Workpiece assembling system

Abstract

The utility model provides a workpiece assembling system. The workpiece assembling system comprises a base plate, a holding device and a pressing device. The holding device is installed on the base plate and used for holding a workpiece and installing the workpiece at a preset position. The pressing device is installed on the base plate and can apply pressure to the workpiece installed at the preset position.

Description

Technical Field

[0001] The present disclosure relates to a workpiece assembly system, belonging to the technical field of automation equipment. Background Art

[0002] The information provided in this part is only background information related to the present disclosure, and it is not necessarily prior art.

[0003] With the development of technology, more and more factories produce 3C products through automation equipment. Moreover, the products produced by these automation equipment have high precision and consistency.

[0004] However, due to the special structure of some components in 3C products, the assembly is still completed manually. Taking a mobile phone as an example, the process of installing components such as mobile phone speakers on the middle frame is realized manually; correspondingly, during the process of installing these components by workers, it is easy to get tired, and moreover, during the process of pressing the component and realizing the assembly, there is a situation where the pressing force is inconsistent, resulting in unstable product yield, low production efficiency, and uneven product consistency.

[0005] Therefore, it is necessary to design a workpiece assembly system to solve the above technical problems. Summary of the Utility Model

[0006] In order to solve one of the above technical problems, the present disclosure provides a workpiece assembly system.

[0007] According to one aspect of the present disclosure, there is provided a workpiece assembly system, which includes:

[0008] A substrate;

[0009] A holding device, which is installed on the substrate and is used for holding a workpiece and installing the workpiece at a preset position; and

[0010] A pressing device, which is installed on the substrate, and the pressing device can apply a pressure to the workpiece installed at the preset position.

[0011] According to the workpiece assembly system of at least one embodiment of the present disclosure, the holding device includes:

[0012] A first mounting plate, which is arranged on the substrate;

[0013] A suction component, which is arranged on the first mounting plate and is used for sucking the workpiece; and

[0014] A clamping component, which is arranged on the first mounting plate and clamps the sucked workpiece through the clamping component.

[0015] A workpiece assembly system according to at least one embodiment of the present disclosure, the suction assembly includes:

[0016] A first driving device, the first driving device is arranged on the first mounting plate;

[0017] A first connecting plate, the first connecting plate is arranged on the first driving device to be driven by the first driving device and generate a lifting motion;

[0018] A first fixing plate, the first fixing plate is arranged on the first connecting plate;

[0019] A first intermediate plate, the first intermediate plate is slidably arranged on the first fixing plate, wherein the first intermediate plate can slide along the first fixing plate in the up and down direction; and

[0020] A suction nozzle, the suction nozzle is arranged at the lower end of the first intermediate plate.

[0021] A workpiece assembly system according to at least one embodiment of the present disclosure, a first upper limit member is arranged at the upper end of the first fixing plate, and a first spring is arranged between the upper end of the first intermediate plate and the first upper limit member.

[0022] A workpiece assembly system according to at least one embodiment of the present disclosure, a first lower limit member is arranged at the lower end of the first fixing plate, and the first lower limit member is used to limit the maximum stroke of the first intermediate plate in the downward movement direction.

[0023] A workpiece assembly system according to at least one embodiment of the present disclosure, the clamping assembly includes:

[0024] A pneumatic gripper, the pneumatic gripper is connected to the first mounting plate through a transition plate.

[0025] A workpiece assembly system according to at least one embodiment of the present disclosure, the pneumatic gripper includes:

[0026] A finger cylinder, the finger cylinder is fixedly connected to the transition plate; wherein, the finger cylinder includes a first finger and a second finger;

[0027] A first clamping portion, the first clamping portion is arranged on the first finger, and the first finger portion is floatingly connected to the first finger; and

[0028] A second clamping portion, the second clamping portion is arranged on the second finger, and the second finger portion is floatingly connected to the second finger.

