An automatic workpiece assembly system

Abstract

The utility model provides a kind of workpiece automatic assembly system, it is related to air conditioner production technical field, and the workpiece automatic assembly system includes feeding device, posture correction device and grabbing mechanism;Feeding device is used to supply workpiece;Posture correction device includes drive assembly and feature matching part, feature matching part corresponds with positioning feature, drive assembly is used to drive workpiece movement, posture correction device is used to receive workpiece and exert force on it, make it autonomous movement to positioning feature and feature matching part cooperation;Grabbing mechanism is used to grab workpiece that has completed posture positioning from posture correction device, and it is placed to preset installation position.By exerting force and using preset mechanical matching structure, before workpiece is placed to mould by grabbing mechanism, the posture of workpiece is precompleted automatic correction, to overcome the problem that safety risk is high, production efficiency is low brought by artificial operation, and the problem that visual positioning scheme production switching is complex, is susceptible to environmental interference.

Description

Technical Field

[0001] This utility model relates to the field of air conditioning production technology, and in particular to an automatic workpiece assembly system. Background Technology

[0002] In modern manufacturing, insert injection molding is a widely used process. For example, when producing components such as centrifugal fan blades for air conditioners and housings for electronic products, it is usually necessary to pre-place inserts (as workpieces) such as metal bushings and nuts precisely into the mold cavity of the injection molding machine before injection molding. Currently, there are two main methods for placing inserts.

[0003] One method is the traditional manual operation. After each mold opening, the operator places the insert into the mold manually or using simple tools. This method has many drawbacks: the operator's hands must work between the opening and closing molds, posing serious safety hazards; the speed and rhythm of manual operation are limited by human physiological limits and fatigue levels, resulting in low and unstable production efficiency; prolonged repetitive bending and reaching operations are physically demanding; and the accuracy of manual placement is difficult to guarantee, easily leading to defective products due to misalignment or omissions, affecting product quality.

[0004] Another approach involves using industrial robots in conjunction with a vision positioning system to achieve automated placement. Typically, a vibratory feeder or similar device roughly sorts and supplies the inserts, then a robot picks them up and uses an industrial camera to photograph and identify their precise position and orientation. Finally, based on deviation data calculated by the vision system, the robot adjusts its orientation and places the insert into the mold. However, this vision positioning solution suffers from poor production flexibility. When switching to produce different types of inserts, complex parameter settings and calibrations of the vision system are required, resulting in long switchover cycles and making it difficult to adapt to the flexible production needs of multiple varieties and small batches. Furthermore, the system's stability is insufficient; the visual recognition effect is easily affected by changes in ambient light, oil stains on the insert surface, or glare, leading to recognition failures or errors. This causes robot picking failures, frequent equipment shutdowns and alarms, and severely impacts the overall production line capacity.

[0005] Therefore, it is necessary to improve existing automated workpiece assembly technology to overcome its shortcomings. Utility Model Content

[0006] To overcome the problems existing in related technologies, the purpose of this utility model is to provide an automatic workpiece assembly system. This automatic workpiece assembly system applies force and utilizes a preset mechanical matching structure to automatically correct the posture of the workpiece before it is placed into the mold by the gripping mechanism. This overcomes the problems of high safety risks and low production efficiency caused by manual operation in the prior art, as well as the problems of complex production switching and unstable operation due to environmental interference of the vision positioning scheme.

[0007] An automated workpiece assembly system, wherein the workpiece has positioning features, and the automated workpiece assembly system includes: A feeding device is used to supply the workpiece; An attitude correction device includes a driving component and a feature matching part, the feature matching part corresponding to the positioning feature, the driving component driving the workpiece to move, and the attitude correction device receiving the force applied to it by the workpiece so that it moves autonomously until the positioning feature and the feature matching part cooperate. A gripping mechanism is used to grip the workpiece that has completed its attitude positioning from the attitude correction device and place it in a preset installation position.

[0008] Furthermore, the attitude correction device also includes a base and several positioning stations; Each of the positioning stations is equipped with a positioning fence, which is located on the base, and each positioning fence contains the feature matching part; The driving component is a vibrator, which is connected to the base.

[0009] By providing continuous and stable vibration energy to the entire base through a vibrator, the workpiece placed in the positioning station acquires energy for random motion. Simultaneously, the positioning fence confines the workpiece's movement range within a controllable area. This ensures that the workpiece can rotate and move fully and effectively without being thrown out, greatly increasing the probability and speed at which its positioning features meet and engage with the feature matching parts. This improves the success rate and efficiency of attitude correction, making the entire positioning process more stable and reliable.

[0010] Furthermore, the positioning feature is a positioning groove provided at the bottom of the workpiece, and the feature matching part is a positioning protrusion provided at the bottom of the positioning station, wherein the shape of the positioning groove is adapted to the shape of the positioning protrusion.

[0011] A groove-and-protrusion mechanical engagement method is employed. This classic mechanical structure utilizes complementary shapes to achieve self-locking. When the workpiece rotates under vibration until the positioning groove at its bottom aligns with the positioning protrusion at the bottom of the positioning station, the workpiece will naturally fall and engage under gravity. This engagement method provides a very clear and unambiguous final positioning state, with high positioning accuracy and good repeatability. Once engaged, the workpiece's posture is firmly locked, avoiding the risk of positioning ambiguity or re-displacement after positioning, thus providing a reliable guarantee for the precise gripping of the subsequent gripping mechanism.

[0012] Furthermore, each of the positioning stations is also equipped with a correct posture detector to detect whether the workpiece has completed posture positioning.

[0013] A correct posture detector (such as a photoelectric sensor) can monitor in real time whether the workpiece has completed the "groove-protrusion" engagement action (e.g., the workpiece blocks the light path after falling, or the workpiece blocks the light path before falling and avoids the light path blockage after falling). This allows the control system to know precisely whether the positioning was successful and when it was successful, thus achieving closed-loop control. It can promptly notify the gripping mechanism to perform the next operation, optimizing the system cycle time; it can also perform anomaly diagnosis. For example, if positioning is not detected successfully within a preset time, the system can determine it as an anomaly and execute the corresponding processing procedure (such as picking up the workpiece and re-placing it), avoiding indefinite waiting of the entire system and making the automated process more intelligent and robust.

[0014] Furthermore, the gripping mechanism includes a robot and a multi-functional gripper; The multifunctional clamp includes: The fixture body is connected to the robot; The first gripper is disposed on the fixture body and is used to grip a single workpiece from the feeding device and place it on the posture correction device; The second gripper is disposed on the main body of the fixture and is used to simultaneously grip all the workpieces that have completed attitude positioning at the positioning stations from the attitude correction device.

[0015] The gripping mechanism employs an integrated multi-functional fixture, which includes at least a "first gripper" for gripping a single workpiece from the feeding device and a "second gripper" for gripping multiple pre-positioned workpieces from the attitude correction device. By integrating these two different types of grippers onto a single fixture body, the robot eliminates the need to change grippers between performing different tasks (feeding from the feeding device to the attitude correction device, and then retrieving from the attitude correction device to the preset installation position). This significantly reduces the system's non-productive time and improves the efficiency of the work cycle. Furthermore, by eliminating the need for a quick-change gripper or an additional robot, the system structure is simplified, equipment costs and potential failure points are reduced, thus improving the overall cost-effectiveness and reliability of the automation unit.

