Workpiece mounting system and mounting method

Abstract

The present application belongs to the field of workpiece installation, and particularly relates to a workpiece installation system and an installation method. The workpiece installation system comprises: a tray including a material clamp, the material clamp comprising a plurality of clamping plates; an installation positioning device comprising a positioning platform and a fifth linear movement mechanism, the positioning platform being used for bearing a workpiece during workpiece installation; a switch clamp device used for driving the clamping plates to switch between a folded state and an unfolded state; and a workpiece transfer device comprising a transfer positioning mechanism and a transfer mechanism, the transfer positioning mechanism being used for receiving a workpiece and adjusting the workpiece to a preset posture, and the transfer mechanism being used for transferring the workpiece in the adjusted posture to the positioning platform. The installation positioning device, the switch clamp device and the workpiece transfer device are integrated, the bearing height is set by the installation positioning device, the clamping plates are controlled to fold and unfold by the switch clamp device, and the workpiece after posture adjustment is provided by the workpiece transfer device, so that high-precision and small-contact-area installation of the workpiece on the material clamp is realized.

Description

Technical Field

[0001] This invention belongs to the field of workpiece installation, specifically relating to a workpiece installation system and installation method. Background Technology

[0002] In automated production lines, installing workpieces with annular inner walls onto material clamps on a tray typically involves multiple processes, including workpiece loading, posture adjustment, and clamping. In existing technologies, these processes are often completed by separate devices, such as a vibratory feeder or robotic arm for loading, a vision positioning platform for posture adjustment, and a separate clamping device for pressing the workpiece into the clamp. Workpiece transfer between these independent devices is handled by conveyor belts or robotic arms, requiring multiple grabbing and placing operations between processes. This numerous transfer points result in significant cumulative positioning errors, making it difficult to guarantee the precise final installation position of the workpiece. Furthermore, when workpieces flow between different devices, the working spaces of each device are isolated, leading to a large overall equipment footprint and a loose layout. Independent cycle control of each device makes it difficult to achieve close coordination and parallel operation between processes, limiting overall installation efficiency. For material clamps that elastically support the annular inner wall of the workpiece from the inside, the unique clamping principle and action sequence make it difficult for existing separate equipment architectures to precisely coordinate with the clamp's retraction, placement, and unfolding actions. Therefore, there is an urgent need for a workpiece mounting system that highly integrates workpiece transfer, positioning, and clamping functions to eliminate the accumulation of inter-process errors and achieve high-precision and high-efficiency workpiece mounting. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide a workpiece mounting system and method. It integrates a mounting and positioning device, a switching clamping device, and a workpiece transfer device. By setting the load-bearing height through the mounting and positioning device, controlling the opening and closing of the clamping plates through the switching clamping device, and providing the adjusted workpiece through the workpiece transfer device, high-precision, small-contact-area automated mounting of the workpiece on the material clamp is achieved.

[0004] This invention provides a workpiece mounting system, comprising: A material tray with a material clamp on it, the material clamp including a plurality of clamping plates that can be folded or unfolded, the clamping plates being used to hold the annular inner wall of the workpiece when unfolded; The installation positioning device includes a positioning platform and a fifth linear motion mechanism for driving the positioning platform to rise and fall. The positioning platform is used to carry the workpiece and position the workpiece at a preset height of the material clamp during workpiece installation. A switching clamping device is used to drive the clamping plate to switch between a retracted state and an extended state; A workpiece transfer device includes a transfer positioning mechanism and a transfer mechanism. The transfer positioning mechanism is used to receive the workpiece and adjust it to a preset posture, and the transfer mechanism is used to transfer the workpiece after the posture adjustment to the positioning platform. When the workpiece is installed into the material clamp, the fifth linear motion mechanism drives the positioning platform to move to a preset height, the switching clamp device drives the clamping plate to close, the transfer mechanism transfers the workpiece onto the positioning platform and makes the annular inner wall of the workpiece fit with the closed clamping plate with a gap, and then the switching clamp device drives the clamping plate to open to abut against the annular inner wall of the workpiece, thereby achieving fixed positioning of the workpiece and the material clamp.

[0005] In one embodiment, the switch clamp device includes two clamping rods that can be brought closer together or moved further apart, and an abutment block disposed on the clamping rods; When the two clamping rods come closer together, the abutment block is driven to push against the clamping plate, so that the clamping plate closes.

[0006] In one embodiment, multiple material clamps are arranged in a rectangular array on the material tray, the length of the clamping rod covers at least one row or one column of the material clamps, and the number of abutment blocks on the clamping rod is consistent with the number of material clamps in the corresponding row or column.

[0007] In one embodiment, the transfer positioning mechanism includes a rotating shaft, a transfer platform disposed on the end face of the rotating shaft, and a clamping mechanism disposed on the outside of the transfer platform; The transfer platform is provided with a negative pressure suction hole on its end face for connecting a negative pressure mechanism; After the workpiece is transferred to the transfer platform, the clamping mechanism clamps the annular outer wall of the workpiece. The rotating shaft rotates to misalign the negative pressure suction hole with the hole on the end plate of the workpiece. The negative pressure mechanism is activated and the clamping mechanism is released, so that the workpiece is adsorbed and fixed on the transfer platform for angle adjustment.

[0008] In one embodiment, the workpiece transfer device further includes a flexible gripper mechanism, which includes a flexible gripper and a second moving mechanism for driving the flexible gripper to move. The workpiece has an annular end plate, and the flexible claw is configured to extend into the inner ring of the end plate of the workpiece and unfold to fix the workpiece and transfer the workpiece to the transfer positioning mechanism.

[0009] In one embodiment, a first vision module is also included, the first vision module being configured to identify the tip height position of the clamp; The fifth linear motion mechanism drives the positioning platform to move to the preset height based on the recognition result of the first vision module.

[0010] In one embodiment, the positioning platform includes a positioning plate and a positioning platform disposed on the top of the positioning plate, wherein the positioning plate has a through hole for the abutment block to pass through; When the clamping rods are brought closer together, the abutting block passes through the through hole and pushes the clamping plate to retract.

[0011] In one embodiment, the switch clamp device further includes a dual-coordinate moving platform, and the clamping rod is disposed on the dual-coordinate moving platform; The dual-coordinate moving platform is configured to drive the clamping rod to move along the row direction of the material clamp to switch workstations, and to move in a direction perpendicular to the plane of the positioning platform to avoid or approach the clamping plate.

[0012] In one embodiment, a fourth vision module is also included, which is used to acquire the actual posture of the workpiece on the transfer positioning mechanism; The transfer positioning mechanism rotates and adjusts the workpiece to the preset posture based on the acquisition result of the fourth vision module.

[0013] The present invention also provides a workpiece mounting method using the above-described workpiece mounting system, characterized by comprising the following steps: S1. The fifth linear motion mechanism drives the positioning platform to move to a preset height; S2. The switch clamping device drives the clamping plate to retract; S3. The workpiece transfer device loads the workpiece to the transfer positioning mechanism. After the transfer positioning mechanism adjusts the workpiece to a preset posture, the transfer mechanism transfers the workpiece to the positioning platform, so that the annular inner wall of the workpiece is in clearance fit with the clamping plate in the folded state. S4. The switch clamping device drives the clamping plate to unfold, so that the clamping plate abuts against the annular inner wall of the workpiece, thereby achieving the fixed positioning of the workpiece and the material clamp; S5. The fifth linear motion mechanism drives the positioning platform to reset.

[0014] The beneficial effects of this invention are as follows: The workpiece mounting system provided by this invention integrates the workpiece transfer device, the mounting and positioning device, and the switching clamping device around the material clamp in the same system. The entire process from workpiece posture adjustment to final mounting and positioning requires no transfer between devices. Posture and position accuracy are directly transferred and guaranteed by the transfer and positioning mechanism, the positioning platform, and the clamping plate, eliminating the cumulative errors caused by multiple transfers and significantly improving installation accuracy. Each device works collaboratively in space and time. The mounting and positioning device pre-sets the positioning platform height, and the switching clamping device pre-closes the clamping plate. The workpiece is directly placed onto the ready positioning platform by the transfer mechanism, and the clamping plate immediately unfolds and tightens. The actions are tightly connected, significantly shortening the installation cycle time. The entire system has a compact structure and high space utilization. The installation process does not require external force to clamp the workpiece; it relies on the elasticity of the clamping plate for automatic tightening. There is no damage to the workpiece surface, and the contact area is small. It is suitable for large-volume, high-precision installation of precision workpieces with stringent surface treatment requirements. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the workpiece mounting system of the present invention. Figure 2 This is a schematic diagram of the structure for installing the positioning device in this invention; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a schematic diagram of the switch clamp device in this invention; Figure 5 This is a schematic diagram showing the usage state of the positioning device, the switch clamping device, the material tray, and the workpiece in this invention. Figure 6 This is a partially enlarged structural diagram of the positioning device, switch clamping device, material tray, and workpiece in use according to the present invention. Figure 7 for Figure 5 A magnified view of a section at point B in the middle; Figure 8 This is a schematic diagram of the transfer and positioning mechanism in this invention; Figure 9 This is an enlarged structural schematic diagram of the transfer and positioning mechanism in this invention; Figure 10 This is a top view of the transfer and positioning mechanism in this invention; Figure 11 for Figure 10 C-axis sectional view; Figure 12 for Figure 10 Sectional view along the DD direction; Figure 13 This is a schematic diagram of the transfer mechanism and the flexible gripper mechanism in this invention; Figure 14 This is a schematic diagram of the material tray structure in this invention; Figure 15 This is a schematic diagram of the workpiece structure in this invention.

[0016] In the diagram, 1-material cart; 2-buffer bin device; 5-installation and positioning device; 501-fifth linear movement mechanism; 502-positioning platform; 5021-positioning plate; 50211-through hole; 5022-positioning table; 503-sixth linear movement mechanism; 6-switch clamp device; 601-clamping rod; 6011-positioning mounting groove; 602-abutment block; 603-dual coordinate moving platform; 8-workpiece loading mechanism; 9-flexible gripper mechanism; 901-second moving mechanism; 902-flexible gripper; 11-transfer positioning mechanism; 1101-rotating shaft; 1102-transfer platform; 1103-clamping mechanism; 11031-fixed block; 11032-clamping block; 11032 1-First wedge; 11033-First elastic element; 11034-Release drive mechanism; 110341-Seventh linear movement mechanism; 110342-Second wedge; 1104-Negative pressure suction hole; 1105-Hollow shaft motor; 12-Transfer mechanism; 1201-First moving mechanism; 1202-Suction cup mechanism; 13-Third vision module; 14-Fourth vision module; 19-Plate; 1901-Pin mating structure; 1902-Main beam; 1903-Secondary beam; 1904-Material clamp; 19041-Clamping plate; 20-Workpiece; 2001-Annular sidewall; 20011-Annular inner wall; 20012-Annular outer wall; 2002-End plate; 2003-Hole. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0019] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0022] As shown in the attached figures, this invention relates to an automated workpiece handling system, and more particularly to a production line system for high-precision positioning, clamping, surface treatment, and automatic unloading of a workpiece 20 with an annular inner wall 20011. The system mainly consists of two parts working together: a pre-processing loading system and a post-processing unloading system, achieving full automation of the entire process of workpiece 20 from loading onto the material cart 1, high-precision installation onto the material tray 19, process handling, to unloading and recycling.

[0023] The pre-processing loading system is used to precisely mount the workpiece 20 into the material clamp 1904 on the material tray 19, fixing the workpiece 20 with its annular inner wall 20011 for subsequent processing steps such as spraying, electroplating, or drying. It mainly includes a material cart 1, a buffer bin device 2, a workpiece loading mechanism 8, a flexible gripper mechanism 9, a transfer positioning mechanism 11, a transfer mechanism 12, an installation positioning device 5, and a switching clamp device 6. The material cart 1 and the buffer bin device 2 are used for batch buffering and conveying the material tray 19 carrying the material clamp 1904. The workpiece loading mechanism 8, the flexible gripper mechanism 9, the transfer positioning mechanism 11, and the transfer mechanism 12 grip the bulk workpiece 20, perform high-precision angle and attitude adjustments on the transfer platform 1102, and then transfer it to the clamping position via the suction cup mechanism 1202. The mounting and positioning device 5 drives the positioning platform 502 through the fifth linear movement mechanism 501 to provide a precise bearing height. The switching clamp device 6 drives the clamping plate 19041 of the material clamp 1904 to retract through the clamping rod 601 and the abutment block 602, providing a non-interference placement space for the workpiece 20. After the workpiece 20 is in place, the clamping plate 19041 unfolds and abuts against the annular inner wall 20011 of the workpiece 20, achieving a small contact area and high precision fixation.

