Intelligent flexible workstation for automatic transfer and docking of cylinder sections and docking method

Abstract

The present invention discloses an intelligent flexible workstation and docking method for automatic transfer and docking of barrel sections. The workstation includes a barrel section on-line area, a lifting area, a position coarse adjustment identification area, a position coarse adjustment area, a barrel section buffer area, a transfer robot, a measuring workbench, a docking workbench and a barrel section off-line area, a safety protection device and a control system group. The docking workbench completes the posture fine adjustment and docking operation of the barrel section. The barrel section is transported on-line from the barrel section on-line area, grabbed by the transfer robot to the position coarse adjustment identification area for position identification, and placed in the position coarse adjustment area for position coarse adjustment. The adjusted barrel section can be placed in the barrel section buffer area for cache or directly placed on the docking workbench by the transfer robot, and the docking is completed after the posture adjustment. The barrel section that has been docked is placed in the off-line area to wait for being offline. The present invention can fully automatically complete the barrel section transfer and docking tasks, improve production efficiency, reduce operators, reduce labor intensity, and has a high degree of flexibility.

Description

Technical Field

[0001] The invention relates to the technical field of cylinder segment transfer and docking, and in particular to an intelligent flexible workstation and a docking method for automatic cylinder segment transfer and docking. Background Art

[0002] With the development of intelligent manufacturing technology, the equipment for automatic product transfer and automatic docking has made rapid progress. Robot automatic transfer and parallel platform automatic docking can effectively improve the efficiency and quality of transfer and docking, reduce costs, and improve the employee environment. They have been adopted by many manufacturing companies at home and abroad. However, there are few automated equipment for the application of visual camera recognition in the automatic docking process of barrel products. At present, the docking of barrels lacks solutions with strong adaptability, good flexibility, and high efficiency. Most companies still rely mainly on manual labor in the production process of barrel docking. For the docking of barrel products with multiple varieties, small batches, and strong rhythms, the manual labor intensity is high and the workers' experience requirements are high. In addition, during the entire docking process, manual work relies on process cards, which is inefficient. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent flexible workstation and docking method for automatic transfer and docking of barrel sections, which can meet the flexible docking and assembly requirements of barrel section products of various sizes, and has high efficiency and good flexibility.

[0004] The technical solution to achieve the purpose of the present invention is: an intelligent flexible workstation for automatic transfer and docking of barrel sections, including a barrel section on-line area 1, a lifting area 2, a position coarse adjustment identification area 3, a position coarse adjustment area 4, a barrel section buffer area 5, a transfer robot 6, a measuring workbench 7, a docking workbench 8, a barrel section off-line area 9, a safety protection device 10 and a control system, wherein:

[0005] The barrel section loading area 1 is mainly used for barrel section loading and barrel section support tray storage, and adopts a double-layer structure, the upper layer is used for loading, and the lower layer is used for supporting tray unloading;

[0006] The lifting area 2 is used for lifting the barrel section support tray, and is used for lowering the barrel section support tray from the upper layer to the lower layer;

[0007] The position coarse adjustment identification area 3 is used to identify the product's landmarks and provide adjustment data for the position coarse adjustment area 4;

[0008] The position coarse adjustment area 4 is used to receive the adjustment data sent by the position coarse adjustment identification area 3 to adjust the mark points of the product;

[0009] The barrel section buffer area 5 is used for caching products after the position rough adjustment area 4 is completed;

[0010] The transfer robot 6 is used for the transfer of products in various areas;

[0011] The measuring workbench 7 is used to readjust the marking points of the product, provide posture adjustment data for the docking workbench 8, and send the data to the docking workbench 8;

[0012] The docking workbench 8 is used for adjusting the posture, docking and disassembly of the barrel segment products;

[0013] The barrel section offline area 9 is used for finished product offline;

[0014] The safety protection device 10 is used to protect the safety of personnel during operation;

[0015] The control system is used for operation control.

[0016] A docking method based on automatic barrel section transfer and docking intelligent flexible workstation, comprising the steps of:

[0017] Step 1: According to the instruction, the barrel section and the carrying tray are transported to the designated position on the barrel section upper line area 1;

[0018] Step 2, according to the instruction, the transfer robot 6 grabs the barrel segment and transfers it to the position coarse adjustment identification area 3;

[0019] Step 3: After the transfer is completed, according to the instruction, the empty load tray is transported to the lifting area 2, and the empty load tray is lowered and transported to the lower layer of the barrel section upper line area 1, waiting for the load tray to go offline;

[0020] Step 4, the rough adjustment identification area 3 identifies the barrel segment mark point. After the identification is completed, the transfer robot 6 places the barrel segment in the rough position adjustment area 4 according to the instruction to adjust the product mark point;

