Automatic processing and assembling practical training examination device

Abstract

The utility model discloses an automatic processing and assembling practical training examination device, which comprises a working table, a stereoscopic warehouse unit, an assembling unit, a visual inspection unit, a sorting unit and a conveying unit are sequentially arranged on the working table, the conveying unit is used for carrying workpieces to circulate among the units, and the units are electrically connected with a control unit and are coordinated to act by the control unit; a grinding unit is additionally arranged between the stereoscopic warehouse unit and the assembling unit and comprises a grinding assembly and a conveying assembly. The grinding assembly comprises a grinding motor capable of moving longitudinally and is used for machining the surface of the workpiece. The conveying assembly is used for grabbing and transferring a workpiece to the position below the polishing assembly, and the conveying assembly comprises a polishing moving plate capable of sliding along a linear path, a polishing pneumatic clamping jaw installed on the moving plate and a polishing pneumatic finger for driving the polishing pneumatic clamping jaw to be opened and closed. Workpiece surface treatment procedures on a real production line are simulated, and the teaching blank of traditional practical training equipment in the surface treatment link is filled.

Description

Technical Field

[0001] This utility model relates to the field of teaching and training equipment technology, and in particular to an automatic processing and assembly training and assessment device. Background Technology

[0002] With the rapid development of intelligent manufacturing technology, the demand for multi-skilled personnel in industrial automated production lines is increasing. To meet the training needs of vocational education for core skills such as automated processing, assembly, and testing, various practical training and assessment devices are widely used in teaching practice. Traditional training devices typically integrate basic functional units such as warehousing, assembly, testing, and sorting in a modular form, and realize workpiece flow through conveyor units. However, most devices lack simulation of workpiece surface treatment (such as grinding), which is an important process before precision assembly. This lack of simulation prevents trainees from mastering the complete production process. Therefore, there is an urgent need to develop a training device with a complete process chain that simulates multi-process collaborative operations in real industrial scenarios, thereby improving trainees' comprehensive understanding and practical ability of intelligent manufacturing systems. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings and deficiencies of the existing technology and to provide an automatic processing and assembly training and assessment device.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatic processing and assembly training and assessment device, comprising a workbench, on which a three-dimensional warehouse unit, an assembly unit, a vision inspection unit, a sorting unit, and a conveying unit are sequentially arranged. The conveying unit is used to transport workpieces between the units, and each unit is electrically connected to and coordinated by a control unit. A grinding unit is added between the three-dimensional warehouse unit and the assembly unit. The grinding unit includes a grinding component and a conveying component. The grinding component includes a grinding motor that can move longitudinally and is used to process the surface of the workpiece. The conveying component is used to grip and transfer the workpiece below the grinding component. The conveying component includes a grinding moving plate that can slide along a linear path, a grinding pneumatic gripper mounted on the moving plate, and a grinding pneumatic finger that drives the opening and closing of the grinding pneumatic gripper.

[0005] As a preferred embodiment of this utility model, the grinding assembly includes a grinding frame and a grinding lifting cylinder. A grinding area is provided below the grinding frame. The grinding motor slides longitudinally within the grinding area via the grinding lifting cylinder. The conveying assembly includes a grinding conveying seat and a sliding drive cylinder. The grinding sliding seat is located within the grinding area. The grinding moving plate is guided and slidably engaged with the grinding conveying seat. The grinding moving plate slides along the path of the grinding conveying seat under the drive of the sliding drive cylinder.

[0006] As a preferred technical solution of this utility model, a connecting bracket is provided on one side of the grinding pneumatic finger, and a material detection sensor is provided on the side of the connecting bracket facing the grinding pneumatic gripper.

[0007] As a preferred technical solution of this utility model, the sorting unit includes a gantry frame set on the workbench and a sorting robot arm slidably installed on the gantry frame. Several sorting guide rails are set below the gantry frame, and sorting troughs are set in the sorting guide rails. The sorting robot arm pushes workpieces with specified characteristics into the specified sorting troughs.