[0024] The following is a detailed description of the workpiece mounting system for the workpiece 20, which has an annular inner wall 20011. This workpiece mounting system is a core component of the pre-treatment feeding system and is used to precisely mount the workpiece 20 into the material clamp 1904 on the material tray 19, fixing the workpiece 20 in a clamped manner with the annular inner wall 20011, so as to facilitate subsequent processing steps such as spraying, electroplating, or drying. This mounting device receives the workpiece 20, which has been adjusted in posture from the workpiece transfer device (including the transfer positioning mechanism 11 and the transfer mechanism 12), and precisely mounts the workpiece 20 onto the positioned and locked material clamp 1904 on the material tray 19.

[0025] In one embodiment, the workpiece mounting system includes a workpiece mounting device with an annular inner wall, comprising a material tray 19, a switching clamp device 6, and a mounting positioning device 5. The material tray 19 serves as a carrier for the material clamp 1904 and is conveyed and positioned by the material rack conveying and fixing device 4 of the feeding system.

[0026] The material tray 19 is provided with a material clamp 1904, which includes a plurality of clamping plates 19041. The clamping plates 19041 are used to abut against the annular inner wall 20011 of the workpiece 20 when unfolded. In its natural state, the clamping plates 19041 are unfolded by their own elastic restoring force. The outer surface of each clamping plate 19041 is used to abut against the annular inner wall 20011 of the workpiece 20, and to tighten and fix the workpiece 20 from the inside, thereby achieving a clamping method with a small contact area and reducing obstruction to the surface of the workpiece 20.

[0027] The switching clamping device 6 is used to retract several clamping plates 19041 together, separating the clamping plates 19041 from the annular inner wall 20011 of the workpiece 20 during retraction. The switching clamping device 6 is positioned at the mounting station below the material tray 19 and provides the retraction driving force for the clamping plates 19041 during workpiece 20 mounting. When the clamping plates 19041 retract, the outer surfaces of each clamping plate 19041 radially retract inward, forming a gap with the annular inner wall 20011 of the workpiece 20, providing interference-free space for the placement of the workpiece 20.

[0028] The installation and positioning device 5 includes a fifth linear motion mechanism 501 and a positioning platform 502 disposed on the output end of the fifth linear motion mechanism 501. The fifth linear motion mechanism 501 is arranged vertically, and the positioning platform 502 is installed on the output end of the fifth linear motion mechanism 501 and is driven by the fifth linear motion mechanism 501 to move vertically up and down. The positioning platform 502 is arranged around the outside of several clamping plates 19041, and the top of the positioning platform 502 is used to support the workpiece. The positioning platform 502 has a ring-shaped or split structure, surrounding the periphery of each clamping plate 19041 of the material clamp 1904, and its top bearing surface is used to receive the workpiece 20 from the transfer mechanism 12 and stably support the workpiece 20 at a preset height.

[0029] When the workpiece 20 is installed onto the material clamp 1904, the switching clamp device 6 causes several clamping plates 19041 to retract towards each other. The fifth linear movement mechanism 501 drives the positioning platform 502 to a set height. After the workpiece 20 is transferred onto the positioning platform 502, the switching clamp device 6 causes several clamping plates 19041 to unfold and clamp the workpiece 20, thus fixing the clamping plates 19041 and the workpiece 20 in a set relative position. The specific working process is as follows: First, the first vision module identifies the height position of the tips of each clamping plate 19041 of the material clamp 1904. The fifth linear movement mechanism 501 drives the positioning platform 502 to rise and fall to a set height based on the vision recognition result, so that the top bearing surface of the positioning platform 502 maintains a preset vertical distance between the tips of the clamping plates 19041. Then, the switching clamp device 6 is activated, driving each clamping plate 19041 to retract towards each other, and the outer surface of the clamping plates 19041 radially retracts inward. Subsequently, the transfer mechanism 12 transfers the workpiece 20, which has already undergone attitude adjustment on the transfer positioning mechanism 11, to the top bearing surface of the positioning platform 502. At this time, the annular inner wall 20011 of the workpiece 20 is fitted around the retracted clamping plates 19041, maintaining a clearance fit between them without contact. Next, the switching clamping device 6 releases the retracting driving force on the clamping plates 19041. Under the action of their own elastic restoring force, each clamping plate 19041 automatically unfolds outward, and the outer surface of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20, supporting and fixing the workpiece 20 from the inside. Finally, the fifth linear movement mechanism 501 drives the positioning platform 502 to descend and reset, moving away from below the workpiece 20, completing the installation of the workpiece 20 and the material clamp 1904 in the set relative position.

[0030] In this embodiment, the workpiece mounting device with an annular inner wall achieves high-precision positioning and installation of the workpiece 20 on the material clamp 1904 through the coordinated operation of the mounting positioning device 5 and the switching clamp device 6. The positioning platform 502 provides a precise bearing height, ensuring the relative positional accuracy of the workpiece 20 and the material clamp 1904 in the vertical direction; the switching clamp device 6 controls the timing of the retraction and expansion of the clamping plate 19041, allowing the workpiece 20 to be placed in a non-interference state, and then automatically tightened and fixed by the elastic restoring force of the clamping plate 19041. The entire installation process does not require applying external force to clamp the workpiece 20, avoiding damage to the surface of the workpiece 20. Since the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20 only contact at a few points or along a line, the contact area is small, so that the workpiece 20 is almost unobstructed during subsequent processes such as spraying, electroplating, or drying, resulting in good processing uniformity.

[0031] Meanwhile, this installation device enables efficient unidirectional installation of workpiece 20. Workpiece 20 only needs to be fitted vertically from top to bottom onto the retracted clamping plate 19041, and the clamping plate 19041 will elastically unfold to complete the fixation. The installation action is simple and fast. After installation, the clamping plate 19041 elastically supports the annular inner wall 20011 of workpiece 20 from the inside, and the supporting force is evenly distributed along the circumference. Workpiece 20 remains stable during subsequent flipping, handling, and processing of the tray 19 and will not loosen due to vibration or changes in the direction of gravity. In addition, the high-precision positioning installation also facilitates automated gripping and alignment in subsequent processes. This mounting device is particularly suitable for applications where the workpiece 20 needs to undergo immersion electroplating, high-temperature baking, or powder coating. In these processes, the tray 19 may be flipped, tilted, or completely immersed in liquid. The elastic clamping method can still reliably fix the workpiece 20 when the temperature changes, liquid impact, or the direction of gravity changes. Moreover, the small contact area does not affect the uniformity and integrity of the plating or coating. It overcomes the problems of traditional external clamping methods that easily block the surface, loosen due to temperature, or have reduced clamping force during immersion.

[0032] Furthermore, this fixing method, which uses clamping plates 19041 to elastically support the workpiece 20 from the inside of the annular inner wall 20011 outwards, has significant technical advantages. Since the clamping plates 19041 only contact the annular inner wall 20011 of the workpiece 20 at several points or along a line, the annular outer wall 20012 and the outer surface of the end plate 2002 of the workpiece 20 are completely exposed without any clamping components obstructing the view. In subsequent surface treatment processes such as spraying, electroplating, and powder coating, the treatment medium can evenly cover all exposed surfaces of the workpiece 20, avoiding the processing dead corners or clamping marks caused by the clamping claws in traditional external clamping methods. The clamping plate 19041 relies on its own elastic restoring force to support the workpiece 20 from the inside out. The supporting force is evenly distributed along the circumferential direction of the annular inner wall 20011. Regardless of whether the tray 19 is in the forward, inverted, tilted or even flipped state, the direction of the supporting force on the workpiece 20 is always radiating from the inside out, independent of the direction of gravity. It remains stable during subsequent flipping, handling, vibration and multi-position processing, and will not loosen or shift due to changes in the direction of gravity or vibration. In high-temperature baking and other processing environments, when workpiece 20 and clamping plate 19041 undergo thermal expansion, the elastic clamping mechanism of clamping plate 19041 can automatically adapt to the dimensional changes of the annular inner wall 20011 caused by thermal expansion. When workpiece 20 expands due to heat, clamping plate 19041 can be slightly compressed inward. When workpiece 20 cools and contracts, clamping plate 19041 automatically moves outward under the action of elastic restoring force, always maintaining a tight fit with the annular inner wall 20011. Compared with rigid clamping or screw locking, it will not cause workpiece 20 to deform or clamping to loosen due to differences in thermal expansion. In liquid environments such as immersion electroplating or chemical treatment, the elastic clamping force of clamping plate 19041 is provided by the elasticity of the material itself and is independent of the surrounding medium. The clamping force is not affected by changes in liquid buoyancy, fluid impact, or friction. Workpiece 20 will not detach from material clamping plate 1904 during immersion, stirring, or liquid flow. Simultaneously, during the unfolding process, each clamp 19041 expands outward synchronously, with its outer surface contacting the annular inner wall 20011 of the workpiece 20. This automatically pushes the workpiece 20 to a position concentric with the material clamp 1904, achieving automatic centering and compensating for minor positional deviations of the workpiece 20 on the positioning platform 502, thus reducing the placement accuracy requirements of the upstream transfer mechanism 12. Furthermore, the clamp 19041 maintains its grip on the workpiece 20 using its own elastic restoring force, eliminating the need for continuous external power supply such as air, electricity, or hydraulics. The clamping force remains constant and stable throughout the entire flow and processing of the material tray 19. Even if the material tray 19 detaches from the equipment and enters a process chamber or storage area without a power source, the workpiece 20 remains reliably fixed. The magnitude of the elastic clamping force can be precisely designed by the material, cross-sectional shape and size of the clamping plate 19041 to ensure that the clamping force is sufficient to fix the workpiece 20 without causing plastic deformation or surface scratches on the annular inner wall 20011, and without damaging the workpiece 20. It is especially suitable for precision, thin-walled or low surface hardness workpieces 20.

[0033] Compared with the conventional assembly method that achieves the mating of workpiece 20 and clamping plate 19041, the assembly method adopted in this solution, which involves first retracting clamping plate 19041, supporting it with positioning platform 502, and then unfolding clamping plate 19041, has significant advantages. Conventional assembly methods typically involve directly pressing or pushing workpiece 20 into clamping plate 19041, which is already in an unfolded state. During installation, the annular inner wall 20011 of workpiece 20 and the outer surface of clamping plate 19041 continuously rub against each other, easily scratching the annular inner wall 20011 of workpiece 20 or the surface of clamping plate 19041. Long-term use may also lead to wear and elasticity loss in clamping plate 19041, affecting clamping accuracy and service life. In this solution, the clamping device 6 first retracts each clamping plate 19041 synchronously, so that an installation gap is formed between the outer side of the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20. After the workpiece 20 is supported by the positioning platform 502 at a precisely set height, the clamping plate 19041 then elastically unfolds and tightens the workpiece 20. Throughout the process, there is no frictional contact between the workpiece 20 and the clamping plate 19041, which protects the surface quality of the workpiece 20 and extends the service life of the clamping plate 19041. Meanwhile, in conventional methods, the vertical position of workpiece 20 is difficult to accurately determine, often relying on the mechanical limiting of the workpiece 20 end plate 2002 and the bottom of clamping plate 19041 or the surface of tray 19. The positional accuracy is greatly affected by the machining tolerances and assembly errors of the parts. In this solution, the fifth linear movement mechanism 501 drives the positioning platform 502 to a set height. The workpiece 20 is first accurately supported by the positioning platform 502, and then unfolded and tightened by the clamping plate 19041. The vertical installation position is precisely determined by the height of the positioning platform 502, and is not affected by the dimensional tolerances of the clamping plate 19041 itself, resulting in higher installation accuracy and better consistency. In addition, conventional methods usually require a separate clamping drive mechanism for each workpiece 20 or press-fitting the workpiece 20 one by one, which is complex and slow. In this solution, the long clamping rod 601 drives multiple abutment blocks 602 to synchronously drive the entire row of clamping plates 19041 to retract, and multiple positioning platforms 502 synchronously support the entire row of workpieces 20, realizing the batch synchronous installation of multiple workpieces 20 in one row, significantly improving efficiency.

[0034] In one embodiment, the switch clamping device 6 includes two clamping rods 601 that are positioned towards and away from each other, and abutment blocks 602 disposed on the clamping rods 601. The two clamping rods 601 are positioned opposite each other on both sides of the material clamp 1904 and arranged horizontally. Each clamping rod 601 has an abutment block 602 disposed at a position corresponding to the clamping plate 19041, and the abutment block 602 extends toward the clamping plate 19041. The two clamping rods 601 can be driven by a drive mechanism such as a cylinder, an electric push rod, or a cam mechanism to achieve the action of moving closer or further apart.