[0021] Step 5: The transfer robot 6 grabs the barrel segment product from the rough position adjustment area 4 and places it in the barrel segment buffer area 5 according to the instruction, waiting for the previous product to be docked;

[0022] Step 6, after the previous product is docked, it is detected that the upper holding ring 29 has been opened, and the transfer robot 6 grabs the barrel segment product and places it on the docking workbench 8 according to the instruction, and selects the inner support single holding ring posture adjustment device 11, the reference barrel segment holding ring device 12, the double holding ring posture adjustment device 13 or the outer support single holding ring posture adjustment device 14 according to the product type;

[0023] Step 7, the transfer robot 6 withdraws from the operation area, and the two cameras on the measuring workbench 7 are moved to the designated positions on both sides of the barrel product by the driving motor, and the two cameras are moved to the axis position of the barrel product by the electric push rod to identify the mark point and the axis of the product;

[0024] Step 8, according to the instruction, repeat steps 6 and 7, the docking workbench 8 will carry the two barrel segment products, and perform product docking and posture adjustment according to the camera measurement data, and then perform product docking;

[0025] Step 9, when all barrel segment products are docked, the transfer robot 6 grabs the barrel segment finished product and places it in the barrel segment offline area 9, waiting for the finished product to come off the line.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes automatic transportation, automatic position recognition, automatic posture adjustment and automatic docking of barrel sections based on conveyor lines, robots, parallel platforms and visual systems, and can adapt to the flexible docking and assembly requirements of barrel section products of various sizes, with high efficiency and good flexibility; the present invention realizes real-time collection and monitoring of docking process data and autonomous adjustment of docking posture, adapts to dynamic task scheduling and flexible docking requirements of barrel sections of multiple models, and has a high level of automation, digitization, flexibility and informatization. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the workstation of the present invention.

[0028] Figure 2 It is a structural schematic diagram of the docking workbench in the workstation of the present invention.

[0029] Figure 3 It is a structural schematic diagram of the internally supported single-holding ring posture adjustment device in the workstation of the present invention.

[0030] Figure 4 It is a schematic diagram of the structure of the holding ring in the workstation of the present invention.

[0031] Figure 5 It is a schematic diagram of the structure of the measuring workbench in the workstation of the present invention.

[0032] Figure 6 It is a schematic diagram of the structure of the transfer robot in the workstation of the present invention.

[0033] In the figure: 1-barrel section upper line area, 2-lifting area, 3-position coarse adjustment identification area, 4-position coarse adjustment area, 5-barrel section buffer area, 6-transfer robot, 7-measuring workbench, 8-docking workbench, 9-barrel section lower line area, 10-safety protection device, 11-inner support single holding ring device, 12-reference barrel section support device, 13-double holding ring posture adjustment device, 14-external support single holding ring posture adjustment device, 15-motion platform, 16-base, 17-holding ring, 18-six-degree-of-freedom parallel platform, 19-support base, 20-translation motor, 21-inner support three-jaw chuck, 2 2—three-claw chuck base, 23—sleeve, 24—support claw, 25—rotating motor, 26—roller, 27—rotating base, 28—lower holding ring, 29—upper holding ring, 30—button type locker, 31—caliper, 32—photoelectric switch, 33—guide rail, 34—measuring base, 35—left drive motor, 36—left slider, 37—left camera, 38—left support, 39—left electric push rod, 40—right camera, 41—right electric push rod, 42—right support, 43—right drive motor, 44—right slider, 45—gripper, 46—robot, 47—seventh axis platform. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Combination Figure 1 The present embodiment provides an intelligent flexible workstation for fully automatic barrel section transfer and docking based on a conveyor line, a robot, a parallel platform and a visual system to realize automatic barrel section transfer, automatic position recognition, automatic posture adjustment and automatic docking, including a barrel section on-line area 1, a lifting area 2, a position coarse adjustment recognition area 3, a position coarse adjustment area 4, a barrel section buffer area 5, a transfer robot 6, a measuring workbench 7, a docking workbench 8, a barrel section off-line area 9 and a safety protection device 10;

[0036] The barrel section loading area 1 is mainly used for barrel section loading and barrel section support tray storage, and adopts a double-layer structure, with the upper layer for loading and the lower layer for supporting tray unloading.

[0037] The lifting area 2 is used for lifting the barrel section support tray, and can transport the barrel section support tray from the upper layer to the lower layer.

[0038] The position coarse adjustment identification area 3 is mainly used for identifying the mark points of the product and providing adjustment data for the position coarse adjustment area 4; the identification and adjustment methods adopt the methods known in the art and will not be repeated here.

[0039] The position coarse adjustment area 4 is mainly used for coarse adjustment of the marking points of the product and receives the adjustment data sent by the position coarse adjustment identification area 3 .

