end, thus obtaining the width of the positioning channel. Based on the sidewall arc surface parameters, the axial overturning moment generated by the forward-facing positioning pin in the middle section of the step center of gravity capture groove is less than the vibration excitation moment. The tail end deflects first and contacts the sidewall arc surface. Guided by the sidewall arc surface, it deflects in the reset direction and enters the reset channel. The reset channel is set as a 15-degree inclined groove to the outside of the sidewall. The width of the inclined groove is set as the average of the head end major diameter plus 0.5 mm, thus obtaining the reset channel parameters. After the positioning pin is broken from the intermediate state by the micro-step array, it is guided into the positive positioning channel and the reset channel respectively according to the width of the positive positioning channel and the parameters of the reset channel, thus completing the head and tail attitude separation of the positioning pin. The positioning pin output from the reset channel falls back to the bottom of the vibrating plate body through the funnel-shaped recycling guide groove to rejoin the cycle.

7. The method for automatic flipping vibration feeding of positioning pins according to claim 6, characterized in that, Step S4 includes: Based on the average diameter of the head end and the average diameter of the tail end, the starting value of the net height of the top cover of the flipping zone is set to be equal to the average diameter of the head end and the ending value is set to be equal to the average diameter of the tail end. A linear compression function for the net height of the top cover is established with the axial length of the flipping zone as the independent variable to obtain the net height compression parameter of the top cover. The net height compression parameter of the top cover is input into the flipping area processing procedure. The net height of the top cover is linearly compressed from the average value of the large diameter at the head end to the average value of the small diameter at the tail end at the outlet end of the positive positioning channel to obtain the flipping area entity. Based on the axial center of gravity offset and the vibration excitation torque, a boss trigger is set on the bottom surface of the top cover track in the middle section of the flipping zone entity. The height of the boss trigger is set to 0.1 mm. When the positioning pin output from the positive positioning channel passes through the boss trigger, it is subjected to an additional downward impact force, which causes the flipping driving torque generated by the positioning pin around the head end fulcrum to exceed the resistance torque generated by the positioning pin's own weight around the same fulcrum, thus obtaining the flipping trigger condition. Based on the aforementioned flipping trigger condition, the positioning pin completes a 90-degree flip from a horizontal to a vertical position within the flipping zone entity, and is continuously output from the discharge linear track in a vertical position with its head facing down, thus obtaining a positioning pin discharge sequence with a defined posture.

8. A system for automatic flipping vibration feeding with positioning pins, characterized in that, A method for implementing automatic flipping vibration feeding of positioning pins as described in any one of claims 1-7, wherein the system for automatic flipping vibration feeding of positioning pins comprises: The extraction module is used to measure the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step of the positioning pin, and to calculate the axial centroid offset of the positioning pin relative to the geometric midpoint based on the major diameter of the head end, minor diameter of the tail end, total length, and axial length of the head end step. The calculation module is used to calculate the critical diversion slope angle that produces a distinguishable difference in axial overturning torque between the positioning pins in the head-forward and tail-forward postures based on the axial center of gravity offset and the vibration excitation acceleration of the vibratory plate. An import module is used to set a stepped center of gravity capture groove in front of the spiral track outlet of the vibratory feeder. The bottom slope angle of the stepped center of gravity capture groove is determined based on the critical diversion slope angle. The middle section of the stepped center of gravity capture groove narrows to match the large diameter of the locating pin head. The bottom of the middle section of the groove is provided with micro-steps along the axial direction, with a spacing that matches the vibration period and the forward speed of the pin. The outlet of the stepped center of gravity capture groove branches into a positive positioning channel and a reset channel. The locating pin with its head facing forward is guided into the positive positioning channel by the center of gravity offset torque of the stepped center of gravity capture groove. The locating pin with its tail facing forward is guided into the reset channel by the side wall arc surface of the stepped center of gravity capture groove. The positioning module is used to allow the positioning pin output from the positive positioning channel to enter the flipping zone. The net height of the top cover of the flipping zone is linearly compressed from matching the large diameter of the head end of the positioning pin to matching the small diameter of the tail end. After the positioning pin completes the flipping from a horizontal to a vertical position, it is continuously output by the discharge linear track.

9. A device for automatic flipping vibration feeding with positioning pins, characterized in that, The method includes a memory and a processor, the memory storing a computer program that can run on the processor, and the processor executing the computer program to implement the method of automatic flipping vibration feeding of the positioning pin as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run by the processor, it causes the processor to perform the method of automatic flipping vibration feeding of the positioning pin as described in any one of claims 1 to 7.

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