[0035] The two clamping rods 601 move closer to each other, and the drive abutment block 602 abuts against the clamping plate 19041 and moves closer to each other.

[0036] In one embodiment, the opposing sidewalls of the two clamping rods 601 are provided with positioning mounting grooves 6011 that fit into the outer contour of the workpiece 20. The positioning mounting grooves 6011 are used to engage with the annular outer wall 20012 of the workpiece 20 when the clamping rods 601 are brought together, thereby assisting in the positioning of the workpiece 20. Specifically, when it is necessary to retract the clamping plates 19041, the two clamping rods 601 move synchronously toward the material clamp 1904 under the drive of the drive mechanism. The abutment blocks 602 provided on the clamping rods 601 move with the clamping rods 601, abutting against the outer side or end of each clamping plate 19041 from the outside, and continuing to press inward, overcoming the elastic restoring force of the clamping plates 19041 themselves, and driving each clamping plate 19041 to retract inward. After being retracted, the outer surfaces of each clamping plate 19041 radially retract inward, forming a gap with the annular inner wall 20011 of the workpiece 20 to be installed, providing an interference-free space for the placement of the workpiece 20. When the workpiece 20 is transferred to the positioning platform 502 and the annular inner wall 20011 is fitted around the retracted clamping plate 19041, the two clamping rods 601 move outward synchronously under the drive of the drive mechanism, the abutment block 602 disengages from the clamping plate 19041, and the clamping plate 19041 automatically unfolds outward under its own elastic restoring force, abutting against the annular inner wall 20011 of the workpiece 20, thus completing the clamping and fixing of the workpiece 20.

[0037] In this embodiment, the switch clamp device 6 employs two clamping rods 601 that move closer or further apart simultaneously. Through the abutment block 602, each clamping plate 19041 is simultaneously squeezed or released from the outside, achieving synchronous retraction or expansion of the entire row or group of material clamps 1904. This design is simple in structure, reliable in operation, and avoids the need for a separate drive mechanism for each material clamp 1904, reducing equipment complexity. The synchronous drive of the clamping rods 601 ensures the consistency of the retraction and expansion actions of each clamping plate 19041, improving the accuracy and stability of workpiece 20 installation.

[0038] In one embodiment, the positioning platform 502 includes two positioning plates 5021 and a positioning platform 5022 disposed on top of the two positioning plates 5021. The two positioning plates 5021 are disposed opposite each other on both sides of the material clamp 1904 and extend vertically. Each positioning plate 5021 has a positioning platform 5022 on its top, and the top bearing surface of the positioning platform 5022 is used to jointly bear the workpiece 20. The two positioning plates 5021 can be driven by a driving mechanism to move closer or further apart to accommodate workpieces 20 of different specifications or to achieve clearance.

[0039] The positioning plate 5021 is provided with a through hole 50211 for the abutment block 602 to pass through. The through hole 50211 is formed on the surface of the positioning plate 5021, and its position corresponds to the abutment block 602 of the switch clamping device 6. When the switch clamping device 6 is activated and the two clamping rods 601 move closer together, the abutment block 602 can pass through the through hole 50211 on the positioning plate 5021, from the outside of the positioning plate 5021 to the inside, and then abut against the clamping plate 19041 of the material clamp 1904, driving the clamping plate 19041 to close. The through hole 50211 provides a channel for the abutment block 602 to pass through the positioning plate 5021, so that the positioning plate 5021 can coexist with the abutment block 602 in space without having to avoid it, resulting in a compact structure.

[0040] In this embodiment, by opening a through hole 50211 on the positioning plate 5021 for the abutment block 602 to pass through, the switch clamping device 6 can drive the abutment block 602 through the through hole 50211 from the outside of the positioning platform 502 to act on the clamping plate 19041 of the material clamp 1904, thus achieving a compact spatial layout of the switch clamping device 6 and the mounting positioning device 5. In this structure, both the switch clamping device 6 and the mounting positioning device 5 can be arranged below the material tray 19, while the space above the material tray 19 is completely open, without any driving mechanism or positioning component occupying it. The open space above the material tray 19 provides ample operating space for the transfer mechanism 12 and its suction cup mechanism 1202. The transfer mechanism 12 can smoothly transfer the workpiece 20 from top to bottom onto the positioning table 5022 of the positioning platform 502, with an unobstructed transfer path and simple, efficient operation. Meanwhile, since both the switch clamp device 6 and the mounting and positioning device 5 are located below the material tray 19, a material tray conveying mechanism or other conveying device can be configured above the material tray 19 to directly grab or remove the material tray 19 from above without having to avoid the drive mechanism, which facilitates the coordinated operation of multiple devices and the optimized spatial layout of the overall equipment.

[0041] In one embodiment, the through hole 50211 extends and penetrates the positioning platform 5022, so that the positioning platforms 5022 on each positioning plate 5021 are arranged in two opposite positions. That is, the through hole 50211 extends upward from the plate surface of the positioning plate 5021 and penetrates to the top bearing surface of the positioning platform 5022, dividing the positioning platform 5022 into two independent bearing blocks arranged opposite each other along the extension direction of the through hole 50211. The two bearing blocks are located on both sides of the through hole 50211, and together form the top bearing surface of the positioning platform 5022, which is used to support the bottom of the annular end plate 2002 of the workpiece 20. The through hole 50211, penetrating the positioning table 5022, provides a complete channel for the abutment block 602 to travel from the outside of the positioning plate 5021 through the through hole 50211 to the outside of the clamping plate 19041. The vertical movement of the abutment block 602 within the through hole 50211 is not limited by the positioning table 5022, allowing for more flexible adjustment of the contact height and force application position with the clamping plate 19041. Simultaneously, although the positioning table 5022 is divided into two parts, the two bearing blocks are symmetrically distributed on both sides of the through hole 50211. After the workpiece 20 is placed, its bottom surface of its end plate 2002 simultaneously contacts the tops of both bearing blocks, ensuring stable and reliable bearing.

[0042] In this embodiment, by passing the through hole 50211 through the positioning table 5022, the abutment block 602 can move freely within the height range of the positioning table 5022. The layout of the switch clamp device 6 and the mounting positioning device 5 in the height direction is more compact, eliminating the need to reserve extra clearance space for the abutment block 602 above or below the positioning table 5022, thus reducing the overall height of the equipment. At the same time, the positioning table 5022, even after being divided into two parts, still maintains symmetrical load-bearing capacity, without affecting the stable support for the workpiece 20, achieving non-interference between the drive channel and the load-bearing function.

[0043] In one embodiment, the two positioning plates 5021 are configured to move closer together or further apart. The positioning platform 502 also includes a positioning plate driving mechanism, on which both positioning plates 5021 are disposed. The positioning plate driving mechanism drives the two positioning plates 5021 to move closer or further apart synchronously in the horizontal direction. The positioning plate driving mechanism can be a lead screw pair, a cylinder, or a synchronous belt mechanism, etc.

[0044] During the installation of workpiece 20, when it is necessary to support workpiece 20, the two positioning plates 5021 are first driven by the positioning plate drive mechanism to a close-to-each-other state, so that the distance between the two positioning platforms 5022 matches the size of the annular end plate 2002 of the workpiece 20 to be installed, thereby stably supporting workpiece 20. After workpiece 20 has been firmly fixed by the clamping plate 19041 of the material clamp 1904, the fifth linear movement mechanism 501 drives the positioning platform 502 to descend and reset. The two positioning plates 5021 can then be driven by the positioning plate drive mechanism to move away from each other and expand outward to make room, providing more clearance for the removal of the subsequent material tray 19 or the operation of the next process. In addition, when it is necessary to adapt to workpieces 20 of different specifications and sizes, the span between the two positioning platforms 5022 can be changed by adjusting the distance between the two positioning plates 5021, so as to adapt to the end plate 2002 of workpiece 20 with different diameters, without the need to replace the positioning platform 502, thus improving the versatility and changeover efficiency of the device.

[0045] In this embodiment, by configuring the two positioning plates 5021 to be close together or far apart, the positioning platform 502 can provide stable support matching the size of the workpiece 20 during installation, and can also move outward after installation to make room for the flow of the material tray 19 and the movement of other mechanisms, avoiding interference. At the same time, the adjustable spacing design allows one positioning platform 502 to adapt to workpieces 20 of various specifications, reducing changeover time and spare parts costs.

[0046] In one embodiment, multiple material clamps 1904 are arranged in a rectangular array. That is, multiple material clamps 1904 are regularly arranged along the row and column directions on the material tray 19, and each material clamp 1904 includes several clamping plates 19041 for independently clamping a workpiece 20. The rectangular array layout allows the material tray 19 to carry multiple workpieces 20 at one time, improving the single tray capacity and the batch efficiency of subsequent processing.

[0047] The length of the clamping rod 601 is longer than that of a column of material clamps 1904, and the number of abutment blocks 602 on the clamping rod 601 is the same as the number of material clamps 1904 in a column. Specifically, each clamping rod 601 extends along the column direction of the material clamps 1904, and its length covers the distribution range of the entire column of material clamps 1904. Multiple abutment blocks 602 are spaced apart along the length of the clamping rod 601, and the spacing of each abutment block 602 corresponds one-to-one with the spacing of adjacent material clamps 1904 in a column, so that when the clamping rod 601 moves closer, each abutment block 602 on it can simultaneously abut against the clamping plate 19041 of each material clamp 1904 in the corresponding column. Two clamping rods 601 are respectively set on both sides of the material clamp 1904 array. A single approaching action can synchronously drive all the clamping plates 19041 of the entire column of material clamps 1904 to close, and a single moving away action can synchronously release all the clamping plates 19041 of the entire column of material clamps 1904 to unfold.

[0048] Multiple fifth linear motion mechanisms 501 and positioning platforms 502 are arranged along a column direction. That is, along the distribution direction of a column of material clamps 1904, a set of fifth linear motion mechanisms 501 and positioning platforms 502 are respectively arranged for each material clamp 1904. The positioning platforms 502 are arranged around the periphery of each clamp plate 19041 of the corresponding material clamp 1904. Multiple sets of positioning platforms 502 can be raised and lowered synchronously or independently to accommodate the slight differences in the height of the tips of the clamp plates 19041 of each material clamp 1904.

[0049] During the installation of workpiece 20, the switch clamping device 6 drives the two clamping rods 601 to move closer together. The abutment blocks 602 on the clamping rods 601 pass through the through holes 50211 on the corresponding positioning plates 5021, and simultaneously abut against and press the clamping plates 19041 of each row of material clamps 1904, so that all the clamping plates 19041 in the row are closed synchronously. Then, the transfer mechanism 12 transfers the multiple workpieces 20 that have completed the attitude adjustment to the positioning tables 5022 of each positioning platform 502, and the annular inner wall 20011 of each workpiece 20 is respectively fitted around the corresponding clamping plate 19041 in the closed state. Subsequently, the two clamping rods 601 move away from each other, and the abutting blocks 602 release their pressure on the clamping plates 19041 simultaneously. Under the action of their own elastic restoring force, the clamping plates 19041 of the entire row of material clamps 1904 expand outward simultaneously and abut against the annular inner wall 20011 of the corresponding workpiece 20, thus completing the synchronous installation of the entire row of workpieces 20 in one go.

[0050] In this embodiment, by arranging the material clamps 1904 in a rectangular array, combined with the structure of long clamping rods 601, multiple abutment blocks 602, and a row of multiple positioning platforms 502, the batch synchronous installation of multiple workpieces 20 in a row is achieved, significantly improving installation efficiency. The clamping rods 601 can simultaneously retract or release all the clamping plates 19041 in a single action, resulting in a simple drive structure and good action consistency. Each positioning platform 502 can be raised and lowered independently. Combined with the independent identification of the tip height of each material clamp 1904's clamping plate 19041 by the first vision module, manufacturing and assembly tolerances of each material clamp 1904 can be compensated for, ensuring the installation height accuracy of each workpiece 20. This batch installation method is particularly suitable for automated production lines with high-volume production, significantly shortening the installation cycle time for a single piece while ensuring installation accuracy and consistency.

[0051] In one embodiment, the clamping rod 601 and the clamping drive mechanism are mounted on a dual-coordinate moving platform 603. One direction of movement of the dual-coordinate moving platform 603 is parallel to the row direction of the material clamps 1904, and the other direction of movement is perpendicular to the plane direction of the positioning platform 502. The dual-coordinate moving platform 603 provides the clamping rod 601 with two degrees of freedom of movement. Movement along the row direction of the material clamps 1904 drives the clamping rod 601 to switch positions between different columns of material clamps 1904, enabling the switching clamp device 6 to process each row or column of material clamps 1904 in the rectangular array column by column. The movement along the direction perpendicular to the plane of the positioning platform 502 is used to drive the clamping rod 601 to approach or move away from the clamping plate 19041. When the clamping rod 601 approaches, the abutment block 602 abuts against and squeezes the clamping plate 19041 to make it close. When the clamping rod 601 moves away, the abutment block 602 releases the squeezing of the clamping plate 19041, and the clamping plate 19041 unfolds elastically.