[0029] A workpiece assembly system according to at least one embodiment of the present disclosure, the pressing device includes:

[0030] A second mounting plate, the second mounting plate is connected to the substrate;

[0031] A second driving device, which is arranged on the second mounting plate;

[0032] A second connecting plate, which is arranged on the second driving device and is driven by the second driving device to generate a lifting motion;

[0033] A second fixing plate, which is arranged on the second connecting plate;

[0034] A second intermediate plate, which is slidably arranged on the second fixing plate, wherein the second intermediate plate can slide in the up and down direction along the second fixing plate; and

[0035] A pressing head, which is arranged at the lower end of the second intermediate plate.

[0036] For a workpiece assembly system according to at least one embodiment of the present disclosure, two holding devices are provided, and the pressing device is located at a position between the two holding devices.

[0037] For a workpiece assembly system according to at least one embodiment of the present disclosure, a force sensor is arranged on the substrate, and the substrate is connected to the robotic arm through the force sensor. Description of the Drawings

[0038] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are included in this specification and form a part of this specification.

[0039] Figure 1 is a schematic structural diagram of a workpiece assembly system according to an embodiment of the present disclosure.

[0040] Figure 2 is a schematic structural diagram of a workpiece assembly system according to an embodiment of the present disclosure from another angle.

[0041] Figure 3 is a schematic structural diagram of a workpiece assembly system according to an embodiment of the present disclosure from yet another angle.

[0042] Figure 4 is a schematic structural diagram of a holding device of a workpiece assembly system according to an embodiment of the present disclosure.

[0043] Figure 5 is a schematic structural diagram of a holding device of a workpiece assembly system according to an embodiment of the present disclosure from another angle.

[0044] Figure 6Schematic structural diagram of a pneumatic gripper of a workpiece assembly system according to an embodiment of the present disclosure.

[0045] Figure 7 Schematic structural diagram of a pressing device of a workpiece assembly system according to an embodiment of the present disclosure.

[0046] Specifically, the reference numerals in the figure are as follows:

[0047] 100 Substrate

[0048] 200 Holding device

[0049] 210 First mounting plate

[0050] 220 Suction component

[0051] 221 Driving device

[0052] 222 First connecting plate

[0053] 223 First fixing plate

[0054] 224 Suction head

[0055] 225 First upper limit member

[0056] 226 Second upper limit member

[0057] 227 First intermediate plate

[0058] 228 First spring

[0059] 230 Clamping component

[0060] 231 Transition plate

[0061] 232 Pneumatic gripper

[0062] 232A Finger cylinder

[0063] 232B First clamping portion

[0064] 232C Second clamping portion

[0065] 232D Second spring

[0066] 232E Screw

[0067] 300 Pressing device

[0068] 310 Second mounting plate

[0069] 320 Second driving device

[0070] 330 Second connecting plate

[0071] 340 Second fixed plate

[0072] 350 Pressing head

[0073] 360 Second upper limit member

[0074] 370 Second lower limit member

[0075] 380 Second intermediate plate

[0076] 390 Pressure sensor

[0077] 400 Force sensor. Detailed implementation manners

[0078] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and implementation manners. It can be understood that the specific implementation manners described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for the convenience of description, only the parts related to the present disclosure are shown in the drawings.

[0079] It should be noted that, without conflict, the implementation manners in the present disclosure and the features in the implementation manners can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings and implementation manners.

[0080] Unless otherwise specified, the exemplary implementation manners / embodiments shown will be understood to provide exemplary features of various details of some ways that can implement the technical concept of the present disclosure in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present disclosure, the features of various implementation manners / embodiments can be additionally combined, separated, interchanged, and / or rearranged.

[0081] In the drawings, cross-hatching and / or shading are generally used to make the boundaries between adjacent components clear. Thus, unless stated, the presence or absence of cross-hatching or shading does not convey or imply any preference or requirement for the specific material, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the drawings, for the purpose of clarity and / or description, the dimensions and relative dimensions of the components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process sequences can be performed in an order different from that described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. Furthermore, the same reference numerals denote the same components.

[0082] When a component is referred to as being “on” or “above” another component, “connected to” or “coupled to” another component, the component can be directly on the other component, directly connected to or directly coupled to the other component, or there can be intervening components. However, when a component is referred to as being “directly on” another component, “directly connected to” or “directly coupled to” another component, there are no intervening components. For this reason, the term “connected” can refer to physical connection, electrical connection, etc., and can have or not have intervening components.