[0016] Furthermore, the second gripper includes a push rod and a chuck; The chuck is located at the end of the push rod and is used to clamp the workpiece; The push rod is used to drive the chuck closer to or away from the clamp body.

[0017] The second gripper adds an active ejection function. When placing a workpiece into a preset installation position (such as the cavity of an injection molding machine mold), the cavity may have a tight fit or limited space. Relying solely on gravity or simple gripper release may result in the workpiece not being placed correctly or being misaligned. The ejector rod can apply an active, directionally controllable thrust to forcefully and precisely push the workpiece from the gripper into the designated position. This ensures the placement accuracy and reliability of the workpiece in the final installation stage, effectively avoiding defects caused by improper placement and further improving the final product yield.

[0018] Furthermore, the multi-functional clamp also includes: The third gripper is located on the main body of the fixture and is used to grip the assembled finished product from the preset installation position.

[0019] The multi-functional fixture also features a third gripper for picking up finished products. The three main functions of loading, feeding, and picking are all integrated into a single multi-functional fixture. This allows a single robot to independently complete a complete work cycle by rotating its wrist to switch between different grippers: feeding unpositioned workpieces into the attitude correction device, loading positioned workpieces into the mold, and removing the finished product from the mold. This highly integrated design maximizes the utilization rate of a single robot, enabling it to independently complete the material flow of the entire workstation without additional manpower or equipment intervention, further improving the level of automation and reducing the production cost and labor cost per unit.

[0020] Furthermore, the feeding device includes: A vibratory feeder is used to output arranged workpieces. An automatic feeding assembly is used to feed workpieces into the vibratory feeder.

[0021] A two-stage material feeding system was constructed. The vibratory feeder, as the direct feeding unit, has a limited capacity, requiring frequent manual replenishment during continuous production, thus becoming a bottleneck for automation. The automatic replenishment component, acting as a large-capacity backup hopper, can automatically feed workpieces into the vibratory feeder. This achieves long-term unmanned operation in the material feeding process, reducing the frequency of manual replenishment from once every tens of minutes to once every few hours or even once per shift. This significantly reduces human intervention, improves the continuous operation capability and overall automation level of the production line, and truly achieves reduced manpower and increased efficiency.

[0022] Furthermore, the feeding device also includes a level detector, which is used to detect the amount of workpiece in the vibratory feeder.

[0023] A level detector was added to the feeding device to monitor the amount of workpieces in the vibratory feeder. This detector monitors the material level in the vibratory feeder in real time and sends a signal when the material level is below a preset threshold and above another threshold. This allows the automatic replenishment component to replenish material precisely and on demand, preventing production line stoppages due to insufficient replenishment and avoiding problems caused by excessive material in the vibratory feeder, which can affect its normal vibration and sorting effect. This intelligent, interconnected control ensures that the feeding device can continuously and stably provide the arranged workpieces, forming the foundation for the efficient operation of the entire system.

[0024] Furthermore, the automatic feeding assembly includes a ramped belt conveyor and a material storage area; The storage area is located at the inlet end of the inclined conveyor belt; The discharge end of the inclined belt conveyor faces the inlet of the vibratory feeder.

[0025] The automatic material replenishment assembly is specifically designed as a structure comprising a ramp conveyor belt and a storage area. The storage area is located at the lower inlet of the ramp conveyor belt, forming a large-capacity hopper for easy dumping of large quantities of workpieces at once. The ramp conveyor belt, as a mature and stable conveying device, gently lifts and transports the workpieces from a lower position to the upper vibratory feeder inlet. This structural design is rational, meeting the need for large-capacity storage while solving the problems of automatic material lifting and conveying. Compared to other complex lifting mechanisms, this solution is low-cost, simple to maintain, and reliable in operation, making it a highly cost-effective and practical technical implementation.

[0026] The beneficial effects of this utility model are as follows: This invention provides an automated workpiece assembly system. This system incorporates an independent posture correction device that uses a combination of force and mechanical matching structure to position the workpiece supplied by the feeding device. The system eliminates the need for costly components such as industrial cameras and image processing software for workpiece posture recognition. Instead, it achieves precise positioning through reliable mechanical coordination, replacing expensive and complex vision positioning systems and significantly reducing the hardware cost and integration difficulty of the entire automation system. Furthermore, because the mechanical positioning principle does not rely on optical imaging, it completely avoids recognition failures caused by environmental factors such as changes in workshop lighting, workpiece surface reflection, or dirt. This greatly improves the stability and reliability of posture positioning, ensuring a smooth production process. It achieves fully automated operation, improving production efficiency and assembly accuracy. Attached Figure Description

[0027] Figure 1 This is a perspective view of the attitude correction device provided in Embodiment 2 of this application; Figure 2 This is a top view of the attitude correction device provided in Embodiment 2 of this application; Figure 3 This is a perspective view of the multifunctional clamp provided in Embodiment 3 of this application, near the second gripper. Figure 4 This is a perspective view of the multifunctional clamp provided in Embodiment 3 of this application, near the third gripper. Figure 5 This is a side view of the multifunctional clamp provided in Embodiment 3 of this application; Figure 6 This is a schematic diagram of the vibratory feeder provided in Embodiment 4 of this application; Figure 7 This is a schematic diagram of the automatic workpiece assembly system provided in this application.

[0028] Figure label: 100. Feeding device; 110. Vibratory feeder; 120. Automatic feeding assembly; 200, Attitude correction device; 210, Drive assembly; 220, Feature matching unit; 230, Base; 240, Positioning fence; 250, Correct attitude detector; 300. Gripping mechanism; 311. Fixture body; 312. First gripper; 313. Second gripper; 314. Third gripper. Detailed Implementation

[0029] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. Example 1

[0030] like Figures 1 to 7 As shown, this embodiment provides an automated workpiece assembly system, aiming to solve the technical problems of high cost, poor stability, and insufficient flexibility in workpiece orientation positioning before automated assembly in the prior art. The workpiece itself has one or more positioning features that can be used to identify its specific orientation or posture. This system constitutes a complete automated unit, capable of independently completing the entire process from disordered workpiece supply to precise orientation positioning, and finally to assembly.

[0031] The main function of the feeding device 100 is to store a large number of workpieces to be processed and supply them to the next stage of the system according to a certain rhythm. In this embodiment, the device is responsible for separating the workpieces from their bulk state and conveying them individually.

[0032] The attitude correction device 200 is crucial for achieving highly reliable positioning. Structurally, this device includes a drive assembly 210 and a feature matching part 220. The geometry or structure of the feature matching part 220 is customized based on preset positioning features (e.g., grooves, holes, planes) on the workpiece, forming a one-to-one matching relationship. The drive assembly 210 provides power to the entire device. The device's function is to receive workpieces with uncertain postures from the feeding device 100 and apply force to them, causing the workpiece to move autonomously (e.g., rotate, jump) under the drive of this force until its own positioning features physically engage or align with the feature matching part 220 on the device, thereby achieving precise attitude correction and locking.

