1. Parts alignment, delivery and escapement system The random parts are arranged automatically according to the space orientation which is convenient for the automatic processing of the machine, and then smoothly transported to the subsequent escapement to prepare for the subsequent grasping of the manipulator. 2. Grasping shifting placing mechanism The escapement point positioning zero (components) to seize or use vacuum sucked, and then moved to another location (usually assembly position). 3. Assembly working mechanism Refers to the completion of the assembly the main action mechanism, such as the workpiece clamping, pressing, screw, bonding, welding, snap, riveting, bonding, welding in the upper part. 4. Detection mechanism It is used to detect the work step by step on the assembled parts or machines, such as missing parts detection, size detection, defect detection, function detection and material cleaning detection. 5. Extraction mechanism of workpiece A mechanism used to classify and assemble qualified components and unqualified components from machines.