[0083] For descriptive purposes, the present disclosure may use spatial relative terms such as “under”, “below”, “beneath”, “lower”, “above”, “upper”, “on”, “over”, “higher” and “side (e.g., as in “sidewall”)” etc., so as to describe the relationship between one component and another (other) component as shown in the drawings. In addition to the orientation depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation and / or manufacturing. For example, if the device in the drawings is flipped, a component described as “under” or “beneath” another component or feature will then be positioned “above” the other component or feature. Thus, the exemplary term “under” can encompass both “above” and “below” orientations. Further, the device can be otherwise positioned (e.g., rotated 90 degrees or at other orientations), and accordingly, the spatial relative descriptors used herein are to be interpreted.

[0084] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a”, “an” and “the” are also intended to include the plural forms. In addition, when the terms “comprises” and / or “comprising” and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies and / or groups thereof. It should also be noted that, as used herein, the terms “substantially”, “about” and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured, calculated and / or provided values that would be recognized by a person of ordinary skill in the art.

[0085] Figure 1 is a schematic structural view of a workpiece assembly system according to an embodiment of the present disclosure. Figure 2 is a schematic structural view of another angle of the workpiece assembly system according to an embodiment of the present disclosure. Figure 3 is a schematic structural view of yet another angle of the workpiece assembly system according to an embodiment of the present disclosure.

[0086] As Figures 1 to 3 shown, the workpiece assembly system of the present disclosure may include: a substrate 100, a holding device 200, and a pressing device 300.

[0087] Among them, the substrate 100 may be formed into a plate-like structure and be disposed substantially horizontally. Correspondingly, a force sensor 400 may be disposed on the upper surface of the substrate 100. Thus, the substrate 100 is connected to components such as a robotic arm through the force sensor 400. Thus, the workpiece assembly system of the present disclosure can be driven by a robotic arm or the like, so as to move to a preset position to realize the picking, placing, and installation of the workpiece. In a preferred embodiment, the force sensor 400 may be a six-axis force sensor, so that the detection of the multi-directional force on the substrate 100 can be realized through the six-axis force sensor. Of course, the force sensor 400 of the present disclosure may also be implemented by a pressure sensor.

[0088] In the present disclosure, the holding device 200 is mounted on the substrate 100 and is used to hold the workpiece and install the workpiece at a preset position; the pressing device 300 is mounted on the substrate 100, and the pressing device 300 can apply a pressure to the workpiece installed at the preset position; that is to say, the holding device 200 can obtain the workpiece from the tray, and assemble the workpiece to a suitable position, and then, the holding device 200 withdraws; the pressing device 300 presses the workpiece to complete the assembly process of the workpiece.

[0089] Figure 4 is a schematic structural view of the holding device of the workpiece assembly system according to an embodiment of the present disclosure. Figure 5 is a schematic structural view of the holding device of the workpiece assembly system from another angle according to an embodiment of the present disclosure.

[0090] As Figure 4 and Figure 5 shown, the holding device of the present disclosure may include structures such as a first mounting plate 210, a suction assembly 220, and a clamping assembly 230.

[0091] Specifically, the upper end of the first mounting plate 210 is connected to the substrate 100 and is located below the substrate 100. That is to say, the upper end of the first mounting plate 210 is connected to the lower surface of the substrate 100. Correspondingly, the first mounting plate 210 is disposed substantially vertically.

[0092] The suction assembly 220 is disposed on the first mounting plate 210 and is used to suck the workpiece; and the clamping assembly 230 is disposed on the first mounting plate 210 and clamps the sucked workpiece through the clamping assembly 230. Correspondingly, the suction assembly 220 is located on one side of the first mounting plate 210, and the clamping assembly 230 is located on the other side of the first mounting plate 210.

[0093] Referring again to Figure 4 andFigure 5 The sucking component 220 may include components such as a first driving device 221, a first connecting plate 222, a first fixing plate 223, and a suction head 224.

[0094] The first driving device 221 may be a sliding table cylinder; of course, the first driving device 221 of the present disclosure may also be implemented using other linear driving mechanisms.