[0033] The gripping mechanism 300 is the system's execution unit, responsible for transferring workpieces between different workstations. It is used to grip the workpiece that has completed its posture positioning from the posture correction device 200 after the posture correction device 200 has completed its positioning, and transport and place it in a preset installation position (such as the mold cavity of an injection molding machine, the base 230 on an assembly line, etc.).

[0034] These three devices are arranged sequentially in space and can be controlled by a central control system with unified logic and by time-coordinated sensor detection, together forming a complete, closed-loop automated assembly process.

[0035] The core of this solution is to replace the optical vision system with a posture correction device 200 based on physical contact and mechanical limiting. The success of the mechanical coordination depends solely on the structural design and physical laws, fundamentally eliminating positioning failures or misjudgments caused by common interference factors in vision systems, such as changes in ambient light, workpiece surface reflection, oil, and dust. Therefore, the stability of this system is far superior to vision-based solutions, significantly reducing equipment downtime due to positioning anomalies, ensuring production continuity, and thus improving overall equipment efficiency.

[0036] The industrial cameras, lenses, light sources, and complex image processing software and algorithm development in vision systems constitute the main cost of automated equipment. This solution, through ingenious mechanical design, replaces expensive vision hardware and software with low-cost drive components 210 (such as vibrators) and feature matching units 220, significantly reducing the overall system manufacturing and subsequent maintenance costs. Furthermore, its debugging process mainly involves adjusting the mechanical position; compared to the complex parameter calibration and programming of vision systems, operation is more intuitive and simpler, and the skill requirements for on-site technicians are lower.

[0037] When dealing with the flexible production needs of multiple varieties and small batches, vision solutions require time-consuming recalibration every time the workpiece model is changed. However, this solution may only require replacing the corresponding, simple feature matching unit 220 when switching models. Even for workpieces of similar size, only the parameters of the drive component 210 need to be adjusted. The switching process is fast and convenient, which greatly shortens the changeover time and improves the flexible response capability of the production line.

[0038] The core task of the feeding device 100 is to realize the transformation of workpieces from batch storage to individual, orderly supply. Besides the most common electromagnetic vibratory feeder 110, it also includes, but is not limited to, the following methods: For regularly shaped and large workpieces (such as metal bushings), mechanical hopper elevators can combine a hopper and an elevator. Workpieces are poured in batches into a large-capacity hopper on the ground. The elevator's baffles or hooks retrieve several workpieces from the bottom of the hopper at a time, lift them to a certain height, and then allow them to slide out individually via guide rails. This method offers high load capacity, convenient refilling, and low noise.

[0039] Centrifugal high-speed feeders (rotary feed discs) are suitable for lightweight, simple-shaped sheet or granular workpieces. This device uses a high-speed rotating conical disc to generate centrifugal force, throwing the workpiece towards the edge of the disc. The edge is equipped with a precision screening track and attitude adjustment structure, enabling the output of workpieces with consistent attitude at extremely high speeds.

[0040] The flexible vibrating feeder integrates a strobe light source and an industrial camera on a planar vibrating plate. By controlling the vibration of the plate at different frequencies and amplitudes in the X and Y directions, it can precisely drive the movement and rotation of multiple workpieces on the plane. Although it uses vision, its vision function is mainly used for identification rather than precise positioning; the final attitude adjustment still relies on vibration. This approach is highly flexible and can adapt to different types of workpieces with almost no hardware changes.

[0041] A conveyor belt, in conjunction with a stop and separation mechanism, allows workpieces that can lie stably flat on the conveyor belt to be transported using a simple conveyor belt. At the end of the conveyor belt, a cylinder-driven stop and separation mechanism is installed, allowing only one workpiece to pass at a time into the subsequent attitude correction device 200. This method is simple in structure and extremely low in cost.

[0042] The core of the attitude correction device 200 lies in the combination of a "driving force source" and a "mechanical matching structure." Alternatives to the driving component 210 (force source): A mechanical oscillating / reciprocating mechanism can employ a platform driven by an eccentric wheel or crank-connecting rod mechanism. The workpiece is placed on this platform, which then performs reciprocating linear motion or small-angle oscillation at a set frequency and amplitude. This regular inertial force also causes the workpiece to slide and rotate on the platform until its positioning features align with the feature matching part 220 on the platform. This method provides a more defined motion trajectory and is suitable for workpieces of certain specific shapes.

[0043] An inclined rotating drum / turntable allows a workpiece to be placed inside an inclined, slowly rotating drum or turntable. The workpiece tumbles and slides continuously under the combined effects of gravity and friction. A feature matching part 220 is provided on the inner wall of the drum or the surface of the turntable to capture the workpiece in a specific posture. When the workpiece passes by in the correct posture, it is "captured" by this structure and carried out.

[0044] Controlled airflow actuation allows for the production of very lightweight workpieces (such as thin plastic sheets and small electronic components) within a cavity with a transparent cover. Controlled pulsed airflow is delivered through multiple nozzles on the bottom or side. By precisely controlling the timing of the nozzles' opening and closing and the airflow intensity, the workpiece can be driven to suspend, translate, and rotate within the cavity, ultimately falling into a cavity with a matching feature 220 for positioning. This is a non-contact, flexible actuation method.

[0045] The feature matching unit 220 can also be implemented in the following ways: For geometrically irregular holes and matching pins, if the positioning feature of the workpiece is a non-circular hole (such as a D-shaped hole or a square hole), the feature matching part 220 can be a fixed pin that perfectly matches its cross-sectional shape. Under vibration or swaying, the workpiece can only be fitted into the pin when its hole is completely aligned with the pin, achieving precise positioning.

[0046] Contour matching nest: If the positioning feature of the workpiece is its overall outer contour, the feature matching part 220 can be designed as a recess or "nest" that perfectly matches the outer contour of the workpiece. When the workpiece moves on the platform, it can only fall completely into the nest if it passes by in the correct posture (face up and at the correct angle).

[0047] The offset center of gravity and the inclined / stepped structure can take advantage of the uneven center of gravity of the workpiece. The feature matching part 220 is designed as a specific inclined or stepped structure. During the movement, due to its offset center of gravity, the workpiece will always tend to stay in a more stable posture. When it slides over the designed inclined or stepped surface in this posture, it will be guided or flipped to the final desired posture.

[0048] The selection of the gripping mechanism 300 depends primarily on the operating range, speed, accuracy, and load requirements, and can be achieved through the following methods: SCARA robots (horizontal joint robots) are an excellent alternative for tasks involving rapid material handling and assembly within a single plane. Their compact design, high speed in the XY plane, and high positioning accuracy make them ideal for gripping workpieces from a posture correction device 200 and placing them into nearby molds or assembly stations.

[0049] Cartesian robots, consisting of three linear motion axes (X, Y, and Z), have a simple structure, good rigidity, and are easy to program, capable of covering a rectangular workspace. For applications with simple motion trajectories and regular working ranges, Cartesian robots can achieve high precision and load capacity, and their cost is typically lower than that of articulated robots.