[0008] As a preferred technical solution of this utility model, the visual inspection unit includes a support base, a column, a light source bracket, a light source module, a camera bracket, a CCD camera, and a first support frame. The support base is fixedly connected to the worktable. The column and the first support frame are spaced apart on the support base and their front and rear positions correspond to each other. The light source module is installed on the light source bracket. One end of the light source bracket passes through and is fixed to the column in the longitudinal direction. The CCD camera is fixed on the camera bracket. One end of the camera bracket passes through and is fixed to the column in the longitudinal direction. The camera bracket is located above the light source bracket, and the light source bracket has a through hole coaxially arranged with the CCD camera. The upper end of the first support frame is provided with a workpiece stage coaxially arranged with the through hole.

[0009] As a preferred embodiment of this utility model, the automated warehouse unit includes a workpiece bin, a first linear module vertically mounted on a workbench, a second linear module parallel to the transmission path of the conveying unit, and a first pneumatic manipulator assembly. The first pneumatic manipulator assembly includes a first rotary cylinder, a first pneumatic finger, and a first manipulator gripper. The first pneumatic manipulator assembly slides longitudinally onto the first linear module via a first slide table, and the first linear module slides horizontally onto the second linear module via a second slide table. A second support frame corresponding to the first pneumatic manipulator assembly is provided on the workbench, and a workpiece table is provided on the upper end of the second support frame.

[0010] As a preferred technical solution of this utility model, the workpiece compartment is provided with multiple partitions at intervals along the longitudinal direction, and each partition is provided with multiple storage slots at intervals along the horizontal direction. The first pneumatic manipulator assembly can transfer the workpiece in the workpiece compartment to the second support frame under the drive of the first linear module and the second linear module.

[0011] As a preferred embodiment of this utility model, the assembly unit includes a rotary workpiece table, an assembly frame, a second pneumatic manipulator assembly, and a tubular hopper. The second pneumatic manipulator assembly and the tubular hopper are arranged side by side on the assembly frame. The rotary workpiece table is located below the tubular hopper. The rotary workpiece table includes a first tray, a second tray, a workpiece swing cylinder, and a rotating plate. The workpiece swing cylinder is fixed to the assembly frame and drives the rotating plate to rotate. The first tray and the second tray are located at opposite ends of the rotating plate. The rotating plate can switch the first tray and the second tray to the area below the tubular hopper and the second pneumatic manipulator assembly as it rotates with the workpiece swing cylinder. The assembly frame is symmetrically equipped with connecting frames located on both sides of the workpiece swing cylinder. The two connecting frames are respectively equipped with a first photoelectric sensor and a second photoelectric sensor. The first photoelectric sensor and the second photoelectric sensor are used to detect the workpiece status in the first tray and the second tray.

[0012] As a preferred embodiment of this utility model, the tubular hopper includes a circular tube, a hollow base, and a metal ring. The metal ring is fixed to the upper end of the circular tube, and the hollow base is connected to the lower end of the circular tube. A material-blocking cylinder and a push-pull cylinder are spaced apart at the rear end of the hollow base along the longitudinal direction. The piston rods of the push-pull cylinder and the material-blocking cylinder can extend into the hollow base. The material-blocking cylinder blocks the penultimate workpiece in the hollow base, and the push-pull cylinder fixes the penultimate workpiece in the hollow base.

[0013] As a preferred embodiment of this utility model, the second pneumatic manipulator assembly includes a longitudinal lifting cylinder, a transverse driving cylinder, a second pneumatic finger, a second manipulator gripper, and a movable seat. A transfer frame located in front of the rotary worktable is provided on the assembly frame, and a transfer groove is provided on the transfer frame. The transverse driving cylinder is installed on the assembly frame and drives the movable seat to move back and forth. The longitudinal lifting cylinder is fixed to the movable seat and drives the second pneumatic finger to move longitudinally. The second pneumatic finger controls the opening and closing of the second manipulator gripper.