[0095] The first connecting plate 222 is disposed on the first driving device 221, whereby the first driving device 221 can drive the first connecting plate 222 to move. Specifically, the first connecting plate 222 can be driven to approach or away from the substrate 100, that is, the first connecting plate 222 can be driven to move up and down.

[0096] The first fixing plate 223 is disposed on the first connecting plate 222 and is driven by the first connecting plate 222 to move up and down. In the present disclosure, a first upper limit member 225 is provided at the upper end of the first fixing plate 223, and a first lower limit member 226 is provided at the lower end of the first fixing plate 223.

[0097] Moreover, a first guide rail is provided on the first fixing plate 223, and the first guide rail is disposed substantially vertically; a first slider is slidably disposed on the first guide rail, whereby the first slider can move up and down relative to the first fixing plate 223.

[0098] The first slider is fixedly connected to the first intermediate plate 227, that is, the first intermediate plate 227 is slidably disposed on the first fixing plate 223. A first spring 228 is provided between the upper end of the first intermediate plate 227 and the first upper limit member 225, whereby the first intermediate plate 227 has a floating function, so that the suction head 224 does not apply a large force to the workpiece and the workpiece is not damaged.

[0099] The first lower limit member 226 is used to limit the maximum downward movement stroke of the first slider, whereby the first intermediate plate 227 of the present disclosure does not disengage from the first fixing plate 223.

[0100] The suction head 224 is disposed at the lower end of the first intermediate plate 227; a gas flow pipe is provided on the suction head 224 to adsorb the workpiece by providing negative pressure to the gas flow pipe; in a specific embodiment, the lower surface of the suction head 224 is its working surface, and when the lower surface of the suction head 224 contacts the upper surface of the workpiece, the workpiece can be adsorbed by providing negative pressure to the suction head 224. In a preferred embodiment, the suction head 224 can be prepared from materials such as anti-static silica gel to prevent the risk of product scratching while effectively adsorbing the product.

[0101] In the present disclosure, the first spring 228 is in a pre-compressed state; specifically, when the first slider is located at the position in contact with the first lower limit member 226, the first spring 228 is used to apply a thrust force to the first intermediate plate 227. In other words, the first spring 228 is always in a pre-compressed state.

[0102] Referring again to Figure 4 and Figure 5 , in the present disclosure, the clamping assembly 230 may include: a transition plate 231 and a pneumatic gripper 232; wherein, one end of the transition plate 231 is connected to the first mounting plate 210; the other end of the transition plate 231 is provided with a pneumatic gripper 232; the pneumatic gripper 232 is used to clamp the workpiece.

[0103] That is to say, after the workpiece is sucked by the sucking assembly 220, the side wall of the workpiece can be clamped by the pneumatic gripper 232, so that the workpiece can be stably held.

[0104] In a specific embodiment, the pneumatic gripper 232 includes: a finger cylinder 232A, a first clamping portion 232B, a second clamping portion 232C and other components.

[0105] The finger cylinder 232A is connected to the transition plate 231, and the finger cylinder 232A includes a first finger and a second finger; when the finger cylinder 232A acts, the first finger and the second finger can approach or move away from each other in the horizontal direction.

[0106] The first clamping portion 232B is disposed on the first finger, and the first finger portion is floatingly connected to the first finger; the second clamping portion 232C is disposed on the second finger, and the second finger portion is floatingly connected to the second finger.

[0107] Figure 6 is a schematic structural diagram of a pneumatic gripper of a workpiece assembly system according to an embodiment of the present disclosure.

[0108] As Figure 6 shown, taking the connection structure of the first finger and the first clamping portion 232B as an example, a through hole is formed in the first finger, a threaded hole is formed in the first clamping portion 232B, one end of a screw 232E passes through the through hole of the first finger and is screwed into the threaded hole of the first clamping portion 232B; at this time, the screw head of the screw 232E can be in contact and cooperation with a surface of the first finger, and correspondingly, the position adjustment of the first finger and the first clamping portion 232B can be realized by the screwing depth of the screw 232E.

[0109] In addition, a second spring 232D is sleeved on the screw 232E, and one end thereof is supported on the first finger, and the other end is supported on the first clamping portion 232B, and the second spring 232D is in a pre-compressed state, whereby the first clamping portion 232B can float relative to the first finger.