[0050] For dedicated pneumatic manipulators / translation modules, if the workpiece transfer path is very fixed and involves only simple "grab-translate-release" actions, then a flexible robot can be completely avoided. Instead, a dedicated manipulator consisting of cylinders, guide rails, and grippers can be designed. For example, one cylinder is responsible for raising and lowering the gripper, and another cylinder is responsible for horizontal translation. This type of dedicated machine has a simple and reliable structure, can achieve very high cycle speeds, and has the lowest cost. Example 2

[0051] like Figures 1 to 7 As shown, this embodiment provides a highly specific and feasible physical implementation scheme for an attitude correction device 200 within the system framework described in Embodiment 1. The structure of the attitude correction device 200 consists of the following key parts: The base 230 is a rigid platform or frame that serves as the mounting foundation and support structure for the entire attitude correction device 200. It ensures that all components have a stable and uniform reference base and can effectively transmit and withstand the forces generated by the drive component 210.

[0052] The base 230 has several (e.g., two or more) independent positioning stations. Each positioning station is an independent unit for carrying and processing a single workpiece. Setting up multiple positioning stations allows for parallel processing of workpiece posture correction, thereby improving the overall system's production cycle time and efficiency.

[0053] Positioning fence 240: Each positioning station defines its working area using a positioning fence 240. The positioning fence 240 can be a ring-shaped or square structure, fixed to the base 230, and its dimensions are slightly larger than the workpiece's overall dimensions. Its core function is to confine the workpiece's movement within the positioning station, preventing the workpiece from being thrown out or deviating from the effective positioning area when subjected to force.

[0054] In this embodiment, the drive assembly 210 is specifically defined as a vibrator (e.g., an electromagnetic vibrator or an eccentric wheel vibration motor). This vibrator is rigidly connected to the base 230 and serves as the power source providing autonomous motion energy for the workpiece. At the bottom of each positioning station, a feature matching part 220 adapted to the positioning features of the workpiece is provided. Specifically, in this embodiment, the positioning feature of the workpiece is a positioning groove on its bottom; therefore, the feature matching part 220 is correspondingly designed as a positioning protrusion, the shape and size of which can precisely fit into the positioning groove. Furthermore, the feature matching part 220 can also be designed to be replaceable, i.e., a detachable structure or interface is provided at the bottom of the positioning station, allowing for the replacement of different feature matching parts 220 to adapt to the positioning features of different workpieces.

[0055] To achieve automated closed-loop control, an additional correct posture detector 250 is installed at each positioning station. This detector is used to monitor in real time whether the workpiece in its positioning station has completed the posture positioning, and can convert the positioning success or failure status into an electrical signal output to the main control system.

[0056] The vibrator provides continuous and stable high-frequency micro-vibration to the base 230 at a controllable frequency and amplitude. This vibration energy, once transferred to the workpiece, allows it to overcome static friction and generate a random but gentle floating rotational motion. Compared to violent swaying or impact, this method effectively drives the workpiece to explore all possible postures without damaging the workpiece itself, making it an efficient and safe way to impart energy.

[0057] The convex-concave fit is a classic structure in mechanical design for achieving precise, unique, and self-locking positioning. Once the positioning groove aligns with the positioning protrusion, the workpiece will naturally fall and engage under gravity. This posture is unique, with no ambiguity. Precision machining of the positioning protrusion and groove ensures very high fitting accuracy and repeatability. The engaged workpiece posture is highly stable; even if the vibrator continues to operate, its posture will not easily change, guaranteeing stable gripping by the subsequent gripping mechanism 300.

[0058] The positioning fence 240 serves as a "constraint." It ensures that the energy provided by the vibrator is effectively used for attitude exploration, rather than throwing the workpiece off the workstation, a necessary prerequisite for the continuous operation of the positioning process. The correct attitude detector 250 provides feedback. It transforms an invisible, purely mechanical positioning process into a visible and determinable state for the control system. This enables intelligent control: it allows the system to trigger the next action the instant positioning is completed, thereby maximizing the reduction of production cycle time; it also enables anomaly monitoring. If the workpiece has not been successfully positioned within a preset time (e.g., 4 seconds), the system can identify the anomaly and initiate a processing procedure, preventing the entire production line from stopping due to a single workpiece problem (such as burrs or deformation).

[0059] The detailed working process of the attitude correction device 200 in this embodiment is as follows: The gripping mechanism 300 (or the previous feeding device 100) places a workpiece with a random orientation (its positioning groove facing down) into the positioning station, so that it rests on the base plate around the positioning protrusion and is surrounded by the positioning fence 240.

[0060] The vibrator starts working, and its vibration is transmitted to the base plate of the positioning station through the base 230.

[0061] Under the influence of vibration, the workpiece begins to bounce and rotate at high frequency and small amplitude. Its trajectory is random, but it is always confined to the vicinity of the positioning protrusion by the positioning fence 240.

[0062] During continuous random motion, there will inevitably come a moment when the positioning groove on the bottom of the workpiece rotates and moves precisely above the positioning protrusion at the bottom of the positioning station. At this moment, the workpiece loses its original planar support and, under its own gravity, immediately falls a small distance, causing the positioning protrusion to fully embed into the positioning groove. At this point, the workpiece's rotational motion is terminated, and its posture is precisely locked.

[0063] The falling motion of the workpiece triggers a preset correct posture detector 250. For example, if the detector is a photoelectric sensor, it immediately sends a positioning completion signal after being triggered. This signal can be used to stop the vibrator or to instruct the gripping mechanism 300 to grip the workpiece.

[0064] Furthermore, in this embodiment, the workpiece being processed is a cylindrical workpiece with a through-hole in the middle and a cylindrical groove at the bottom. Correspondingly, in this embodiment, the specific structure of the attitude correction device 200 is as follows: the base 230 consists of two plates, upper and lower, with the upper plate serving as a working platform. Two positioning stations are arranged side-by-side on the upper plate. Each positioning station's working range is defined by a cylindrical positioning fence 240. Between the two plates, an electromagnetic vibrator is installed as a drive component 210, rigidly connected to the upper plate to apply vibrational force. A pair of brackets are symmetrically installed on the outside of each positioning station, with through-beam photoelectric sensors fixed on them. Their optical paths traverse the top area of ​​the positioning fence 240, collectively forming a correct attitude detector 250. At the bottom of the area defined by each positioning fence 240, a positioning protrusion adapted to the positioning groove of the workpiece is provided. The positioning protrusion corresponds to a raised cylinder at the bottom of the cylindrical groove of the workpiece, with the top of the raised cylinder...

[0065] The core function of the drive assembly 210 is to provide energy to a stationary workpiece, enabling it to enter a state of autonomous motion to explore the correct orientation. Alternatives to the vibrator include: The rotary drive method can employ a turntable driven by a low-speed, constant-torque motor as the base 230 or a portion thereof. The surface of this turntable is not perfectly horizontal; it can be designed with a slight tilt angle, or a gently wavy or cam-like surface. When a workpiece is placed on the turntable, the motor's rotation causes the workpiece to rotate as well. Under the combined action of centrifugal force and gravity (generated by the tilt or contour undulation), the workpiece slowly slides, tumbles, and adjusts its posture on the turntable surface, thus achieving a continuous posture exploration process similar to vibration. This method results in smoother movement and lower noise, making it particularly suitable for workpieces requiring high surface finish and those susceptible to impact.