[0052] The installation and positioning device 5 also includes a sixth linear moving mechanism 503. Several fifth linear moving mechanisms 501 are mounted on the sixth linear moving mechanism 503, and the moving direction of the sixth linear moving mechanism 503 is parallel to the row direction of the material clamps 1904. That is, multiple sets of fifth linear moving mechanisms 501 and their positioning platforms 502 arranged along a column direction are all mounted on the output end of the sixth linear moving mechanism 503, and are driven by the sixth linear moving mechanism 503 to move along the row direction of the material clamps 1904. The row-direction moving stroke of the sixth linear moving mechanism 503 matches the row-direction distribution range of the material clamp array 1904, allowing the entire column of positioning platforms 502 to synchronously switch positions between different columns of material clamps 1904 with the clamping rods 601 of the switching clamp device 6.

[0053] When installing workpieces 20 in batches, firstly, the dual-axis moving platform 603 drives the clamping rod 601 to move to the row position corresponding to the first column of material clamps 1904. Simultaneously, the sixth linear moving mechanism 503 drives the entire column positioning platform 502 to move to the same row position, so that each positioning platform 502 surrounds the periphery of each material clamp 1904 in the first column. Then, following the aforementioned installation process for one column of workpieces 20, the installation of all workpieces 20 in the first column is completed. After the first column is installed, the dual-axis moving platform 603 drives the clamping rod 601 to move along the row direction to the row position corresponding to the second column of material clamps 1904. Simultaneously, the sixth linear moving mechanism 503 drives the entire column positioning platform 502 to move to the same row position to install the second column of workpieces 20. This cycle continues column by column until all material clamps 1904 on the material tray 19 have completed the installation of workpieces 20.

[0054] In this embodiment, by setting the clamping rod 601 on the dual-coordinate moving platform 603 and setting multiple sets of fifth linear moving mechanisms 501 on the sixth linear moving mechanism 503, the synchronous switching of the switch clamping device 6 and the installation positioning device 5 in the row direction is realized. The clamping rod 601 moves with the row direction of the dual-coordinate moving platform 603, and coordinates and synchronizes with the positioning platform 502 moving with the row direction of the sixth linear moving mechanism 503. Only one set of row-direction moving mechanisms is needed to realize cross-column operation of the entire column of switch clamping components and the entire column of positioning platforms. There is no need to set up separate switch clamping devices 6 and positioning platforms 502 for each column. The equipment structure is simplified and the control and coordination are convenient. The column-by-column installation method ensures the high efficiency of synchronous installation of multiple workpieces in a single column, while taking into account the coverage capability of the rectangular array multi-column layout. It is suitable for fully automatic installation scenarios of large batches and high-density load-bearing trays 19.

[0055] In one embodiment, a first vision module is also included, configured to determine the height position of the tip of the clamping plate 19041, thereby determining the height of the positioning platform 502. The first vision module is fixedly installed above or to the side of the installation station, and its field of view covers the area where the tips of each clamping plate 19041 of the material clamp 1904 are located. The first vision module may be a CCD camera, a laser displacement sensor, or a structured light 3D scanning device, etc., used to acquire precise height information of the tips of the clamping plates 19041 in the vertical direction.

[0056] In the specific operation, before each installation of workpiece 20, the first vision module first photographs or scans the tips of the clamping plates 19041 of each material clamp 1904 to obtain the height position data of the tips of each clamping plate 19041. Based on the height data fed back by the first vision module, the control system calculates the set height that the top bearing surface of the positioning platform 5022 needs to reach. This set height ensures that the top bearing surface of the positioning platform 5022 and the tips of the clamping plates 19041 maintain a preset vertical distance. Subsequently, the fifth linear motion mechanism 501 drives the positioning platform 502 to rise and fall to the set height based on the calculation result. After workpiece 20 is transferred onto the positioning platform 5022, the vertical relative position between the bottom surface of the annular end plate 2002 of workpiece 20 and the tips of the clamping plates 19041 is precisely controlled within the preset value, ensuring that when the clamping plates 19041 are subsequently unfolded, the contact position between the outer surface of the clamping plates 19041 and the annular inner wall 20011 of the workpiece 20 is precisely consistent.

[0057] In this embodiment, by setting a first vision module, real-time detection and precise positioning of the tip height of each material clamp 19041 clamp plate 19041 are achieved. Since the tip height of the clamp plate 19041 may undergo slight changes due to elastic fatigue, wear, or assembly tolerances during long-term use, the real-time detection capability of the first vision module can automatically compensate for these deviations. The set height is redefined before each installation, ensuring the consistency of the installation height of each workpiece 20 in mass production, improving installation accuracy and product yield. Simultaneously, the closed-loop vision feedback control eliminates the need for manual calibration, improving the automation level and changeover efficiency of the equipment.

[0058] The present invention also provides a method for mounting a workpiece having an annular inner wall. Using the aforementioned mounting device for a workpiece having an annular inner wall, when it is necessary to mount the workpiece 20 onto the material clamp 1904, the method includes the following steps: S1. Determine the preset relative position of the workpiece 20 and the material clamp 1904. Specifically, based on the specifications and dimensions of the workpiece 20, the actual height of each clamping plate 19041 of the material clamp 1904, and the preset clamping position requirements, determine the relative position of the contact area between the annular inner wall 20011 of the workpiece 20 and the outer side of the clamping plate 19041 in the vertical direction, and calculate the set height that the positioning platform 502 needs to reach accordingly.

[0059] S2, the fifth linear motion mechanism 501 drives the positioning platform 502 to a set height. Based on the set height determined in S1, the fifth linear motion mechanism 501 drives the positioning platform 502 to move vertically up and down, so that the bearing surface of the positioning table 5022 at the top of the positioning platform 502 reaches the set height position. At this time, a preset vertical distance is maintained between the bearing surface of the positioning table 5022 and the tips of each clamping plate 19041 of the material clamp 1904. This distance ensures that after the subsequent workpiece 20 is placed, the contact area between its annular inner wall 20011 and the clamping plate 19041 is located at a preset position.

[0060] S3, the control switch clamping device 6 causes several clamping plates 19041 to retract towards each other. When the switch clamping device 6 is activated, the two clamping rods 601 move closer together, and each abutment block 602 passes through the through hole 50211 on the positioning plate 5021, abutting and pressing against each clamping plate 19041, overcoming the elastic restoring force of the clamping plates 19041 themselves, driving each clamping plate 19041 to retract inward synchronously. After retraction, the outer surface of each clamping plate 19041 radially retracts inward, forming a radial gap between the outer surface of the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20 to be installed.

[0061] S4, the workpiece 20 is transferred to the positioning platform 502, and the annular inner wall 20011 of the workpiece 20 does not contact the clamping plates 19041. The suction cup mechanism 1202 of the transfer mechanism 12 picks up the workpiece 20, which has completed the posture adjustment on the transfer positioning mechanism 11, and drives it to be transferred above the positioning platform 502 by the first moving mechanism 1201. The workpiece 20 is then placed from top to bottom on the top bearing surface of the positioning table 5022. At this time, the annular inner wall 20011 of the workpiece 20 is fitted around the periphery of each clamping plate 19041 in the retracted state. The two are in a clearance fit due to the radial inward contraction of the clamping plates 19041 and do not contact each other. The weight of the workpiece 20 is entirely supported by the positioning table 5022.

[0062] S5, the control switch clamping device 6 causes several clamping plates 19041 to unfold relative to each other, and the clamping plates 19041 unfold and abut against the annular inner wall 20011 of the workpiece 20. The switch clamping device 6 is activated, the two clamping rods 601 move away from each other, and each abutment block 602 releases its pressure on the clamping plates 19041. Under the action of their own elastic restoring force, each clamping plate 19041 automatically unfolds outward synchronously, and the outer side of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20 from the inside, supporting and fixing the workpiece 20. At this time, the workpiece 20 and the material clamp 1904 are fixed at a preset relative position, and the workpiece 20 is reliably clamped.

[0063] S6, the fifth linear moving mechanism 501 drives the positioning platform 502 to reset, completing the installation of the workpiece 20 and the material clamp 1904 in the preset relative position. The fifth linear moving mechanism 501 drives the positioning platform 502 to descend, the bearing surface of the positioning table 5022 detaches from the bottom surface of the end plate 2002 of the workpiece 20, and the positioning platform 502 descends to the initial position or the avoidance position, making room for the installation of the next workpiece 20 or the removal of the tray 19.

[0064] In this embodiment, the installation method for a workpiece with an annular inner wall achieves high-precision, small-contact-area installation of the workpiece 20 and the material clamp 1904 through precise height control of the positioning platform 502, timing control of the closing and unfolding of the clamping plate 19041 by the switching clamping device 6, and non-contact placement and elastic clamping of the workpiece 20. Throughout the process, the workpiece 20 is first stably supported by the positioning platform 502 at a set height, and then elastically unfolded and clamped by the clamping plate 19041. During installation, the workpiece 20 does not require external clamping force, avoiding surface damage. The clamping plate 19041 automatically unfolds and clamps based on its own elastic restoring force, eliminating the need for continuous external power to maintain clamping, thus ensuring reliable fixation of the workpiece 20 during subsequent flipping, handling, and processing. This method is simple and efficient, and can be fully automated, making it suitable for high-volume, high-precision workpiece installation scenarios.

[0065] The workpiece transfer device will now be described in detail. This device is a core component of the pre-processing loading system, used for high-precision positioning and transfer of workpieces 20. It adjusts the posture of each bulk workpiece 20 supplied by the workpiece loading mechanism 8 and the flexible gripper mechanism 9 before precisely transferring it to the positioning platform 502 of the mounting and positioning device 5. This provides positional and posture assurance for the subsequent high-precision installation of the workpiece 20 with the material clamp 1904. The workpiece transfer device receives the workpiece 20 gripped by the flexible gripper mechanism 9 and delivers the posture-adjusted workpiece 20 to the mounting and positioning device 5 via the transfer mechanism 12.

[0066] In one embodiment, the workpiece mounting system further includes a workpiece transfer device for positioning and transferring the workpiece 20, including a transfer positioning mechanism 11 and a transfer mechanism 12. The transfer positioning mechanism 11 is used to receive the workpiece 20 gripped by the flexible gripper mechanism 9 from the workpiece loading mechanism 8 and to adjust the angle and posture of the workpiece 20; the transfer mechanism 12 is used to transfer the workpiece 20 with the adjusted posture from the transfer positioning mechanism 11 to the positioning platform 502 on which the positioning device 5 is mounted.

[0067] The workpiece 20 includes an annular sidewall 2001 and an end plate 2002. The outer side of the end plate 2002 is connected to one end of the annular sidewall 2001. A hole 2003 is provided on the surface of the end plate 2002. The workpiece 20 has an annular structure with one end open and the other end closed by the end plate 2002. The hole 2003 on the end plate 2002 makes the end plate 2002 have an annular or partially hollowed-out structure.

[0068] The transfer positioning mechanism 11 includes a rotating shaft 1101, a transfer platform 1102 disposed on the end face of the rotating shaft 1101, and a clamping mechanism 1103 disposed on the outside of the transfer platform 1102. The rotating shaft 1101 is arranged vertically and is driven by a rotation drive mechanism to rotate around its own axis. The transfer platform 1102 is fixedly installed on the end face of the rotating shaft 1101 and rotates synchronously with the rotating shaft 1101. The clamping mechanism 1103 is disposed on the outside of the transfer platform 1102 and is used to clamp the annular outer wall 20012 of the workpiece 20 after the workpiece 20 is initially placed, thereby achieving the initial fixation of the workpiece 20 on the transfer platform 1102. A negative pressure suction hole 1104 is provided on the end face of the transfer platform 1102, and the negative pressure suction hole 1104 is connected to a negative pressure mechanism. The negative pressure suction hole 1104 is opened on the end face of the transfer platform 1102 and is connected to the negative pressure mechanism through the internal air passage. When the negative pressure mechanism is turned on, it can generate negative pressure suction at the negative pressure suction hole 1104 to adsorb the surface of the end plate 2002 of the workpiece 20.