[0110] The connection manner between the second finger and the second clamping portion is the same as that between the first finger and the first clamping portion, and will not be elaborated here one by one.

[0111] Figure 7 It is a schematic structural diagram of a pressing device of a workpiece assembly system according to an embodiment of the present disclosure.

[0112] As Figure 7 shown, the pressing device 300 may include components such as a second mounting plate 310, a second driving device 320, a second connecting plate 330, a second fixing plate 340, and a pressing head 350.

[0113] The upper end of the second mounting plate 310 is connected to the substrate 100 and is located below the substrate 100. That is to say, the upper end of the second mounting plate 310 is connected to the lower surface of the substrate 100. Correspondingly, the second mounting plate 310 is disposed substantially vertically.

[0114] The second driving device 320 may be a slide cylinder; of course, the second driving device 320 of the present disclosure may also be implemented by using other linear driving mechanisms.

[0115] The second connecting plate 330 is disposed on the second driving device 320, whereby the second driving device 320 can drive the second connecting plate 330 to move. Specifically, the second connecting plate 330 can be driven to approach or away from the substrate 100, that is, the second connecting plate 330 can be driven to move up and down.

[0116] The second fixing plate 340 is disposed on the second connecting plate 330 and is driven by the second connecting plate 330 to move up and down. In the present disclosure, a second upper limit member 360 is provided at the upper end of the second fixing plate 340, and a second lower limit member 370 is provided at the lower end of the second fixing plate 340.

[0117] Moreover, a second guide rail is provided on the second fixing plate 340, and the second guide rail is disposed substantially vertically; a second slider is slidably disposed on the second guide rail, whereby the second slider can move up and down relative to the second fixing plate 340.

[0118] The second slider is fixedly connected to the second intermediate plate 380, that is to say, the second intermediate plate 380 is slidably disposed on the second fixing plate 340. A third spring is provided between the upper end of the second intermediate plate 380 and the second upper limit member 360. Thus, the second intermediate plate 380 has a floating function, so that the pressing head 350 will not apply a large force to the workpiece and damage the workpiece.

[0119] The second lower limit member 370 is used to limit the maximum stroke of the downward movement of the second slider. Thus, the second intermediate plate 380 of the present disclosure will not be detached from the second fixed plate 340.

[0120] A pressing head 350 is provided at the lower end of the second intermediate plate 380; it can be prepared from elastic materials such as rubber or silica gel (such as antistatic silica gel). In a specific embodiment, the lower surface of the pressing head 350 is its working surface. When the lower surface of the pressing head 350 contacts the upper surface of the workpiece, by applying a force to the pressing head 350, the pressing head 350 can press the workpiece and achieve the assembly of the workpiece.

[0121] In the present disclosure, the third spring is in a pre-compressed state; specifically, when the second slider is located at the position in contact with the second lower limit member 370, the third spring is used to apply a thrust force to the second intermediate plate 380. In other words, the third spring is always in a pre-compressed state.

[0122] Referring again to Figure 7 , the pressing device 300 of the present disclosure may include a pressure sensor 390. The pressure sensor 390 can be fixed to the second upper limit member 360, and a guide rod is provided on the second intermediate plate 380. The guide rod can pass through the second upper limit member 360 and contact the pressure sensor 390. Thus, the detection of the pressing force applied to the workpiece can be achieved through the pressure sensor 390.

[0123] In a preferred embodiment, two holding devices 200 are provided, so that the products on the carrier with double cavities can be assembled. That is to say, through the setting of the two holding devices 200, the workpiece assembly system of the present disclosure can assemble two products simultaneously. Of course, the holding device 200 of the present disclosure can be set to multiple.

[0124] At this time, the pressing device 300 is located at the position between the two holding devices 200. That is to say, the projection of the holding device 200 of the present disclosure on the two pressing devices 300 is located at the position between the two pressing devices 300, so that the workpiece assembly system can be conveniently controlled to assemble two workpieces through one pressing device 300.