[0066] Pneumatic or mechanical linkage drive methods replace high-frequency micro-vibration with low-frequency, large-stroke motion. One or more cylinders can be connected to the bottom or side of the base 230, and the solenoid valves of the cylinders are controlled by a PLC to make the base 230 perform regular, linear reciprocating motion or oscillating motion around a certain axis. Similarly, a motor can be used to drive a crank-connecting rod mechanism to convert the rotational motion of the motor into the oscillating motion of the base 230. This large-amplitude motion can effectively drive large and heavy workpieces to slide back and forth within the positioning enclosure 240, and through repeated contact and collision with the feature matching part 220, they are eventually guided to the correct positioning posture.

[0067] The specific structural form of the feature matching part 220 and the positioning feature of the workpiece varies and depends entirely on the design of the workpiece. Alternatives to the positioning protrusions and positioning grooves include: In a pin-hole mating structure, when the workpiece's positioning feature is one or more non-circular through holes or blind holes (e.g., D-shaped holes, square holes, holes with keyways), the feature matching part 220 can be designed as one or more locating pins with cross-sectional shapes perfectly matched and vertically fixed on the base 230. Under the action of the drive assembly 210, the workpiece moves and rotates above the locating pins. Only when the workpiece's hole is perfectly aligned with the axis and rotation angle of the locating pin can the workpiece fall under gravity and fit into the locating pin. This method provides very high rotational positioning accuracy and is commonly used for parts requiring axial positioning.

[0068] The contour-limiting structure allows for the use of the workpiece's own contour as a positioning feature when it is inconvenient or undesirable to set a positioning groove on the bottom of the workpiece. For example, if the main body of the workpiece is circular but has a flat cut edge, the feature matching part 220 can be a flat positioning block set inside the positioning enclosure 240. The workpiece will rotate continuously during movement until its flat cut edge is completely fitted with the positioning block, thus limiting its rotational posture. As another example, if the workpiece has a unique V-shaped notch or right-angle shape, the feature matching part 220 can be designed as a matching V-shaped block or L-shaped positioning angle. The workpiece will eventually be captured and embedded in the positioning angle during movement, achieving simultaneous linear and angular positioning.

[0069] The function of the correct attitude detector 250 is to confirm whether the positioning action has been completed. Alternatives to through-beam photoelectric sensors include: Inductive proximity sensors are suitable for workpieces made of metal. The sensor can be mounted below the base plate of the base 230, directly opposite the final landing point of the workpiece. Its sensing distance is precisely set, and it only enters the effective detection range of the sensor and triggers a signal when the workpiece engages with the feature matching part 220 and falls to its lowest position.

[0070] Capacitive proximity sensors can detect both metal and non-metallic materials such as plastics and ceramics. Their working principle is similar to inductive sensors, determining the position of a workpiece by detecting the change in capacitance caused when it enters the sensing surface. Both types of sensors have a fully enclosed structure, offering strong resistance to contamination and making them more reliable than optical sensors in harsh industrial environments containing oil and dust.

[0071] This simplified vision verification system, not a complex vision system for positioning guidance, refers to a low-cost vision solution solely for confirming the presence / absence or correct positioning of the workpiece. A simple industrial camera or smart vision sensor can be installed directly above the positioning station. The system pre-learns and stores image features of the workpiece in the correct orientation (e.g., the shape and position of the center hole, or a specific mark). In practice, the vision system acquires images in real time and compares them with a template. Once the matching degree between the current image and the template image reaches a preset threshold, the system determines that positioning is complete and outputs a signal. The advantage of this approach is that it not only confirms position but also, to some extent, addresses the presence / absence, orientation, and even product type, making it more powerful. Example 3

[0072] like Figures 1 to 7 As shown, this embodiment, based on the aforementioned embodiments, details the specific structure of the gripping mechanism 300. This structure is designed with functional integration as its core concept, aiming to complete multiple different tasks in the entire automation cycle through a single end effector.

[0073] The gripping mechanism 300 is based on a general-purpose robot (such as a six-axis industrial robot) and a gripper body 311 mounted on its wrist. The gripper body 311 serves as a platform, providing a mechanical interface for the integration of subsequent functional components.

[0074] The fixture body 311 integrates at least two distinct types of grippers. The first type is the first gripper 312, designed to precisely grasp a single, unpositioned workpiece. The second type is the second gripper 313, designed to stably and synchronously grasp one or more workpieces that have already been positioned by the attitude correction device 200. By integrating these two types of grippers, this multi-functional fixture possesses a core functional chain that executes the process from unprocessed incoming material (supplied by the feeding device 100) to feeding it to the precision station (placed in the attitude correction device 200), and then to delivering the precisely positioned material to the final assembly station (grabbed by the attitude correction device 200 and placed in a preset installation position).

[0075] To achieve the highest work efficiency and reliability, the multi-functional fixture in this embodiment has undergone two key optimizations based on the above.

[0076] The structure of the second gripper 313 was strengthened to add an active placement function. Specifically, the second gripper 313 consists of a chuck and a push rod. The chuck is responsible for holding the workpiece, while the push rod, as an independently driven component, can actively push the workpiece out of the chuck and press it into place after the robot delivers the workpiece to the preset installation position.

[0077] A third gripper 314 is added to the fixture body 311. The function of the third gripper 314 is specifically to grip the finished product that has been processed or assembled and remove it from the preset installation position.

[0078] Through these two optimizations, the multi-functional fixture has finally formed a highly integrated form that combines three core functions: single-piece feeding, multi-piece precision feeding, and finished product retrieval.

[0079] The fundamental reason for adopting this highly integrated multi-functional fixture design is to pursue the ultimate optimization of automated production cycle time and maximize the return on investment of equipment.

[0080] In traditional automated processes, if different types of fixtures are required for material loading, mold insertion, and part removal, the robot must travel back and forth to a fixed tool change station between each step to automatically change the fixtures. This back-and-forth, putting down, picking up, and returning process is purely non-value-adding time, consuming several seconds or even longer of cycle time, directly reducing productivity. This solution integrates all functions into one unit; the robot only needs to switch functions through rapid wrist rotation, generating almost no additional time consumption, thereby compressing the cycle time to the shortest possible.

[0081] In precision assembly or injection molding applications, accurately placing the workpiece into its pre-set mounting position (such as a mold cavity) is crucial for ensuring product quality. Relying solely on gravity or simple claw release, the workpiece may tilt, bounce, or fail to fully settle due to slight static electricity, oil adhesion, or air resistance. The push rod integrated into the second gripper 313 provides an active, controllable thrust that overcomes these uncertainties, forcibly and firmly pressing the workpiece into place. This not only significantly improves the success rate of placement, avoiding defective products, but also prevents serious accidents such as damage to downstream equipment (e.g., the mold) that could result from improper workpiece placement.

