Fig. 1. Schematic diagram of parts to be assembled

Fig. 2. Overall schematic diagram of packaging system

Fig. 3. Visual and automatic feeding and blanking module

Fig. 4. Part fixture and auxiliary pin

Fig. 5. Operating workbench module

Fig. 6. Glue dispensing and parts picking module

Fig. 7. Pressing and locking module

Fig. 8. Locking mechanism

Fig. 9. Pin pressing process

Fig. 10. Establishment of space coordinate system

Fig. 11. Conversion relationship between O_p-uv and O_w-x_wy_w

Fig. 12. Conversion relationship between O_a-x_ay_a and O_w-x_wy_w

Fig. 13. Conversion relationship between O_w-z_w and O_a-x_ay_az_a

Fig. 14. Physical diagram of packaging system

Fig. 15. Stress test results

Fig. 16. Tightening force test results

Fig. 17. Measurement of upper cover assembly angle

Fig. 18. Measurement of the angle error of the assembly cover