[0014] Compared with existing technologies, the beneficial effects of this utility model are as follows: by integrating a grinding unit, it simulates the surface treatment process of workpieces on a real production line, enabling trainees to master the skills of the entire process from warehousing and outbound, surface processing, precision assembly to quality inspection, filling the teaching gap of traditional training equipment in the surface treatment process. The conveying component in the grinding unit adopts a linear sliding and pneumatic gripper linkage design, which, together with the robotic arm component of the conveying unit, realizes the precise and rapid transfer of workpieces between the grinding, assembly and inspection units, reduces the waiting time between processes, and enhances trainees' understanding of the collaborative control logic of multiple devices. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the grinding unit in this utility model;

[0017] Figure 3 This is a schematic diagram of the conveying component in this utility model;

[0018] Figure 4 This is a structural schematic diagram of the automated warehouse unit in this utility model;

[0019] Figure 5 This is a schematic diagram of the assembly unit in this utility model;

[0020] Figure 6 This is a structural schematic diagram of the assembly unit from another perspective in this utility model;

[0021] Figure 7 This is a schematic diagram of the structure of the visual detection unit in this utility model;

[0022] Figure 8 This is a schematic diagram of the sorting unit in this utility model.

[0023] Reference numerals: 1. Workbench; 2. Automated storage unit; 21. Workpiece bin; 211. Partition; 212. Storage trough; 22. First linear module; 23. Second linear module; 24. First pneumatic manipulator assembly; 241. First rotary cylinder; 242. First pneumatic finger; 243. First manipulator gripper; 244. First slide; 245. Second support frame; 3. Assembly unit; 31. Rotary workpiece table; 311. 312. First material tray; 313. Second material tray; 314. Workpiece swing cylinder; 315. Rotary plate; 32. Assembly rack; 33. Second pneumatic manipulator assembly; 331. Longitudinal lifting cylinder; 332. Lateral drive cylinder; 333. Second pneumatic finger; 334. Second manipulator gripper; 335. Moving base; 34. Tubular hopper; 341. Round tube; 342. Hollow base; 343. Metal ring; 344. Push cylinder; 345. 35. Material-blocking cylinder; 36. Connecting frame; 37. First photoelectric sensor; 38. Second photoelectric sensor; 39. Transfer frame; 30. Transfer trough; 40. Vision inspection unit; 41. Support base; 42. Column; 43. Light source bracket; 431. Light source module; 432. Through hole; 44. Camera bracket; 441. CCD camera; 45. First support frame; 56. Sorting unit; 57. Gantry frame; 58. Sorting guide rail; 59. 1. Sorting trough; 53. Sorting robot; 6. Grinding unit; 61. Grinding assembly; 611. Grinding motor; 612. Grinding frame; 613. Grinding lifting cylinder; 614. Grinding area; 62. Conveying assembly; 621. Grinding moving plate; 622. Grinding pneumatic gripper; 623. Grinding pneumatic finger; 624. Grinding conveyor seat; 625. Sliding drive cylinder; 626. Connecting bracket; 627. Material detection sensor. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] like Figure 1-8 An automated processing and assembly training and assessment device is shown, comprising a workbench 1. A three-dimensional storage unit 2, an assembly unit 3, a vision inspection unit 4, a sorting unit 5, and a conveying unit are sequentially arranged on the workbench 1. The conveying unit is used to transport workpieces between the units. Each unit is electrically connected to a control unit and coordinated by it. A grinding unit 6 is added between the three-dimensional storage unit 2 and the assembly unit 3. The grinding unit 6 includes a grinding component 61 and a conveying component 62. The grinding component 61 includes a longitudinally movable grinding motor 611 (commercially available) for processing the surface of the workpiece. The conveying component 62 is used to grasp and transfer the workpiece below the grinding component 61. The conveying component 62 includes... The grinding moving plate 621 can slide along a linear path, the grinding pneumatic gripper 622 is mounted on the moving plate, and the grinding pneumatic finger 623 drives the opening and closing of the grinding pneumatic gripper 622. In this embodiment, the conveying unit is a robotic arm that is slidably mounted on the worktable 1. The robotic arm is prior art, so it will not be described in detail in this application. Regarding how to drive the conveying unit, a servo motor combined with a lead screw transmission method, or an electric cylinder, pneumatic cylinder, hydraulic cylinder, etc. should be used. It should be noted that the communication network implementation method between each functional unit (automatic warehouse, assembly, grinding, vision inspection, sorting unit 5) and the control unit in the automatic processing assembly training and assessment device involved in this application belongs to the prior art in the field of industrial automation.