[0082] By empowering a single robot to complete the entire process, it can independently handle the internal and external material circulation of an entire workstation (such as an injection molding machine). This maximizes the robot's effective working time and fully realizes its investment value. Simultaneously, because there's no need for additional tool changing stations, jig storage racks, or potentially a second auxiliary robot, the mechanical structure of the entire automation unit is simplified, its footprint is smaller, and its electrical control is more centralized, thereby reducing system complexity and overall cost.

[0083] In a complete work cycle, the robot equipped with the multi-functional gripper of this embodiment performs the following operations: Loading to the positioning station: The robot first rotates its wrist to align the first gripper 312 with the discharge port of the feeding device 100. The first gripper 312 actuates, grasping a single workpiece. Subsequently, the robot transports this workpiece to a positioning station of the attitude correction device 200 and releases it. If the attitude correction device 200 has multiple stations, the robot will repeat this action until all stations have workpieces placed.

[0084] Grasping and positioning workpieces and placing them into preset installation positions: After the attitude correction device 200 completes the positioning of all workpieces and sends a signal, the robot rotates its wrist and switches to the second gripper 313. The robot moves above the attitude correction device 200, and multiple grippers of the second gripper 313 simultaneously actuate, clamping all the positioned workpieces from the outside. Then, the robot synchronously transports these workpieces to the preset installation positions. Upon reaching the precise point, the push rod of the second gripper 313 extends, actively and stably pushing the workpiece from the gripper into the designated position.

[0085] Retrieving the finished product: After the processing or assembly process at the preset installation position is completed (e.g., mold opening in an injection molding machine), the robot rotates its wrist again and switches to the third gripper 314. The robot arm extends into the workstation, and the third gripper 314 moves to grab the newly generated finished product.

[0086] Place the finished product and begin a new cycle: The robot removes the finished product and places it into the conveyor belt or hopper. This completes one work cycle, and the robot then prepares to begin the first gripper 312 loading action of the next cycle.

[0087] In the specific solution shown in this embodiment, the detailed structure of the multifunctional fixture is as follows: The fixture body 311 is a slender rectangular frame-shaped metal component with a standard flange at the center of its bottom for connecting the robot's wrist. This fixture body 311 serves as the skeleton of the entire multi-functional fixture, and its surrounding planes and end faces provide a robust and precise mounting reference for other functional components.

[0088] The first gripper 312 is mounted at the top center of the gripper body 311. It is a compact three-finger inward-supporting pneumatic gripper. During operation, the robot drives the first gripper 312 to move directly above the discharge port of the feeding device 100. The three fingers, which are closed, extend into the central hole of a single workpiece. Subsequently, the cylinder drives the three fingers to expand radially outward in sync, thereby tightening the inner wall of the workpiece from the inside out, achieving stable gripping. Its function is specifically to perform the task of transporting a single workpiece from the feeding device 100 to the attitude correction device 200.

[0089] The second gripper 313 consists of two identical, symmetrically mounted composite functional units on one long side of the fixture body 311. Each unit comprises a linear pneumatic slide that functions as a push rod and a chuck mounted at the end of the slide. The chuck is an external clamping structure used to hold the positioned workpiece from the outside. The working process is as follows: after both workpieces on the attitude correction device 200 are positioned, the robot rotates the fixture body 311, aligning the two second grippers 313 with the workpieces, and the chuck clamps the outer circumference of the workpiece. The robot then places the workpiece above the cavity at a preset installation position (such as an injection molding machine mold). The linear pneumatic slide (i.e., the push rod) extends, actively and smoothly pushing the workpiece from the chuck into the bottom of the cavity, ensuring proper installation.

[0090] The third gripper 314 consists of two identical gripper units symmetrically mounted on the other long side of the fixture body 311 opposite to the second gripper 313. These two third grippers 314 are large, three-finger, inward-expanding pneumatic grippers. Their function is singular: to grip finished products. After injection molding or assembly, the robot rotates the fixture body 311, aligning the two third grippers 314 with the two newly formed finished products. The three fingers, retracted, insert into the center hole of the finished product and expand to tighten it. The robot then removes the finished product from the equipment.

[0091] In scenarios with varying cost and efficiency requirements, other alternatives still exist: A multi-functional gripper can be designed with a more ingenious single gripper structure, achieving multiple functions through different strokes or rotation angles. For example, a gripper can be used to clamp a single workpiece during a short stroke (achieving the function of the first gripper 312), and to clamp a finished product during a long stroke (achieving the function of the third gripper 314). This approach allows for a more compact fixture body 311, but it places higher demands on mechanical design.

[0092] The automated tool changer solution features a quick-change flange mounted on the robot's wrist, while the first gripper 312, second gripper 313, and third gripper 314 are stored as independent tool units on a tool rack. The robot automatically moves to the tool rack to change the corresponding gripper according to the work step requirements. This solution sacrifices time efficiency but provides greater flexibility, especially suitable for applications requiring compatibility with a wide variety of workpieces or the use of completely different operating principles (such as switching from pneumatic grippers to vacuum suction cups).

[0093] For production lines with extremely high cycle time requirements, multi-robot collaboration allows for task decomposition. For example, a small, high-speed robot can be used specifically for loading (performing the functions of the first gripper 312 and the second gripper 313), while another robot can be used specifically for picking up parts (performing the function of the third gripper 314). This approach involves significant equipment investment and complex control, but it enables parallel processing of processes, thereby achieving the shortest possible production cycle time.

[0094] Regarding the replacement of the drive source, the grippers in this embodiment are typically pneumatically driven due to their fast response and low cost. However, in applications requiring precise control of clamping force or position (such as handling fragile or easily deformable workpieces), the drive source can be replaced with a servo motor. Electric grippers allow for programmable control of clamping force, speed, and opening / closing position, providing greater flexibility and precision. Example 4

[0095] like Figures 1 to 7 As shown, this embodiment is a preferred structure of the feeding device 100 in the automatic workpiece assembly system under the system framework described in Embodiment 1. This structure aims to achieve long-term, highly stable, and unmanned operation of the feeding process.

[0096] The feeding device 100 is based on a two-stage feeding system. It is not composed of a single feeding unit, but rather includes two complementary parts: a vibratory feeder 110 and an automatic replenishment assembly 120. The vibratory feeder 110, as the primary feeding unit, is responsible for precisely sorting and orienting the workpieces, and conveying them to the discharge port at a fixed posture and rhythm, directly supplying the gripping mechanism 300. The automatic replenishment assembly 120, as the secondary feeding unit, acts as a backup warehouse for the vibratory feeder 110, responsible for conveying large quantities of workpieces into the vibratory feeder 110.

[0097] To enable the vibratory feeder 110 and the automatic feeding assembly 120 to work intelligently and collaboratively, rather than simply operating continuously or under manual control, this feeding device 100 is further equipped with a level detector on top of its basic structure. This level detector is installed inside the hopper of the vibratory feeder 110, and its core function is to monitor the amount of workpiece in the vibratory feeder 110 in real time. As a key feedback element, it converts the state of the vibratory feeder 110 into an electrical signal, providing the necessary prerequisite for achieving closed-loop automatic control.