[0125] Through the above structure of the present disclosure, the holding device has the advantages of stable operation, high production efficiency, high positioning accuracy, etc. Moreover, by cooperating with mechanisms such as a robotic arm, the workpiece assembly system of the present disclosure can accurately locate to the same position and keep the deviation within 0.02 mm. At the same time, components such as a force sensor can be used to ensure the consistency of workpiece installation, and the assembly of one product can be completed within 8 seconds, improving the work efficiency compared with manual installation.

[0126] The workpiece assembly system of the present disclosure can adopt high-precision pressure monitoring to ensure that the fastening force during assembly is within the required range, avoiding damaging the product by pressing. The first driving device and the second driving device can be controlled by a precision pressure reducing valve to adjust the pressure of the cylinder extending, avoiding the risk of damaging the product in case the pressure sensor fails. Optimize the design for existing products.

[0127] In the description of this specification, the descriptions referring to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0128] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0129] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure and not for limiting the scope of the present disclosure. For those skilled in the art, other changes or variations can be made based on the above disclosure, and these changes or variations are still within the scope of the present disclosure.

Claims

1. A workpiece assembly system, characterized in that: include: substrate; A holding device, the holding device is mounted on the substrate and is used to hold the workpiece and install the workpiece at a preset position; as well as A pressing device is installed on the base plate and can apply pressure to a workpiece installed at a preset position.

2. The workpiece assembly system according to claim 1, characterized in that: The holding device comprises: a first mounting plate, the first mounting plate being disposed on the substrate; A suction component, the suction component is arranged on the first mounting plate and is used to suck the workpiece; and A clamping assembly is arranged on the first mounting plate and is used to clamp the sucked workpiece.

3. The workpiece assembly system according to claim 2, characterized in that: The suction assembly comprises: a first driving device, the first driving device being disposed on the first mounting plate; A first connecting plate, wherein the first connecting plate is disposed on the first driving device so as to be driven by the first driving device and generate a lifting motion; a first fixing plate, the first fixing plate being arranged on the first connecting plate; a first intermediate plate slidably disposed on the first fixed plate, wherein the first intermediate plate can slide in an up-and-down direction along the first fixed plate; and A suction nozzle is arranged at the lower end of the first middle plate.

4. The workpiece assembly system according to claim 3, characterized in that: A first upper limit member is disposed at the upper end of the first fixed plate, and a first spring is disposed between the upper end of the first intermediate plate and the first upper limit member.

5. The workpiece assembly system according to claim 4, characterized in that: A first lower limit member is disposed at the lower end of the first fixing plate, and the first lower limit member is used to limit the maximum travel of the first intermediate plate in the downward movement direction.

6. The workpiece assembly system according to claim 2, characterized in that: The clamping assembly comprises: A pneumatic clamp is connected to the first mounting plate through a transition plate.

7. The workpiece assembly system according to claim 6, characterized in that: The pneumatic gripper comprises: A clamping finger cylinder, wherein the clamping finger cylinder is fixedly connected to the transition plate; wherein the clamping finger cylinder comprises a first clamping finger and a second clamping finger; A first clamping portion, wherein the first clamping portion is disposed on the first clamping finger, and the first clamping finger portion is floatingly connected to the first clamping finger; and The second clamping portion is arranged on the second clamping finger, and the second clamping finger portion is floatingly connected to the second clamping finger.

8. The workpiece assembly system according to claim 1, characterized in that: The pressing device comprises: a second mounting plate, the second mounting plate being connected to the base plate; a second driving device, the second driving device being disposed on the second mounting plate; a second connecting plate, the second connecting plate being arranged on the second driving device so as to be driven by the second driving device and generate a lifting motion; a second fixing plate, the second fixing plate being arranged on the second connecting plate; a second intermediate plate slidably disposed on the second fixed plate, wherein the second intermediate plate is capable of sliding in an up-and-down direction along the second fixed plate; and A pressing head is arranged at the lower end of the second middle plate.

9. The workpiece assembly system according to claim 1, characterized in that: The number of the holding devices is two, and the pressing device is located between the two holding devices.

10. The workpiece assembly system according to claim 1, characterized in that: A force sensor is arranged on the substrate, and the substrate is connected to the robot arm via the force sensor.

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