[0028] By integrating the grinding unit 6, the surface treatment process of workpieces on a real production line is simulated, enabling trainees to master the skills of the entire process from warehousing and outbound, surface processing, precision assembly to quality inspection. This fills the teaching gap in the surface treatment process of traditional training equipment. The conveying component 62 in the grinding unit 6 adopts a linear sliding and pneumatic gripper linkage design, which, together with the robotic arm component of the conveying unit, realizes the precise and rapid transfer of workpieces between the grinding, assembly and inspection units, reduces the waiting time between processes and enhances trainees' understanding of the collaborative control logic of multiple devices.

[0029] The grinding assembly 61 includes a grinding frame 612 and a grinding lifting cylinder 613. A grinding area 614 is provided below the grinding frame 612. The grinding motor 611 slides longitudinally within the grinding area 614 via the grinding lifting cylinder 613. The conveying assembly 62 includes a grinding conveying seat 624 and a sliding drive cylinder 625. The grinding sliding seat is located within the grinding area 614. The grinding moving plate 621 is guided and slidably engaged with the grinding conveying seat 624. The grinding moving plate 621 slides along the path of the grinding conveying seat 624 under the drive of the sliding drive cylinder 625.

[0030] A connecting bracket 626 is provided on one side of the grinding pneumatic finger 623. A material detection sensor 627 is provided on the side of the connecting bracket 626 facing the grinding pneumatic gripper 622. The material sensor can be a photoelectric sensor, a fiber optic sensor, or a contact sensor, etc.

[0031] The sorting unit 5 includes a gantry frame 51 mounted on the workbench 1 and a sorting robot 53 slidably mounted on the gantry frame 51. Several sorting guide rails 52 are arranged below the gantry frame 51, and sorting troughs 521 are arranged in the sorting guide rails 52. The sorting robot 53 pushes workpieces with specified characteristics into the specified sorting troughs 521. The function of the sorting unit 5 is to sort the assembled workpieces sent from the vision inspection unit 4. Sorting can be performed based on vision and RFID data. The sorting robot 53 in this embodiment is existing technology and can be driven by a ball screw and a servo motor to slide.

[0032] The visual inspection unit 4 includes a support base 41, a column 42, a light source bracket 43, a light source module 431, a camera bracket 44, a CCD camera 441, and a first support frame 45. The support base 41 is fixedly connected to the worktable 1. The column 42 and the first support frame 45 are spaced apart on the support base 41 and their front and rear positions correspond. The light source module 431 is mounted on the light source bracket 43. One end of the light source bracket 43 passes through and is fixed to the column 42 in the longitudinal direction. The CCD camera 441 is fixed to the camera bracket 44. One end of the camera bracket 44 passes through and is fixed to the column 42 in the longitudinal direction. The camera bracket 44 is located above the light source bracket 43, and the light source bracket 43 has a through hole 432 coaxially arranged with the CCD camera 441. The upper end of the first support frame 45 is provided with a workpiece stage coaxially arranged with the through hole 432.

[0033] A visual inspection unit 4 is added to detect the color attributes and size of the workpiece, simulating the inspection process in automated processing. The conveying unit clamps the workpiece onto the first support frame 45 of the visual inspection unit 4. The CCD camera 441 is located above the first support frame 45 and can identify the information of the workpiece, facilitating the subsequent sorting of each workpiece by the sorting unit 5. The CCD camera 441 and the CMOS camera can be installed simultaneously. The CCD camera converts the detected target into an image signal and transmits it to a dedicated image processing system. Based on pixel distribution and information such as brightness and color, it is converted into a digital signal. The image processing system performs various calculations on these signals to extract the features of the target, such as area, quantity, position, and length. Then, based on preset tolerances and other conditions, it outputs results, including size, angle, number, pass / fail, presence / absence, etc., to achieve automatic recognition. The CCD camera 441 is commercially available. This application does not involve improvements to the control circuit. How to control this is prior art and will not be specifically described in this application.