[0098] To achieve the above functions, this embodiment provides an optimal physical implementation method that is simple in structure and reliable in operation. Specifically, the automatic feeding component 120 consists of a sloping conveyor belt and a storage area. The storage area is typically a large-capacity hopper located at the inlet end of the sloping conveyor belt, i.e., the lowest point of the belt. The sloping conveyor belt is an upwardly inclined conveyor belt, with its outlet (the highest point) precisely facing the inlet at the top of the vibrating plate 110. This structural design, with large-capacity storage at the low point and directional replenishment at the high point, fully constitutes the efficient and practical feeding device 100 in this embodiment.

[0099] An independent vibratory feeder 110 has a limited internal hopper capacity. In continuous production, workpieces are constantly consumed, requiring frequent manual replenishment. This frequent manual intervention disrupts the automated process and becomes a bottleneck for the continuous operation of the entire system. This solution, by introducing a large-capacity storage area and an automatic replenishment component 120, reduces the frequency of manual replenishment from several times per hour to once every few hours or even per shift. This significantly extends the system's unmanned operation time, freeing operators from simple, repetitive replenishment work and truly achieving reduced manpower and increased efficiency.

[0100] The performance of the vibratory feeder 110 is highly sensitive to the amount of material inside. Too little material will cause the output speed to lag behind, resulting in waiting time for the gripping mechanism and impacting the production cycle; too much material will inhibit the effective vibration of the vibratory feeder 110, preventing the workpieces from being properly sorted and output. This solution achieves on-demand and precise replenishment by setting up a material level detector. It ensures that the workpiece inventory in the vibratory feeder 110 is always maintained within an optimal range, thereby guaranteeing that the vibratory feeder 110 can continuously, stably, and efficiently output workpieces with the correct posture, providing a solid foundation for the stable operation of the entire system.

[0101] The combination of a ramp conveyor belt and a storage area is a highly cost-effective and practical design. The storage area is positioned at a lower level, conforming to ergonomic principles and allowing operators to easily add materials in batches using the least effort (e.g., tilting). As a technologically mature, simple, and easy-to-maintain conveyor system, the ramp conveyor belt reliably completes the lifting and transporting of workpieces, offering lower costs and higher reliability compared to some complex vertical lifting mechanisms.

[0102] The specific workflow of this feeding device 100 in the automation system is as follows: Initial feeding: Before production begins, operators dump a large number of workpieces into the storage area located at the bottom of the inclined conveyor belt at once.

[0103] Start-up and Consumption: After the system starts up, the vibratory feeder 110 begins to work, sorting the internal workpieces and conveying them to the discharge port. As the gripping mechanism 300 continuously removes workpieces, the amount of workpieces in the vibratory feeder 110 gradually decreases.

[0104] Material shortage detection and replenishment activation: When the workpiece inventory drops to the preset lower threshold of the material level detector, the detector is triggered and sends a material shortage signal to the central control system. Upon receiving the signal, the control system immediately activates the automatic replenishment component 120, which in turn starts the motor driving the inclined belt conveyor.

[0105] Material conveying: The inclined belt conveyor starts to rotate, and the workpieces on it are lifted from the storage area, conveyed up the slope, and finally fall from the discharge end of the belt conveyor into the vibrating plate 110 hopper below.

[0106] Full Material Detection and Replenishment Stop: As workpieces are continuously replenished, the material level in the vibratory feeder 110 gradually rises. When the material level rises to the upper limit threshold preset by the material level detector (which can be detected by the same sensor or another independent sensor), the material level detector is triggered again, sending a "full material" signal to the control system. The control system then stops the motor of the inclined belt conveyor, and one automatic replenishment cycle is completed.

[0107] Cyclic operation: After this, the system enters an automatic cycle of consumption, detection, and replenishment, ensuring that the vibratory feeder 110 always has a sufficient and appropriate amount of workpieces for use without any manual intervention.

[0108] When faced with different workpiece characteristics, production environment, cost budget and space layout requirements, there are multiple alternative technical solutions for each of its functional modules.

[0109] The automatic feeding assembly 120 can be replaced by the following methods: A bucket elevator consists of a closed, vertical or steeply inclined casing, a chain or belt system moving in a ring, and multiple buckets evenly fixed to the chain or belt. The storage area is located at the bottom of the elevator. After the workpieces flow into the base, the upward-moving buckets sequentially scoop up the workpieces, lifting them to the top, and then discharging them from the top outlet into a vibrating plate 110 by centrifugal force or gravity. This design is particularly suitable for workshops with compact layouts and ample vertical space. Compared to inclined belt conveyors, it occupies significantly less floor space. Furthermore, because the workpieces are independently supported within the buckets, the movement is smooth, making it suitable for conveying workpieces with easily scratched surfaces or complex shapes that are difficult to roll.

[0110] The pneumatic conveying system mainly consists of a feeder (such as a rotary valve), conveying pipelines, a blower (providing positive or negative pressure airflow), and an end-of-line gas-solid separation device (such as a cyclone separator). After the workpiece enters the feeder from the storage area, it is quantitatively fed into the conveying pipeline. Under the blowing or suction of a high-speed airflow, it is conveyed along the pipeline to the separation device above the vibrating plate 110. The workpiece falls due to gravity, and the gas is discharged. This solution is extremely flexible; the conveying pipeline can bend arbitrarily, easily bypassing obstacles, enabling long-distance, cross-regional material conveying. It is best suited for lightweight, small-volume plastic granules, metal powders, or small standard parts (such as screws and rivets).

[0111] A screw conveyor consists primarily of a rotating screw shaft within a closed tubular trough, with continuous helical blades welded onto the shaft. Workpieces enter through the bottom inlet and, as the screw shaft rotates, are pushed axially forward and upward by the blades, acting like nuts, ultimately exiting through the top outlet. This system is suitable for granular, small lump, or powdery materials, and can achieve horizontal, inclined, or vertical conveying. Its simple structure and good sealing performance make it widely used in agriculture and chemical industries, and it can also be used for conveying small industrial parts.

[0112] The material level detector can be replaced by the following methods: Inductive / capacitive proximity switches are available. Inductive proximity switches utilize the principle of electromagnetic induction; when a metal workpiece approaches its sensing surface, it causes a change in the parameters of the internal oscillating circuit, thus outputting a switching signal. Capacitive proximity switches can detect any object with a changing dielectric constant, including metals and non-metals (such as plastics). For metal workpieces, inductive proximity switches are a highly reliable and interference-resistant choice. For non-metallic workpieces, capacitive proximity switches can be used. They can be mounted at a specific height on the inner wall of the vibratory feeder 110, similar to photoelectric sensors, to detect high and low material levels.

[0113] Mechanical limit switches are sensors triggered by mechanical contact. They typically include a swinging arm or a retractable probe. When the workpiece stack height within the vibratory feeder 110 reaches a preset position, it physically pushes the swing arm or probe, causing the internal mechanical contacts to close or open, thus outputting a switch signal. This is an extremely traditional but highly reliable detection method, suitable for almost all types of solid workpieces, unaffected by workpiece material, color, or surface condition. Especially in harsh environments such as dust and oil contamination, its reliability sometimes even surpasses that of optical sensors.