[0069] After workpiece 20 is transferred to the transfer platform 1102 of the transfer positioning mechanism 11, it is fitted onto the transfer platform 1102. The clamping mechanism 1103 clamps the annular outer wall 20012 of workpiece 20. The rotating shaft 1101 rotates, causing the negative pressure suction hole 1104 to misalign with the hole 2003 on workpiece 20. The negative pressure mechanism is activated and the clamping mechanism 1103 is released, so that workpiece 20 is adsorbed onto the transfer platform 1102. After the rotating shaft 1101 drives workpiece 20 to a set angle, it is transferred to the next station through the transfer mechanism 12. The specific working process is as follows: First, the flexible claw 902 of the flexible gripper mechanism 9 grabs workpiece 20 from the workpiece tray 21 of the workpiece loading mechanism 8 and transfers workpiece 20 with the end plate 2002 facing the transfer platform 1102 to the transfer positioning mechanism 11. The end plate 2002 of workpiece 20 is fitted onto the end face of the transfer platform 1102. At this point, the negative pressure suction hole 1104 on the end face of the transfer platform 1102 may be directly opposite or partially overlapped with the hole 2003 on the end plate 2002 of the workpiece 20. Subsequently, the clamping mechanism 1103 actuates, clamping the annular outer wall 20012 of the workpiece 20, initially fixing the workpiece 20 onto the transfer platform 1102. Next, the rotating shaft 1101 is driven by the rotating drive mechanism to rotate at a certain angle, causing the transfer platform 1102 and the workpiece 20 on it to rotate synchronously, causing the negative pressure suction hole 1104 on the end face of the transfer platform 1102 to be offset circumferentially from the hole 2003 on the end plate 2002 of the workpiece 20, with the negative pressure suction hole 1104 aligned with the solid plate area on the end plate 2002. Then, the negative pressure mechanism is activated, generating negative pressure suction at the negative pressure suction hole 1104, firmly adhering the end plate 2002 of the workpiece 20 to the transfer platform 1102. Subsequently, the clamping mechanism 1103 is released, releasing the clamp on the annular outer wall 20012 of the workpiece 20. The workpiece 20 is now fixed to the transfer platform 1102 only by negative pressure adsorption. The rotating shaft 1101 continues to drive the transfer platform 1102 and the adsorbed and fixed workpiece 20 to rotate, adjusting the workpiece 20 to a set angle and posture. Finally, the transfer mechanism 12 picks up the workpiece 20, which has completed angle adjustment, from the transfer platform 1102 and transfers it to the next station.

[0070] In this embodiment, the workpiece transfer device solves the problem of insufficient adsorption area or air leakage at the hole 2003 on the end plate 2002 of the workpiece 20, which prevents the generation of effective negative pressure, by using the rotational misalignment adsorption method of the transfer positioning mechanism 11. First, the clamping mechanism 1103 initially fixes the workpiece 20. After the rotating shaft 1101 rotates and misaligns, the negative pressure suction hole 1104 avoids the hole 2003 and aligns with the solid area of ​​the end plate 2002. Then, the negative pressure adsorption is activated and the clamping mechanism 1103 is released, ensuring the stability and reliability of the negative pressure adsorption. Afterward, the workpiece 20 is fixed only by negative pressure adsorption, the clamping mechanism 1103 is removed, and the rotating shaft 1101 can freely rotate the workpiece 20 to any set angle without interference from clamping components. When the transfer mechanism 12 transfers, the workpiece 20 is already in a precise position, and direct suction and transfer ensures the installation posture accuracy of the workpiece 20 and the material clamp 1904. This device is particularly suitable for high-precision positioning and transfer of annular workpieces 20 with discontinuous surfaces such as holes 2003 on the end face.

[0071] In one embodiment, the clamping mechanism 1103 includes a fixing block 11031, a clamping block 11032, a first elastic element 11033, and a release drive mechanism 11034. Multiple sets of the clamping mechanism 1103 can be arranged along the circumference of the transfer platform 1102 to clamp the annular outer wall 20012 of the workpiece 20 from multiple directions, thereby improving clamping stability.

[0072] The fixing block 11031 is disposed on the side of the transfer platform 1102. The fixing block 11031 is fixedly installed on the frame or mounting plate of the transfer positioning mechanism 11, maintaining a certain distance from the outer peripheral surface of the transfer platform 1102, providing an installation base and guide for the sliding of the clamping block 11032. The clamping block 11032 is slidably disposed on the fixing block 11031, with one end facing the transfer platform 1102. The clamping block 11032 is slidably mounted on the fixing block 11031 along the radial direction of the transfer platform 1102, with its end facing the transfer platform 1102 being the clamping end, which can extend out of the fixing block 11031 and contact the annular outer wall 20012 of the workpiece 20. The first elastic element 11033 is used to drive the clamping block 11032 to have a moving tendency to move towards the transfer platform 1102. The first elastic element 11033 is an elastic element such as a compression spring or disc spring. One end abuts against the fixed block 11031 and the other end abuts against the clamping block 11032. In its natural state, it pushes the clamping block 11032 to slide towards the transfer platform 1102, so that the clamping end of the clamping block 11032 maintains a preload pressing against the transfer platform 1102. The release drive mechanism 11034 is used to drive the clamping block 11032 away from the transfer platform 1102. The release drive mechanism 11034 can be a cylinder, electromagnet, or cam mechanism, etc. Its output end cooperates with the clamping block 11032. When it is necessary to release the workpiece 20, it drives the clamping block 11032 to slide outward against the force of the first elastic element 11033, so that the clamping end is separated from the annular outer wall 20012 of the workpiece 20.

[0073] After the workpiece 20 is transferred to the transfer platform 1102, the end plate 2002 of the workpiece 20 is fitted onto the end face of the transfer platform 1102. At this time, the release drive mechanism 11034 is in a non-working state. The clamping block 11032 slides towards the transfer platform 1102 under the drive of the first elastic element 11033. The clamping end abuts against the annular outer wall 20012 of the workpiece 20, and the workpiece 20 is initially fixed on the transfer platform 1102. At this time, the workpiece 20 can rotate with the transfer platform 1102 but will not slip off. After the rotating shaft 1101 completes the rotational misalignment, the negative pressure mechanism is activated, and the workpiece 20 is fixed by negative pressure adsorption, the release drive mechanism 11034 is activated, driving the clamping block 11032 to overcome the force of the first elastic element 11033 and slide outward away from the transfer platform 1102. The clamping end is separated from the annular outer wall 20012 of the workpiece 20, and the workpiece 20 is fixed only by the negative pressure adsorption force. The rotating shaft 1101 can freely rotate the workpiece 20 to the set angle.

[0074] In this embodiment, the clamping mechanism 1103 adopts a cooperative method in which the first elastic element 11033 is normally closed and driven, and the release drive mechanism 11034 actively releases. When the workpiece 20 is initially placed, the clamping block 11032 can automatically clamp the workpiece 20 without additional control commands, and the response is fast. When it is necessary to release the workpiece 20, the release drive mechanism 11034 actively drives the release, and the release timing is controllable. The normally closed elastic clamping can still maintain the clamping of the workpiece 20 in the event of power failure or gas failure, preventing the workpiece 20 from accidentally falling off, and the safety is high. The clamping block 11032 is only used for temporary fixation during the initial positioning and rotation misalignment process. In the subsequent posture adjustment stage, the clamping block 11032 has been detached from the workpiece 20 and will not cause any mechanical interference to the rotation of the rotating shaft 1101. Furthermore, since the first elastic element 11033 drives the clamping block 11032 to clamp the workpiece 20 through the elastic force generated by its elastic deformation, the clamping force is determined by the stiffness and compression of the first elastic element 11033. By selecting a suitable specification for the first elastic element 11033, the clamping force can be precisely controlled within an appropriate range, avoiding indentations, deformation, or surface damage to the annular outer wall 20012 of the workpiece 20 due to excessive clamping force. At the same time, the elastic clamping method can adapt to the slight dimensional deviations of the annular outer wall 20012 of the workpiece 20. Under the action of the first elastic element 11033, the clamping block 11032 can float with the slight changes in the outer diameter of the workpiece 20, always maintaining a stable clamping force. There is no need to precisely adjust the clamping stroke, the requirements for the dimensional consistency of the workpiece 20 are low, and the adaptability is strong.

[0075] In one embodiment, the clamping block 11032 is provided with a first wedge 110321, and the release drive mechanism 11034 includes a seventh linear motion mechanism 110341 and a second wedge 110342 disposed on the output end of the seventh linear motion mechanism 110341. The second wedge 110342 cooperates with the first wedge 110321 to push the clamping block 11032 away from the transfer platform 1102. The first wedge 110321 is fixedly disposed at one end or side of the clamping block 11032 away from the transfer platform 1102, and its wedge surface is inclined in the direction away from the transfer platform 1102. The second wedge 110342 is fixedly installed on the output end of the seventh linear motion mechanism 110341, and its wedge surface is disposed opposite to the wedge surface of the first wedge 110321, with the two wedge surfaces parallel to each other or at a certain angle. The seventh linear movement mechanism 110341 is set in a direction perpendicular to the sliding direction of the clamping block 11032.

[0076] When it is necessary to release the workpiece 20, the seventh linear movement mechanism 110341 drives the second wedge block 110342 to move along its output direction. The wedge surface of the second wedge block 110342 slides along the wedge surface of the first wedge block 110321. Through the wedge surface engagement, the driving force of the seventh linear movement mechanism 110341 is converted into a component force along the sliding direction of the clamping block 11032, pushing the clamping block 11032 to slide outward against the force of the first elastic element 11033, so that the clamping end of the clamping block 11032 is separated from the annular outer wall 20012 of the workpiece 20. When it is necessary to re-clamp the workpiece 20, the seventh linear movement mechanism 110341 drives the second wedge block 110342 to move in the opposite direction and exit. The first wedge block 110321 loses the thrust of the second wedge block 110342, and the clamping block 11032 automatically slides back to the transfer platform 1102 under the elastic restoring force of the first elastic element 11033, and the clamping end abuts against the annular outer wall 20012 of the workpiece 20 again.

[0077] In this embodiment, the release drive mechanism 11034 adopts a wedge block transmission method in which the seventh linear movement mechanism 110341 drives the second wedge block 110342 to cooperate with the first wedge block 110321. This converts the horizontal driving motion of the seventh linear movement mechanism 110341 into the radial sliding motion of the clamping block 11032, resulting in a compact structure and reliable transmission direction conversion. The wedge surface cooperation has a force-amplifying effect, and the seventh linear movement mechanism 110341 only needs a small driving force to overcome the large elastic force of the first elastic element 11033 to push the clamping block 11032 to release, reducing the output force requirement of the seventh linear movement mechanism 110341. At the same time, the wedge block transmission has a self-locking characteristic or can obtain self-locking capability through the design of the wedge surface angle. After the seventh linear movement mechanism 110341 stops driving, the second wedge block 110342 can maintain support for the first wedge block 110321, so that the clamping block 11032 is stably kept in the released position without the need for the seventh linear movement mechanism 110341 to continuously output power.

[0078] In one embodiment, the rotating shaft 1101 is connected to a hollow shaft motor 1105, and the other end of the hollow shaft motor 1105 is connected to the negative pressure mechanism. The rotor shaft of the hollow shaft motor 1105 has a hollow structure, and the rotating shaft 1101 is coaxially and fixedly connected to one end of the rotor shaft of the hollow shaft motor 1105, rotating synchronously with the rotor shaft. The other end of the rotor shaft of the hollow shaft motor 1105 is connected to the negative pressure mechanism through a rotary joint or an air pipe. The internal hollow channel of the rotor shaft of the hollow shaft motor 1105 connects the negative pressure mechanism to the negative pressure suction hole 1104 on the end face of the transfer platform 1102, forming a complete negative pressure air path from the negative pressure mechanism through the interior of the hollow shaft motor 1105 to the end face of the transfer platform 1102.

[0079] During operation, when the hollow shaft motor 1105 drives the rotating shaft 1101 and the transfer platform 1102 to rotate, the negative pressure pipeline connected to the other end of the hollow shaft motor 1105 remains stationary through a rotary joint and does not rotate with the rotating shaft 1101. The negative pressure suction generated by the negative pressure mechanism is transmitted to the negative pressure suction port 1104 through the internal hollow channel of the hollow shaft motor 1105. The rotational action and the negative pressure air path do not interfere with each other. The hollow shaft motor 1105 integrates the dual functions of rotation drive and negative pressure channel, eliminating the need for a complex structure that requires a separate air path rotary joint and pipeline support outside the rotating shaft 1101.