[0034] The automated warehouse unit 2 includes a workpiece bin 21, a first linear module 22 vertically mounted on a workbench 1, a second linear module 23 parallel to the conveying path of the conveying unit, and a first pneumatic manipulator assembly 24. The first pneumatic manipulator assembly 24 includes a first rotary cylinder 241, a first pneumatic finger 242, and a first manipulator gripper 243. The first pneumatic manipulator assembly 24 slides longitudinally on the first linear module 22 via a first slide table 244, and the first linear module 22 slides horizontally on the second linear module 23 via a second slide table. A second support frame 245 corresponding to the first pneumatic manipulator assembly 24 is provided. A workpiece stage is provided on the upper end of the second support frame 245. In this embodiment, the first linear module 22 and the second linear module 23 can be a structure in which the motor drives the lead screw to rotate and the lead screw cooperates with the slide, or it can be directly driven by a cylinder, electric cylinder, or hydraulic cylinder. The workpiece on the three-dimensional warehouse unit 2 can be the bottom cover, and the workpiece on the tubular silo 34 can be the top cover. The bottom cover and the top cover are assembled in the assembly unit 3. The finished product after assembly is moved to the vision inspection unit 4 for inspection under the drive of the conveying unit.

[0035] The workpiece compartment 21 is provided with multiple partitions 211 spaced along the longitudinal direction. Each partition 211 has multiple storage slots 212 spaced along the horizontal direction. The first pneumatic manipulator assembly 24 can transfer the workpiece in the workpiece compartment 21 to the second support frame 245 under the drive of the first linear module 22 and the second linear module 23.

[0036] Assembly unit 3 includes a rotary workpiece table 31, an assembly frame 32, a second pneumatic manipulator assembly 33, and a tubular hopper 34. The second pneumatic manipulator assembly 33 and the tubular hopper 34 are arranged side by side on the assembly frame 32. The rotary workpiece table 31 is located below the tubular hopper 34. The rotary workpiece table 31 includes a first material tray 311, a second material tray 312, a workpiece swing cylinder 313, and a rotating plate 314. The workpiece swing cylinder 313 is fixed to the assembly frame 32 and drives the rotating plate 314 to rotate. The first material tray 311 and the second material tray 312 are... Located at both ends of the rotating plate 314, the rotating plate 314 rotates with the workpiece swing cylinder 313 to switch the first material tray 311 and the second material tray 312 to the tubular hopper 34 and the second pneumatic manipulator assembly 33. The assembly frame 32 is symmetrically provided with connecting frames 35 located on both sides of the workpiece swing cylinder 313. The two connecting frames 35 are respectively provided with a first photoelectric sensor 36 and a second photoelectric sensor 37. The first photoelectric sensor 36 and the second photoelectric sensor 37 are used to detect the workpiece status in the first material tray 311 and the second material tray 312.

[0037] The tubular hopper 34 includes a circular tube 341, a hollow base 342, and a metal ring 343. The metal ring 343 is fixed to the upper end of the circular tube 341, and the hollow base 342 is connected to the lower end of the circular tube 341. A baffle cylinder 345 and a push cylinder 344 are spaced apart along the longitudinal direction at the rear end of the hollow base 342. The piston rods of the push cylinder 344 and the baffle cylinder 345 can extend into the hollow base 342. The baffle cylinder 345 blocks the penultimate workpiece inside the hollow base 342, and the push cylinder 344 fixes the second-to-last workpiece inside the hollow base 342. The tubular hopper 34 is used to store small cylindrical metal, black, and white parts for assembly. Workpieces are placed vertically into the hollow circular tube 341 of the hopper; due to the gap between them, they can fall freely under gravity. After the system air supply is connected, the initial position of the push cylinder 344 is in the retracted state, and the initial position of the stop cylinder 345 is in the extended state. Thus, when a workpiece is lowered from the hopper, it will be blocked by the stop block at the end of the piston rod of the stop cylinder 345 and cannot fall. When a dropping operation is required, the push cylinder 344 is first extended to clamp the next lower workpiece, then the stop cylinder 345 retracts, and the last workpiece falls into the first tray 311 or the second tray 312 of the rotary workpiece table 31. Afterwards, the stop cylinder 345 resets and extends, the push cylinder retracts, and the workpiece previously clamped by the push cylinder 344 falls onto the stop block at the end of the stop cylinder 345, preparing for the next feeding operation.