[0114] The weighing sensor system places the entire vibratory feeder 110 (or just its hopper) on one or more high-precision weighing sensors. The system first records the weight of the empty vibratory feeder 110 as its tare weight. During operation, by monitoring the total weight in real time and subtracting the tare weight, the net weight of the internal workpieces can be accurately calculated, and thus the quantity or percentage of workpieces in stock can be determined. This is a highly advanced, continuous material level detection solution. It is no longer a simple on / off switch signal, but provides precise analog data. It is suitable for applications requiring precise management of the material level within the vibratory feeder 110, or where the workpieces are very light and their level is difficult to determine accurately using other methods. Example 5

[0115] like Figures 1 to 7 As shown, this embodiment provides a preferred spatial layout and working mode for an automated workpiece assembly system based on the above embodiments. This design aims to maximize production efficiency and flexibility.

[0116] Reference Figure 7 In this embodiment, the automated workpiece assembly system is deployed around a core assembly and processing device (e.g., an injection molding machine). A gripping mechanism 300, typically a multi-axis industrial robot, is placed in the central position, and its working range can cover all key equipment within the entire work unit.

[0117] A notable feature of this embodiment is that two identical, independent feeding and positioning subsystems are connected in parallel on one side of the gripping mechanism 300. Each subsystem consists of a feeding device 100 and an attitude correction device 200. Specifically, each feeding device 100 includes its own vibratory feeder 110 and an automatic replenishment assembly 120 for feeding it. These two subsystems can be considered as two parallel workpiece preparation lines.

[0118] This layout leads to the following efficient work modes: This layout significantly enhances the system's production flexibility. The two feeding devices 100 can be configured to supply two different types or specifications of workpieces. For example, the first feeding device 100 supplies workpiece type A, while the second supplies workpiece type B. When production needs to switch from type A to type B, operators do not need to perform time-consuming hardware replacements and adjustments. They only need to call the program in the control system to have the gripping mechanism 300 serve the second production line. The gripping mechanism 300 will automatically pick up materials from the second feeding device 100 and the attitude correction device 200, thus achieving near-zero downtime production switching. This is extremely valuable for multi-variety, small-batch production needs.

[0119] When producing a single type of workpiece, these two parallel subsystems can work together to shorten the production cycle. The operation of the attitude correction device 200 (especially the vibration positioning process) requires a certain amount of time. In this layout, the gripping mechanism 300 can adopt an alternating operation strategy: First, the gripping mechanism 300 grips a workpiece from the first feeding device 100 and places it on the first attitude correction device 200, which then begins attitude correction. During this period, the gripping mechanism 300 does not need to wait but immediately moves to the second feeding device 100 to grip a second workpiece and place it on the second attitude correction device 200. When it finishes placing the second workpiece, the first workpiece has likely already completed attitude correction. At this point, the gripping mechanism 300 can directly grip the positioned workpiece from the first attitude correction device 200 and send it to the assembly processing device. Through this parallel processing and flow operation, the waiting time of the attitude correction process is hidden in the other action time of the gripping mechanism 300, thereby minimizing the idle waiting time of the gripping mechanism 300 and significantly improving the output per unit time of the entire system.

[0120] The parallel layout also provides redundancy in system operation. During long-term production, any feeding device 100 or attitude correction device 200 may experience occasional malfunctions (such as workpiece jamming). In this case, the control system can pause the faulty line and instruct the gripping mechanism 300 to pick up material only from the other normal line, thereby ensuring the continuation of the entire production task and avoiding the risk of a complete production stoppage due to a local single point of failure, thus enhancing the robustness and reliability of the system.

[0121] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application. Any specific values ​​in all examples shown and discussed herein should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0122] Furthermore, it should be noted that the use of terms such as "first" and "second" is merely for ease of distinction, and unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0123] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic workpiece assembly system, characterized in that, The workpiece has positioning features, and the automatic workpiece assembly system includes: A feeding device (100) is used to supply the workpiece; An attitude correction device (200) is provided, comprising a drive assembly (210) and a feature matching part (220), wherein the feature matching part (220) corresponds to the positioning feature, the drive assembly (210) is used to drive the workpiece to move, and the attitude correction device (200) is used to receive the force applied to it by the workpiece, so that it moves autonomously until the positioning feature and the feature matching part (220) cooperate. The gripping mechanism (300) is used to grip the workpiece that has completed its posture positioning from the posture correction device (200) and place it in a preset installation position.

2. The automatic workpiece assembly system according to claim 1, characterized in that: The attitude correction device (200) also includes a base (230) and several positioning stations; Each of the positioning stations is provided with a positioning fence (240), the positioning fence (240) is provided on the base (230), and each of the positioning fences (240) is provided with a feature matching part (220); The drive assembly (210) is a vibrator, which is connected to the base (230).

3. The automatic workpiece assembly system according to claim 2, characterized in that: The positioning feature is a positioning groove provided at the bottom of the workpiece, and the feature matching part (220) is a positioning protrusion provided at the bottom of the positioning station. The positioning groove and the positioning protrusion are adapted to each other in shape.

4. The automatic workpiece assembly system according to claim 2, characterized in that: Each of the positioning stations is also equipped with a correct posture detector (250) to detect whether the workpiece has completed posture positioning.

5. The automatic workpiece assembly system according to claim 2, characterized in that: The gripping mechanism (300) includes a robot and a multi-functional gripper; The multifunctional clamp includes: The fixture body (311) is connected to the robot; The first gripper (312) is disposed on the fixture body (311) and is used to grip a single workpiece from the feeding device (100) and place it on the posture correction device (200); The second gripper (313) is disposed on the fixture body (311) and is used to simultaneously grip all the workpieces that have completed attitude positioning at the positioning stations from the attitude correction device (200).

6. The automatic workpiece assembly system according to claim 5, characterized in that: The second gripper (313) includes a push rod and a chuck; The chuck is located at the end of the push rod and is used to clamp the workpiece; The push rod is used to drive the chuck closer to or away from the clamp body (311).

7. The automatic workpiece assembly system according to claim 5, characterized in that: The multi-functional clamp also includes: The third gripper (314) is disposed on the fixture body (311) and is used to grip the assembled finished product from the preset installation position.

8. The automatic workpiece assembly system according to claim 1, characterized in that: The feeding device (100) includes: Vibratory feeder (110) is used to output the arranged workpieces; An automatic feeding assembly (120) is used to feed workpieces into the vibratory feeder (110).

9. The automatic workpiece assembly system according to claim 8, characterized in that: The feeding device (100) also includes a level detector, which is used to detect the amount of workpiece in the vibratory feeder (110).

10. The automatic workpiece assembly system according to claim 8, characterized in that: The automatic feeding assembly (120) includes a ramped belt conveyor and a storage area; The storage area is located at the inlet end of the inclined conveyor belt; The discharge end of the inclined belt conveyor faces the inlet of the vibratory feeder (110).

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