[0080] In this embodiment, by connecting the rotating shaft 1101 to the hollow shaft motor 1105, and connecting the other end of the hollow shaft motor 1105 to the negative pressure mechanism, the rotation drive and the negative pressure air circuit are coaxially integrated. The internal channel of the hollow shaft motor 1105 serves as the negative pressure transmission path, eliminating the need for the negative pressure pipeline to detour around the outside of the rotating shaft 1101 or swing with the rotating shaft 1101. This completely avoids the problems of pipeline entanglement and breakage during rotation, ensuring the long-term stability and reliability of the negative pressure supply. At the same time, this structure simplifies the overall layout of the transfer positioning mechanism 11, reduces the number of components such as rotary joints, and is compact, easy to assemble and maintain.

[0081] In one embodiment, the transfer mechanism 12 includes a first moving mechanism 1201 and a suction cup mechanism 1202 disposed on the output end of the first moving mechanism 1201. The first moving mechanism 1201 may be a single-axis or multi-axis robotic arm, a linear module, or a gantry-type moving platform, etc. The suction cup mechanism 1202 is fixedly installed on the output end of the first moving mechanism 1201 and is driven by the first moving mechanism 1201 to reciprocate between the transfer positioning mechanism 11 and the next workstation. The suction cup mechanism 1202 is provided with multiple negative pressure suction cups, the working surfaces of which face the outer surface of the end plate 2002 of the workpiece 20, for gripping the workpiece 20 by negative pressure adsorption.

[0082] When the workpiece 20 is transferred to the next station via the transfer mechanism 12, the first moving mechanism 1201 drives the suction cup mechanism 1202 to pick up the end plate 2002 of the workpiece 20, the negative pressure mechanism is closed, and the first moving mechanism 1201 drives the suction cup mechanism 1202 and the workpiece 20 to transfer. The specific working process is as follows: When the transfer positioning mechanism 11 has completed the angle and posture adjustment of the workpiece 20, after the rotating shaft 1101 drives the workpiece 20 to rotate to the set angle, the first moving mechanism 1201 drives the suction cup mechanism 1202 to move above the transfer platform 1102, and the negative pressure suction cup of the suction cup mechanism 1202 abuts against or approaches the outer surface of the end plate 2002 of the workpiece 20. The suction cup mechanism 1202 activates the negative pressure, adsorbing and fixing the end plate 2002 of the workpiece 20. Subsequently, the negative pressure mechanism of the transfer positioning mechanism 11 is closed, the negative pressure suction hole 1104 on the end face of the transfer platform 1102 loses its negative pressure suction, and the adsorption on the end plate 2002 of the workpiece 20 is released. At this time, the workpiece 20 is only held in place by the suction cup mechanism 1202. The first moving mechanism 1201 drives the suction cup mechanism 1202 and the suction workpiece 20 to move, transferring the workpiece 20 to the positioning platform 502 on which the positioning device 5 is installed or to the next process station. After the suction cup mechanism 1202 places the workpiece 20 in place, the suction cup mechanism 1202 closes the negative pressure, releases the workpiece 20, and completes the transfer action.

[0083] In this embodiment, the transfer mechanism 12 uses negative pressure adsorption to pick up the workpiece 20 from the outer surface of the end plate 2002, which is opposite to the direction of the transfer positioning mechanism 11 adsorbing the workpiece 20 from the inner surface or end face of the end plate 2002. The adsorption surfaces of the two do not interfere with each other. During the work handover, the suction cup mechanism 1202 first adsorbs and fixes the end plate 2002 of the workpiece 20, and then the negative pressure mechanism closes to release the adsorption of the transfer platform 1102, realizing the handover of the workpiece 20 from the transfer positioning mechanism 11 to the transfer mechanism 12 without mechanical clamping. The operation is smooth and impact-free, and will not cause displacement or scratching of the workpiece 20. The suction cup mechanism 1202 picks up the workpiece 20 from the outer surface of the end plate 2002 without contacting the annular outer wall 20012 of the workpiece 20, thus avoiding damage to the outer wall surface. The first moving mechanism 1201 has a travel range that covers the space between the transfer positioning mechanism 11 and the positioning platform 502 of the installation positioning device 5. It can directly and accurately transfer the workpiece 20, which has completed high-precision attitude adjustment, to the installation station, ensuring the positioning accuracy of the workpiece 20 from attitude adjustment to installation.

[0084] In one embodiment, the system further includes a workpiece loading mechanism 8 and a flexible gripper mechanism 9. The workpiece loading mechanism 8 is used to supply workpieces 20 to be installed in batches, and the flexible gripper mechanism 9 is used to grip the workpieces 20 from the workpiece loading mechanism 8 and quickly transfer them to the transfer platform 1102 of the transfer positioning mechanism 11. The flexible gripper mechanism 9 is used to transfer the workpieces 20 from the workpiece loading mechanism 8 to the transfer platform 1102. The flexible gripper 902 of the flexible gripper mechanism 9 can extend into the inner ring of the end plate 2002 of the workpiece 20 and unfold to support and fix the workpiece 20 from the inside, achieving rapid gripping. The flexible gripper mechanism 9 has advantages such as fast gripping cycle and strong adaptability to the shape of the workpiece 20. However, due to the flexible deformation characteristics of the flexible gripper 902 and the inertia during rapid movement, the placement accuracy of the workpiece 20 when it is transferred to the transfer platform 1102 is relatively limited, and there may be a deviation between the actual posture of the workpiece 20 on the flexible gripper 902 and the ideal posture.

[0085] However, the insufficient gripping accuracy of the flexible gripper mechanism 9 is compensated for by the subsequent transfer positioning mechanism 11 and transfer mechanism 12. The transfer positioning mechanism 11 first clamps and fixes the workpiece 20 through the clamping mechanism 1103, and then precisely adjusts the workpiece 20 to the set angle through rotational misalignment of the rotating shaft 1101, negative pressure adsorption conversion, and posture adjustment, completely eliminating the position and posture errors caused by the rough placement of the flexible gripper mechanism 9. Subsequently, the transfer mechanism 12 precisely picks up the workpiece 20, which has completed the posture adjustment, from the outer surface of the end plate 2002 of the workpiece 20 and transfers it to the positioning platform 502 on which the positioning device 5 is installed in a high-precision manner.

[0086] In this embodiment, the flexible gripper mechanism 9 and the transfer positioning mechanism 11 work together to achieve complementary optimization of "gripping efficiency" and "positioning accuracy" during the workpiece 20 loading process. The flexible gripper mechanism 9 is responsible for rapid coarse positioning and batch loading, fully leveraging its advantages of fast cycle time and strong adaptability to shorten loading time. The transfer positioning mechanism 11 is responsible for fine positioning and posture adjustment, compensating for the placement error of the flexible gripper mechanism 9, and ensuring that the final output workpiece 20's posture accuracy meets the requirements of high-precision installation. Each component performs its specific function. Compared to a high-precision robotic arm that requires precise gripping throughout the entire process, this solution reduces the precision requirements of a single mechanism, improves overall loading efficiency and system robustness, and is more cost-effective.

[0087] In one embodiment, the end plate 2002 of the workpiece 20 has an annular structure, i.e., the end plate 2002 is ring-shaped with a hole 2003 in the center (a smaller hole 2003 can also be provided on the annular structure of the end plate 2002), and the inner ring of the end plate 2002 is an annular inner edge surface. The flexible gripper mechanism 9 includes a second moving mechanism 901 and a flexible gripper 902 disposed at the output end of the second moving mechanism 901. The second moving mechanism 901 can be a multi-axis robotic arm, a linear module, or a gantry moving platform, etc. The flexible gripper 902 is installed at the output end of the second moving mechanism 901 and is driven by the second moving mechanism 901 to reciprocate between the workpiece loading mechanism 8 and the transfer positioning mechanism 11 to realize the rapid handling of the workpiece 20. The flexible gripper 902 is used to extend into the inner ring of the end plate 2002 of the workpiece 20 and unfold to fix the workpiece 20. Specifically, the free end of the flexible claw 902, in its retracted state, has an outer diameter smaller than the inner diameter of the end plate 2002 of the workpiece 20, allowing it to extend into the inner ring of the end plate 2002 from top to bottom. After insertion, the free end of the flexible claw 902 unfolds outward, its outer side abutting against the inner edge of the inner ring of the end plate 2002, thus securing the workpiece 20 from the inside. The unfolding action of the flexible claw 902 can be driven by pneumatic, electric, or mechanical linkage. After the workpiece 20 is secured by the flexible claw 902, the second moving mechanism 901 drives the flexible claw 902 and the workpiece 20 to move above the transfer platform 1102. The flexible claw 902 then retracts to release the workpiece 20, placing it on the end face of the transfer platform 1102.

[0088] Because the flexible claw 902 fixes the workpiece 20 by extending into the inner ring of the end plate 2002 and then unfolding, it does not contact the annular outer wall 20012 of the workpiece 20, thus avoiding damage to the outer wall surface during gripping and transfer, and ensuring the integrity and surface quality of the outer wall of the workpiece 20. The internal support fixing method of the flexible claw 902 has good adaptability to the structure of the annular end plate 2002 of the workpiece 20, and the gripping and releasing actions are simple and fast with a high cycle time, making it suitable for application scenarios where workpieces are rapidly loaded in batches from the workpiece loading mechanism 8 to the transfer positioning mechanism 11. The flexible claw 902 itself has a certain degree of flexible deformation capability, and can adapt to the position and size deviation of the inner ring of the end plate 2002 of the workpiece 20 during insertion and unfolding, thus having low requirements for the positional consistency of the workpiece 20 in the workpiece loading mechanism 8. However, the flexible adaptive characteristics and the inertia during the rapid movement process result in relatively limited placement accuracy when the flexible claw 902 transfers the workpiece 20 to the transfer platform 1102. This lack of accuracy is compensated by the subsequent transfer positioning mechanism 11 and transfer mechanism 12. Through the precise positioning and attitude adjustment of the transfer positioning mechanism 11, a high-precision workpiece 20 pose is finally output.

[0089] In one embodiment, the workpiece loading mechanism 8 includes a workpiece tray 21 on which a plurality of workpieces 20 are arranged in a rectangular array. The multiple workpieces 20 are regularly arranged in a multi-row, multi-column manner on the workpiece tray 21, and the position of each workpiece 20 on the workpiece tray 21 is known, facilitating the flexible gripper mechanism 9 to grasp them one by one or column by column according to preset coordinates. The rectangular array arrangement increases the single-tray capacity of the workpiece tray 21, reduces the frequency of tray replacement, and is suitable for large-volume automated loading scenarios.

[0090] Multiple transfer positioning mechanisms 11 are arranged linearly at intervals, and are equally spaced along the arrangement direction of a column of workpieces 20. The distance between adjacent transfer positioning mechanisms 11 is the same as the distance between adjacent workpieces 20 in a column on the workpiece tray 21 or the distance between adjacent material clamps 1904 on the mounting positioning device 5. Each transfer positioning mechanism 11 can independently perform misalignment adsorption and attitude adjustment operations on the workpieces 20.

[0091] The transfer mechanism 12 and the flexible gripper mechanism 9 are arranged in multiple linear intervals. The number and spacing of the flexible gripper mechanisms 9 correspond to the number and spacing of the transfer positioning mechanisms 11. Multiple flexible gripper mechanisms 9 can simultaneously descend above a row of workpieces 20 on the workpiece tray 21. Each flexible gripper 902 extends into the inner circle of the end plate 2002 of the corresponding workpiece 20 and unfolds, simultaneously gripping multiple workpieces 20 in a row, and then simultaneously transferring them to the transfer platform 1102 of the corresponding transfer positioning mechanism 11. The number and spacing of the transfer mechanism 12 also correspond to the number and spacing of the transfer positioning mechanism 11. Multiple transfer mechanisms 12 can simultaneously pick up multiple workpieces 20 that have completed posture adjustment from the transfer platform 1102 of each transfer positioning mechanism 11 and transfer them in one go to the corresponding positioning platform 502 on which the positioning device 5 is installed.

[0092] In this embodiment, by arranging the workpieces 20 on the workpiece tray 21 in a rectangular array, and by arranging multiple transfer positioning mechanisms 11, transfer mechanisms 12, and flexible gripper mechanisms 9 at linear intervals, batch parallel gripping, positioning, and transfer of multiple workpieces 20 are achieved. Multiple flexible gripper mechanisms 9 simultaneously grip a row of workpieces 20 from the workpiece tray 21, multiple transfer positioning mechanisms 11 simultaneously adjust the posture of a row of workpieces 20, and multiple transfer mechanisms 12 simultaneously transfer a row of adjusted workpieces 20 to the installation station. The entire loading and transfer process is performed in batches on a row-by-row basis, significantly shortening the total cycle time for batch loading, positioning, and transfer compared to operating each workpiece individually. Simultaneously, each transfer positioning mechanism 11 independently adjusts its posture, compensating independently for the actual positional deviation of each workpiece 20, ensuring the consistency of the final output position and posture of each workpiece 20. This batch parallel architecture matches the row-by-row installation method of the installation and positioning device 5, forming a full-process row-by-row synchronous operation from front to back, meeting the high-efficiency requirements of large-scale continuous production.