[0038] The second pneumatic manipulator assembly 33 includes a longitudinal lifting cylinder 331, a transverse drive cylinder 332, a second pneumatic finger 333, a second manipulator gripper 334, and a movable seat 335. A transfer frame 38 located in front of the rotary workpiece table 31 is provided on the assembly frame 32. The transfer frame 38 is provided with a transfer groove 381. The transverse drive cylinder 332 is installed on the assembly frame 32 and drives the movable seat 335 to move back and forth. The longitudinal lifting cylinder 331 is fixed to the movable seat 335 and drives the second pneumatic finger 333 to move longitudinally. The second pneumatic finger 333 controls the opening and closing of the second manipulator gripper 334.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples of this utility model and are not intended to limit it. Various changes and modifications can be made to this utility model without departing from its spirit and scope. All such changes and modifications fall within the scope of protection of this utility model as defined by the appended claims and their equivalents.

Claims

1. An automated processing and assembly training and assessment device, comprising a workbench (1), wherein a three-dimensional warehouse unit (2), an assembly unit (3), a vision inspection unit (4), a sorting unit (5), and a conveying unit are sequentially arranged on the workbench (1), wherein the conveying unit is used to transport workpieces between the units, and each unit is electrically connected to and coordinated by the control unit; characterized in that: A grinding unit (6) is added between the three-dimensional warehouse unit (2) and the assembly unit (3). The grinding unit (6) includes a grinding component (61) and a conveying component (62). The grinding component (61) includes a grinding motor (611) that can move longitudinally and is used to process the surface of the workpiece. The conveying component (62) is used to grab and transfer the workpiece to the bottom of the grinding component (61). The conveying component (62) includes a grinding moving plate (621) that can slide along a linear path, a grinding pneumatic gripper (622) mounted on the moving plate, and a grinding pneumatic finger (623) that drives the grinding pneumatic gripper (622) to open and close.

2. The automatic machining and assembly training and assessment device according to claim 1, characterized in that: The grinding assembly (61) includes a grinding frame (612) and a grinding lifting cylinder (613). A grinding area (614) is provided below the grinding frame (612). The grinding motor (611) slides longitudinally within the grinding area (614) via the grinding lifting cylinder (613). The conveying assembly (62) includes a grinding conveying seat (624) and a sliding drive cylinder (625). The grinding moving plate (621) is located within the grinding area (614). The grinding moving plate (621) slides in a guide-sliding cooperation with the grinding conveying seat (624). The grinding moving plate (621) slides along the path of the grinding conveying seat (624) under the drive of the sliding drive cylinder (625).

3. The automated machining and assembly training and assessment device according to claim 1 or 2, characterized in that: A connecting bracket (626) is provided on one side of the grinding pneumatic finger (623), and a material detection sensor (627) is provided on the side of the connecting bracket (626) facing the grinding pneumatic gripper (622).

4. The automatic machining and assembly training and assessment device according to claim 1, characterized in that: The sorting unit (5) includes a gantry (51) set on the workbench (1) and a sorting robot (53) slidably mounted on the gantry (51). Several sorting guide rails (52) are set below the gantry (51), and sorting troughs (521) are set in the sorting guide rails (52). The sorting robot (53) pushes workpieces with specified characteristics into the specified sorting troughs (521).

5. The automatic machining and assembly training and assessment device according to claim 1, characterized in that: The visual inspection unit (4) includes a support base (41), a column (42), a light source bracket (43), a light source module (431), a camera bracket (44), a CCD camera (441), and a first support frame (45). The support base (41) is fixedly connected to the workbench (1). The column (42) and the first support frame (45) are spaced apart on the support base (41) and their front and rear positions correspond to each other. The light source module (431) is mounted on the light source bracket (43). 3) One end is inserted through and fixed on the column (42) in the longitudinal direction. The CCD camera (441) is fixed on the camera bracket (44). One end of the camera bracket (44) is inserted through and fixed on the column (42) in the longitudinal direction. The camera bracket (44) is located above the light source bracket (43) and the light source bracket (43) has a through hole (432) coaxially arranged with the CCD camera (441). The upper end of the first support frame (45) is provided with a workpiece stage coaxially arranged with the through hole (432).