[0093] In one embodiment, the system further includes a third vision module 13 for photographing the workpieces on the workpiece tray 21 and a fourth vision module 14 for photographing the transfer platform 1102. The third vision module 13 is fixedly installed above or to the side of the workpiece loading mechanism 8. Its field of view covers the area where multiple workpieces 20 arranged in a rectangular array on the workpiece tray 21 are located (it can be directly positioned above the area or moved above the area via a moving mechanism). It is used to identify the placement of the holes 2003 on the end plates 2002 of each workpiece 20 on the workpiece tray 21, providing an angular reference for the subsequent transfer positioning mechanism 11 to determine rotational misalignment. The fourth vision module 14 is fixedly installed above or to the side of the transfer positioning mechanism 11. Its field of view covers the transfer platform 1102 and the workpieces 20 on it. It is used to determine the final orientation angle of the workpiece 20 on the transfer platform 1102, providing angle correction feedback for the attitude adjustment of the rotation axis 1101.

[0094] During operation, before the flexible gripper mechanism 9 transfers the workpiece 20 from the workpiece tray 21 to the transfer platform 1102 of the transfer positioning mechanism 11, the third vision module 13 first photographs each workpiece 20 on the workpiece tray 21 to identify the actual placement of the holes 2003 on the end plates 2002 of each workpiece 20 on the workpiece tray 21. Based on the hole 2003 orientation information provided by the third vision module 13, the control system calculates the angle that the subsequent rotating shaft 1101 needs to rotate, so that the negative pressure suction hole 1104 on the end face of the transfer platform 1102 is offset from the hole 2003 on the end plate 2002 of the workpiece 20 in the circumferential direction. After the workpiece 20 is transferred to the transfer platform 1102 and initially clamped and fixed by the gripping mechanism 1103, the rotating shaft 1101 rotates according to the calculation result, misaligning the negative pressure suction hole 1104 with the hole 2003, providing a basis for subsequent negative pressure adsorption. Subsequently, the fourth vision module 14 takes a picture of the workpiece 20 that has been adsorbed and fixed on the transfer platform 1102 to determine the current actual orientation angle of the workpiece 20. The control system compares the actual orientation with the set orientation and calculates the angle deviation. The rotating shaft 1101 drives the workpiece 20 to rotate and compensate according to the angle deviation, so as to precisely adjust the workpiece 20 to the final set orientation.

[0095] In this embodiment, the third vision module 13 and the fourth vision module 14 undertake visual inspection tasks at different stages during the positioning and transfer of the workpiece 20. They work together to achieve a progressive positioning of the workpiece 20 from coarse to precise. The third vision module 13 focuses on identifying the placement of the holes 2003 on the workpiece 20, providing a pre-defined angular reference for rotational misalignment adsorption, ensuring that the negative pressure suction hole 1104 accurately avoids the solid area of ​​the end plate 2002 aligned with the hole 2003, thus guaranteeing the reliability of the negative pressure adsorption. The fourth vision module 14 focuses on determining the actual orientation of the workpiece 20, providing precise angular feedback for the final posture adjustment, ensuring that the workpiece 20 is transferred to the next station with the preset orientation. The collaborative work of the two vision modules enables the annular workpiece 20 with discontinuous end face structures such as the hole 2003 to achieve stable negative pressure adsorption and fixation on the transfer platform 1102, and to be precisely adjusted to any set angle during adsorption, meeting the stringent requirements of high-precision installation for the workpiece 20's posture.

[0096] The present invention also provides a workpiece transfer method using the above-described workpiece transfer device, comprising the following steps: After the workpiece 20 is transferred to the transfer platform 1102 of the transfer positioning mechanism 11, it is fitted onto the transfer platform 1102. The clamping mechanism 1103 clamps the annular outer wall 20012 of the workpiece 20. The rotating shaft 1101 rotates, causing the negative pressure suction hole 1104 to be misaligned with the hole 2003 on the workpiece 20. The negative pressure mechanism is activated and the clamping mechanism 1103 is released, so that the workpiece 20 is adsorbed onto the transfer platform 1102. After the rotating shaft 1101 drives the workpiece 20 to a set angle, it is transferred to the next station through the transfer mechanism 12.

[0097] In this embodiment, the workpiece transfer method systematically solves the problem of direct negative pressure adsorption and precise attitude adjustment of the annular workpiece 20 with holes 2003 on the end plate 2002 through a sequence of steps: "initial positioning through fitting—clamping and fixing—rotational misalignment—negative pressure adsorption—releasing clamping—attitude adjustment—transfer and handover." The clamping mechanism 1103 provides temporary fixation first, and negative pressure adsorption is only introduced after rotational misalignment, and then the clamping mechanism 1103 is immediately removed. Throughout the entire conversion process, the workpiece 20 always maintains at least one fixing method and will not lose constraint during the step switching process, ensuring the positional stability and safety of the workpiece 20. The rotating shaft 1101 adjusts the angle of the workpiece 20 under negative pressure adsorption without interference from clamping components, and the rotation is flexible and unobstructed. The transfer mechanism 12 picks up the workpiece 20 from the outer surface of the end plate 2002, which is opposite to the direction of adsorption by the transfer platform 1102 from the inner surface of the end plate 2002, and the handover process is smooth and without mechanical interference. This method ensures high-precision positioning and transfer of annular workpieces 20 with discontinuous end face structures such as holes, from coarse to precise, and stable and controllable throughout the entire process.

[0098] The workpiece mounting system will now be described in detail. This system is a core integrated component of the pre-processing loading system, used to precisely mount the workpiece 20, which has undergone attitude adjustment from the workpiece transfer device, into the material clamp 1904 on the tray 19. This system integrates the tray 19, the mounting and positioning device 5, the switching clamp device 6, and the workpiece transfer device. Through the coordinated operation of these devices, the workpiece 20 is fixed to the material clamp 1904 with its annular inner wall 20011 clamped, providing high-precision positioning and small-contact-area clamping for subsequent processes such as spraying, electroplating, or drying. The system receives the tray 19, positioned and locked by the material rack conveying and fixing device 4, and the workpiece 20, whose attitude has been adjusted, from the transfer positioning mechanism 11 and the transfer mechanism 12, completing the precision assembly of the workpiece 20 and the material clamp 1904.

[0099] In one embodiment, the present invention provides a workpiece mounting system comprising: The material tray 19 is provided with a material clamp 1904. The material clamp 1904 includes several clamping plates 19041 that can be folded or unfolded. The clamping plates 19041 are used to hold the annular inner wall 20011 of the workpiece 20 when unfolded. The installation positioning device 5 includes a positioning platform 502 and a fifth linear movement mechanism 501 that drives the positioning platform 502 to rise and fall. The positioning platform 502 is used to carry the workpiece 20 and position the workpiece 20 at a preset height of the material clamp 1904 during workpiece installation. The switch clamping device 6 is used to drive the clamping plate 19041 to switch between a retracted state and an unfolded state. The workpiece transfer device includes a transfer positioning mechanism 11 and a transfer mechanism 12. The transfer positioning mechanism 11 is used to receive the workpiece 20 and adjust it to a preset posture. The transfer mechanism 12 is used to transfer the workpiece 20 after the posture adjustment to the positioning platform 502. When the workpiece 20 is installed onto the material clamp 1904, the fifth linear movement mechanism 501 drives the positioning platform 502 to move to a preset height, the switching clamp device 6 drives the clamping plate 19041 to retract, and the transfer mechanism 12 transfers the workpiece 20 onto the positioning platform 502, making the annular inner wall 20011 of the workpiece 20 fit with the retracted clamping plate 19041 with a clearance. Subsequently, the switching clamp device 6 drives the clamping plate 19041 to unfold to abut against the annular inner wall 20011 of the workpiece 20, thereby achieving fixed positioning of the workpiece 20 and the material clamp 1904. Specifically, the material tray 19 is conveyed and positioned and locked at the installation position by the material rack conveying and fixing device 4. The first vision module identifies the height position of the tips of each clamping plate 19041 of the material clamp 1904. The fifth linear movement mechanism 501 drives the positioning platform 502 to rise and fall to the set height according to the vision recognition result, so that the top bearing surface of the positioning platform 502 maintains a preset vertical distance between the tips of the clamping plates 19041. The switch clamping device 6 is activated, the two clamping rods 601 move closer to each other, and each abutment block 602 passes through the through hole 50211 on the positioning plate 5021, abutting and squeezing each clamping plate 19041, overcoming the elastic restoring force of the clamping plates 19041 themselves, driving each clamping plate 19041 to retract synchronously, and the outer side of the clamping plate 19041 radially retracts inward, forming a gap with the annular inner wall 20011 of the workpiece 20 to be installed. Subsequently, after the transfer positioning mechanism 11 adjusts the workpiece 20 to the preset posture, the first moving mechanism 1201 of the transfer mechanism 12 drives the suction cup mechanism 1202 to pick up the end plate 2002 of the workpiece 20, transferring the workpiece 20 from top to bottom onto the positioning table 5022 of the positioning platform 502. The annular inner wall 20011 of the workpiece 20 is fitted around the periphery of each clamping plate 19041 in the retracted state, with a gap fit between them, and they do not contact each other. Next, the switching clamping device 6 is activated, the two clamping rods 601 move away from each other, and each abutment block 602 releases the pressure on the clamping plate 19041. Under the action of its own elastic restoring force, each clamping plate 19041 unfolds outward synchronously, and the outer side of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20, supporting and fixing the workpiece 20 from the inside. Finally, the fifth linear motion mechanism 501 drives the positioning platform 502 to descend and reset, moving away from below the workpiece 20, thus completing the fixed positioning of the workpiece 20 and the material clamp 1904.

[0100] In this embodiment, the workpiece mounting system integrates the mounting positioning device 5, the switching clamping device 6, and the workpiece transfer device around the material clamp 1904 on the material tray 19, achieving seamless connection of the entire process from posture adjustment to high-precision installation of the workpiece 20. The positioning platform 502 of the mounting positioning device 5 independently supports the workpiece 20 at a precisely controllable height, so that the vertical installation position of the workpiece 20 is completely determined by the height of the positioning platform 502, unaffected by the dimensional tolerance or elastic deformation of the clamping plate 19041, ensuring the consistency and repeatability of the installation height. The switching clamping device 6 realizes the synchronous folding and unfolding of each clamping plate 19041 of the material clamp 1904, providing an interference-free gap space during the workpiece 20 placement stage, and automatically tightening and fixing the workpiece 20 by the elastic restoring force of the clamping plate 19041 after the workpiece 20 is in place. During the installation process, there is no frictional contact between the workpiece 20 and the clamping plate 19041, protecting the surface quality of the workpiece 20. The transfer positioning mechanism 11 of the workpiece transfer device provides precise angle and posture adjustment for the workpiece 20. The transfer mechanism 12 picks up the workpiece 20 from the outer surface of the end plate 2002 using negative pressure adsorption and accurately places the adjusted workpiece 20 onto the positioning platform 502. During the installation process, the workpiece 20 is first independently supported by the positioning platform 502 and then elastically tightened by the clamping plate 19041. The position and posture of the workpiece 20 are jointly guaranteed by the transfer positioning mechanism 11 and the positioning platform 502, resulting in high installation accuracy and good consistency. Furthermore, the space above the material tray 19 is open, facilitating the loading of the workpiece 20 from above and the subsequent transfer and handling of the material tray 19.