6. The automatic machining and assembly training and assessment device according to claim 1, characterized in that: The three-dimensional warehouse unit (2) includes a workpiece bin (21), a first linear module (22) vertically mounted on the workbench (1), a second linear module (23) parallel to the transmission path of the conveying unit, and a first pneumatic manipulator assembly (24). The first pneumatic manipulator assembly (24) includes a first rotary cylinder (241), a first pneumatic finger (242), and a first manipulator gripper (243). The first pneumatic manipulator assembly (24) slides longitudinally on the first linear module (22) via a first slide table (244), and the first linear module (22) slides horizontally on the second linear module (23) via a second slide table. A second support frame (245) corresponding to the first pneumatic manipulator assembly (24) is provided on the workbench (1), and a workpiece table is provided on the upper end of the second support frame (245).

7. The automatic machining and assembly training and assessment device according to claim 6, characterized in that: The workpiece compartment (21) is provided with multiple partitions (211) spaced apart along the longitudinal direction. Each partition (211) has multiple storage slots (212) spaced apart along the horizontal direction. The first pneumatic manipulator assembly (24) can transfer the workpiece in the workpiece compartment (21) to the second support frame (245) under the drive of the first linear module (22) and the second linear module (23).

8. The automatic machining and assembly training and assessment device according to claim 1, characterized in that: The assembly unit (3) includes a rotary workpiece table (31), an assembly frame (32), a second pneumatic manipulator assembly (33), and a tubular hopper (34). The second pneumatic manipulator assembly (33) and the tubular hopper (34) are arranged side by side on the assembly frame (32). The rotary workpiece table (31) is located below the tubular hopper (34). The rotary workpiece table (31) includes a first tray (311), a second tray (312), a workpiece swing cylinder (313), and a rotating plate (314). The workpiece swing cylinder (313) is fixed to the assembly frame (32) and drives the rotating plate (314) to rotate. The first tray (311) and the second tray (312) are arranged side by side on the assembly frame (32). 12) Located at both ends of the rotating plate (314), the rotating plate (314) can switch the first material tray (311) and the second material tray (312) to the tubular hopper (34) and the second pneumatic manipulator assembly (33) by rotating with the workpiece swing cylinder (313). The assembly frame (32) is symmetrically provided with connecting frames (35) located on both sides of the workpiece swing cylinder (313). The two connecting frames (35) are respectively provided with a first photoelectric sensor (36) and a second photoelectric sensor (37). The first photoelectric sensor (36) and the second photoelectric sensor (37) are used to detect the workpiece status in the first material tray (311) and the second material tray (312).

9. The automatic machining and assembly training and assessment device according to claim 8, characterized in that: The tubular hopper (34) includes a circular tube (341), a hollow base (342), and a metal ring (343). The metal ring (343) is fixed to the upper end of the circular tube (341), and the hollow base (342) is connected to the lower end of the circular tube (341). The rear end of the hollow base (342) is provided with a blocking cylinder (345) and a pushing cylinder (344) spaced apart along the longitudinal direction. The piston rods of the pushing cylinder (344) and the blocking cylinder (345) can extend into the hollow base (342). The blocking cylinder (345) blocks the penultimate workpiece in the hollow base (342), and the pushing cylinder (344) fixes the penultimate workpiece in the hollow base (342).

10. The automatic machining and assembly training and assessment device according to claim 8, characterized in that: The second pneumatic manipulator assembly (33) includes a longitudinal lifting cylinder (331), a transverse driving cylinder (332), a second pneumatic finger (333), a second manipulator gripper (334), and a moving base (335). A transfer frame (38) located in front of the rotary workpiece table (31) is provided on the assembly frame (32). A transfer groove (381) is provided on the transfer frame (38). The transverse driving cylinder (332) is installed on the assembly frame (32) and drives the moving base (335) to move back and forth. The longitudinal lifting cylinder (331) is fixed to the moving base (335) and drives the second pneumatic finger (333) to move longitudinally. The second pneumatic finger (333) controls the opening and closing of the second manipulator gripper (334).

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