[0101] Furthermore, in this embodiment, the combination of the workpiece transfer device with the installation positioning device 5 and the switching clamp device 6 produces a synergistic effect that cannot be achieved by each independent device operating alone. In terms of functional division, the workpiece transfer device is dedicated to the attitude adjustment and spatial transfer of the workpiece 20, the installation positioning device 5 is dedicated to the precise vertical positioning of the workpiece 20 at the installation station, and the switching clamp device 6 is dedicated to the closing and unfolding control of each clamping plate 19041 of the material clamp 1904. The three devices respectively undertake the three independent control dimensions of attitude, height, and clamping. Through system integration, the control precision of each device is superimposed and fused, ultimately achieving high-precision installation of the workpiece 20 into the material clamp 1904 with a set attitude, set height, and set clamping force. This complete installation task cannot be completed by each device operating independently. In terms of spatial layout, the workpiece transfer device places the workpiece 20 from top to bottom via the transfer mechanism 12. The positioning platform 502 of the mounting and positioning device 5 supports the workpiece 20 from below. The switching clamping device 6 drives the clamping plate 19041 to retract or expand from the side through the through hole 50211 of the positioning platform 502. The three devices form a three-dimensional collaborative operation layout of "top feeding, bottom support, and side clamping" around the same installation station. The action space of each device does not interfere with each other, realizing the parallel operation of multiple devices within the compact installation station. In terms of action sequence, the mounting and positioning device 5 first drives the positioning platform 502 to a preset height and keeps it stationary. The switching clamping device 6 then drives the clamping plate 19041 to retract and maintain the retracted state. The workpiece transfer device then transfers the workpiece 20 to the already positioned positioning platform 502. This sequence arrangement ensures that when the workpiece transfer device arrives, both the positioning platform 502 and the retracted clamping plate 19041 are ready, and the workpiece 20 can be placed immediately upon arrival without waiting for the response of other devices, thus minimizing the installation cycle time. In terms of accuracy assurance, the posture accuracy provided by the workpiece transfer device, the height accuracy provided by the installation and positioning device 5, and the synchronous retraction and extension accuracy provided by the switching clamp device 6 are independent of each other and uncoupled. The accuracy of each dimension can be adjusted and optimized separately, resulting in high system debugging efficiency and good accuracy consistency.

[0102] It should be noted that the workpiece mounting system in this embodiment is composed of the aforementioned workpiece mounting device with an annular inner wall and the workpiece transfer device. The workpiece mounting device with an annular inner wall includes a tray 19, a switching clamp device 6, and a mounting positioning device 5. Its specific structure, connection relationship, and the process of closing, positioning, and unfolding the clamping plate 19041 have been described in detail in the embodiment section of this specification regarding the workpiece mounting device with an annular inner wall. The workpiece transfer device includes a transfer positioning mechanism 11, a transfer mechanism 12, a workpiece loading mechanism 8, and a flexible gripper mechanism 9, etc. Its specific structure, working process, and details of workpiece 20's pick-up and drop, misalignment adsorption, and posture adjustment have been described in detail in the embodiment section of this specification regarding the workpiece transfer device. This embodiment will not repeat the internal structure of each device here, but only describes the cooperative operation mode and overall installation method of the two in the mounting system.

[0103] In one embodiment, a workpiece mounting method includes the following steps: S1. The fifth linear motion mechanism 501 drives the positioning platform 502 to move to a preset height. The first vision module identifies the height position of the tips of each clamping plate 19041 of the material clamp 1904. Based on the vision recognition result, the fifth linear motion mechanism 501 drives the positioning platform 502 to rise and fall to the preset height, so that the top bearing surface of the positioning platform 5022 of the positioning platform 502 and the tips of the clamping plates 19041 maintain a preset vertical distance, providing a precise vertical installation reference for the workpiece 20.

[0104] S2. The switch clamping device 6 drives the clamping plates 19041 to retract. The two clamping rods 601 of the switch clamping device 6 move closer together, and each abutment block 602 passes through the through hole 50211 on the positioning plate 5021, abutting and pressing against each clamping plate 19041, overcoming the elastic restoring force of the clamping plates 19041 themselves, and driving each clamping plate 19041 to retract inward synchronously. After retraction, the outer surface of each clamping plate 19041 radially retracts inward, forming an annular gap with the annular inner wall 20011 of the workpiece 20 to be installed, providing interference-free space for the placement of the workpiece 20.

[0105] S3. The workpiece transfer device loads the workpiece 20 onto the transfer positioning mechanism 11. After the transfer positioning mechanism 11 adjusts the workpiece 20 to a preset posture, the transfer mechanism 12 transfers the workpiece 20 onto the positioning platform 502, so that the annular inner wall 20011 of the workpiece 20 is in clearance fit with the clamping plate 19041 in the retracted state. The flexible gripper mechanism 9 quickly grabs the workpiece 20 from the workpiece loading mechanism 8 and transfers it to the transfer platform 1102 of the transfer positioning mechanism 11. The transfer positioning mechanism 11 performs rotational misalignment adsorption and angle posture adjustment on the workpiece 20, precisely adjusting the workpiece 20 to the preset posture. The first moving mechanism 1201 of the transfer mechanism 12 drives the suction cup mechanism 1202 to adsorb the workpiece 20 from the outer surface of the end plate 2002 of the workpiece 20. The adjusted workpiece 20 is placed from top to bottom on the positioning table 5022 of the positioning platform 502. The annular inner wall 20011 of the workpiece 20 is fitted around the periphery of each clamping plate 19041 in the folded state, and the two maintain a gap fit and do not contact each other.

[0106] S4. The switch clamping device 6 drives the clamping plate 19041 to unfold, so that the clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20, thereby fixing the workpiece 20 to the material clamp 1904. The two clamping rods 601 of the switch clamping device 6 move away from each other, and the abutment blocks 602 release the pressure on the clamping plate 19041. Under the action of their own elastic restoring force, each clamping plate 19041 unfolds automatically and synchronously outward, and the outer surface of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20, thus supporting and fixing the workpiece 20 from the inside. The workpiece 20 and the material clamp 1904 are fixed at a preset relative position. The vertical position of the workpiece 20 is precisely determined by the height of the positioning platform 502, and the angle and posture are precisely guaranteed by the adjustment of the transfer positioning mechanism 11.

[0107] S5. The fifth linear motion mechanism 501 drives the positioning platform 502 to reset. The fifth linear motion mechanism 501 drives the positioning platform 502 to descend, and the bearing surface of the positioning table 5022 detaches from the bottom surface of the end plate 2002 of the workpiece 20. The positioning platform 502 descends to the initial position or the avoidance position, making room for the installation of the next workpiece 20 or the removal of the material tray 19, thus completing the entire installation process of the workpiece 20 and the material clamp 1904.

[0108] In this embodiment, the workpiece installation method achieves high-precision, small-contact-area installation of workpiece 20 on material clamp 1904 through strict timing coordination and collaborative control between each step. Steps S1 and S2 pre-set the height of positioning platform 502 and prepare for the folding of clamp 19041 before workpiece 20 arrives. In step S3, all devices are ready when workpiece 20 arrives, allowing for placement immediately and shortening the installation cycle. In step S3, workpiece 20 is independently supported by positioning platform 502, and the annular inner wall 20011 of workpiece 20 engages with the folded clamp 19041 without contact gap, resulting in frictionless assembly and protecting the surface quality of workpiece 20. In step S4, clamp 19041 automatically unfolds and tightens using its own elastic restoring force, requiring no continuous external power supply. After installation, material tray 19 can freely rotate, and the installation system can immediately enter the next installation cycle, achieving high efficiency in parallel operation. Throughout the entire process, the vertical position accuracy, angular attitude accuracy, and clamping force of workpiece 20 are independently guaranteed by the elastic characteristics of the installation positioning device 5, the transfer positioning mechanism 11, and the material clamp 1904, respectively. The control dimensions are decoupled, the system is easy to debug, and the installation consistency is good.

[0109] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A workpiece mounting system, characterized in that, include: The material tray (19) is provided with a material clamp (1904), which includes several clamps (19041) that can be folded or unfolded. The clamps (19041) are used to hold the annular inner wall (20011) of the workpiece (20) when unfolded. The installation positioning device (5) includes a positioning platform (502) and a fifth linear motion mechanism (501) for driving the positioning platform (502) to rise and fall. The positioning platform (502) is used to carry the workpiece (20) during workpiece installation and position the workpiece (20) at a preset height of the material clamp (1904). A switch clamping device (6) is used to drive the clamping plate (19041) to switch between a retracted state and an extended state; The workpiece transfer device includes a transfer positioning mechanism (11) and a transfer mechanism (12). The transfer positioning mechanism (11) is used to receive the workpiece (20) and adjust it to a preset posture. The transfer mechanism (12) is used to transfer the workpiece (20) after the posture adjustment to the positioning platform (502). When the workpiece (20) is installed onto the material clamp (1904), the fifth linear movement mechanism (501) drives the positioning platform (502) to move to a preset height, the switch clamp device (6) drives the clamp plate (19041) to close, the transfer mechanism (12) transfers the workpiece (20) onto the positioning platform (502) and makes the annular inner wall (20011) of the workpiece (20) fit with the clamp plate (19041) in the closed state with a gap. Then the switch clamp device (6) drives the clamp plate (19041) to open to abut against the annular inner wall (20011) of the workpiece (20), thereby achieving the fixed positioning of the workpiece (20) and the material clamp (1904).

2. The workpiece mounting system according to claim 1, characterized in that, The switch clamp device (6) includes two clamping rods (601) that can be brought closer together or moved further apart, and an abutment block (602) disposed on the clamping rods (601). When the two clamping rods (601) come closer together, the abutment block (602) is driven to push against the clamping plate (19041) so that the clamping plate (19041) closes.

3. The workpiece mounting system according to claim 2, characterized in that, The material clips (1904) are arranged in a rectangular array on the material tray (19). The length of the clamping rod (601) covers at least one row or one column of the material clips (1904), and the number of the abutment blocks (602) on the clamping rod (601) is consistent with the number of the material clips (1904) in the corresponding row or column.

4. The workpiece mounting system according to claim 1, characterized in that, The transfer positioning mechanism (11) includes a rotating shaft (1101), a transfer platform (1102) disposed on the end face of the rotating shaft (1101), and a clamping mechanism (1103) disposed on the outside of the transfer platform (1102). The transfer platform (1102) has a negative pressure suction hole (1104) on its end face for connecting the negative pressure mechanism. After the workpiece (20) is transferred to the transfer platform (1102), the clamping mechanism (1103) clamps the annular outer wall (20012) of the workpiece (20). The rotating shaft (1101) rotates to make the negative pressure suction hole (1104) misalign with the hole (2003) of the end plate (2002) of the workpiece (20). The negative pressure mechanism is activated and the clamping mechanism (1103) is released, so that the workpiece (20) is adsorbed and fixed on the transfer platform (1102) for angle adjustment.

5. The workpiece mounting system according to claim 1, characterized in that, The workpiece transfer device further includes a flexible gripper mechanism (9), which includes a flexible gripper (902) and a second moving mechanism (901) for driving the flexible gripper (902) to move. The workpiece (20) has an annular end plate (2002), and the flexible claw (902) is configured to extend into the inner ring of the end plate (2002) of the workpiece (20) and unfold to fix the workpiece (20) and transfer the workpiece (20) to the transfer positioning mechanism (11).

6. The workpiece mounting system according to claim 1, characterized in that, It also includes a first vision module configured to identify the tip height position of the clamp (19041); The fifth linear motion mechanism (501) drives the positioning platform (502) to move to the preset height based on the recognition result of the first vision module.

7. The workpiece mounting system according to claim 2, characterized in that, The positioning platform (502) includes a positioning plate (5021) and a positioning platform (5022) disposed on the top of the positioning plate (5021). The positioning plate (5021) has a through hole (50211) for the abutment block (602) to pass through. When the clamping rods (601) come closer together, the abutting block (602) passes through the through hole (50211) and pushes the clamping plate (19041) together.

8. The workpiece mounting system according to claim 7, characterized in that, The switch clamp device (6) further includes a dual-coordinate moving platform (603), and the clamping rod (601) is disposed on the dual-coordinate moving platform (603); The dual-coordinate moving platform (603) is configured to drive the clamping rod (601) to move along the row direction of the material clamp (1904) to switch workstations, and to move along a direction perpendicular to the plane of the positioning platform (502) to avoid or approach the clamping plate (19041).

9. The workpiece mounting system according to claim 1, characterized in that, It also includes a fourth vision module (14), which is used to obtain the actual posture of the workpiece (20) on the transfer positioning mechanism (11); The transfer positioning mechanism (11) rotates and adjusts the workpiece (20) to the preset posture according to the acquisition result of the fourth vision module (14).

10. A workpiece mounting method, using the workpiece mounting system as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. The fifth linear motion mechanism (501) drives the positioning platform (502) to move to a preset height; S2. The switch clamp device (6) drives the clamp plate (19041) to close; S3. The workpiece transfer device loads the workpiece (20) onto the transfer positioning mechanism (11). After the transfer positioning mechanism (11) adjusts the workpiece (20) to a preset posture, the transfer mechanism (12) transfers the workpiece (20) onto the positioning platform (502), so that the annular inner wall (20011) of the workpiece (20) is in clearance fit with the clamping plate (19041) in the folded state. S4. The switch clamp device (6) drives the clamp plate (19041) to unfold, so that the clamp plate (19041) abuts against the annular inner wall (20011) of the workpiece (20), thereby achieving the fixed positioning of the workpiece (20) and the material clamp (1904). S5. The fifth linear motion mechanism (501) drives the positioning platform (502) to reset.

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