[0040] The barrel segment buffer area 5 is used for caching products after the rough position adjustment area 4 is completed, and the transfer robot 6 transports the products from the barrel segment buffer area 5 to the docking workbench 8.

[0041] The transfer robot 6 realizes the transfer operation of products in various areas.

[0042] The measuring workbench 7 is used for fine adjustment of the product's marking points, providing posture adjustment data for docking, and sending the data to the docking workbench 8.

[0043] The docking workbench 8 is used for posture adjustment, docking and decomposition of barrel segment products.

[0044] The barrel section offline area 9 is used for offline production of finished products.

[0045] The safety protection device 10 is used to protect the safety of personnel during operation.

[0046] Combination Figure 2 The docking workbench 8 includes an inner-supported single-ring posture adjustment device 11, a reference barrel section ring device 12, a double-ring posture adjustment device 13, an outer-supported single-ring posture adjustment device 14, a motion platform 15, and a base 16. The inner-supported single-ring posture adjustment device 11 of the docking workbench 8 is suitable for fixing barrel section products with one end of the ring locked and the other end of the inner support locked, the reference barrel section support device 12 is suitable for fixing barrel section products as docking reference, the double-ring posture adjustment device 13 is suitable for fixing products with both ends of the ring locked, and the outer-supported single-ring posture adjustment device 14 is suitable for fixing barrel section products with one end of the ring locked and one end only for auxiliary support. The base 16 is installed on the ground, the motion platform 15 is fixedly connected to the base 16, the inner-supported single-ring posture adjustment device 11, the reference barrel section support device 12, the double-ring posture adjustment device 13, and the outer-supported single-ring posture adjustment device 14 are all slidably connected to the motion platform, and the horizontal sliding on the motion platform 15 is achieved through the driving of each device.

[0047] Combination Figure 3The internally supported single-ring posture adjustment device 11 includes a ring 17, a six-degree-of-freedom parallel platform 18, a support base 19, a translation motor 20, an internally supported three-jaw chuck 21, and a three-jaw chuck base 22. The bottom of the support base 19 is slidably connected to the motion platform 15 through a guide rail slider. The six-degree-of-freedom parallel platform 18 is fixed on the support base 19. The translation motor 20 is fixedly connected to the support base 19, and is used to drive the internally supported single-ring posture adjustment device 11 to move horizontally on the docking workbench 8. The three-jaw chuck base 22 is fixed on one side of the six-degree-of-freedom parallel platform 18, the ring 17 is fixed on the other side of the six-degree-of-freedom parallel platform 18, and the internally supported three-jaw chuck 21 is fixed on one side of the three-jaw chuck base 22, and fixes the barrel section product together with the ring 17.

[0048] The reference barrel section holding ring device 12, the double holding ring attitude adjustment device 13, and the externally supported single holding ring attitude adjustment device 14 are similar in structure to the internally supported single holding ring attitude adjustment device 11. Based on their functions, those skilled in the art can make slight adjustments to the structure of the internally supported single holding ring attitude adjustment device 11, and the structure will not be described again here.

[0049] Combination Figure 4 The holding ring 17 includes a sleeve 23, a supporting claw 24, a rotating motor 25, a roller 26, a rotating base 27, a lower holding ring 28, an upper holding ring 29, a button type locker 30, a caliper 31, and a photoelectric switch 32. There are three supporting claws 24, which are evenly distributed on the ring formed by the lower holding ring 28 and the upper holding ring 29, and are used to support the barrel segment product. The button type locker 30 is fixedly connected to the supporting claw 24, and the button type locker 30 is connected to the sleeve 23 by a pin. The sleeve 23 is fixedly connected to the upper holding ring 29. When the button of the button type locker 30 is pressed, the locking connection is disconnected, and when the button of the button type locker 30 is released, the locking connection is realized. The rotating motor 25, the roller 26 and the rotating base 27 are fixedly connected. The lower holding ring 28 is supported by the output end of the rotating motor 25 and the roller 26. The lower holding ring 28 and the upper holding ring 29 are locked and fixed by the caliper 31. When in use, the caliper 31 is opened to realize the opening angle of the lower holding ring 28 and the upper holding ring 29, and the docking product is placed in the holding ring 17. The photoelectric switch 32 is fixedly connected to the rotating base 27 to detect whether the lower holding ring 28 and the upper holding ring 29 are in the open state. The button locker 30 is connected to the sleeve 23 at different installation positions to adapt to barrel products of different diameters.

[0050] Combination Figure 5The measuring workbench 7 is composed of a guide rail 33, a measuring base 34, a left driving motor 35, a left slider 36, a left camera 37, a left support 38, a left electric push rod 39, a right camera 40, a right electric push rod 41, a right support 42, a right driving motor 43, and a right slider 44. The guide rail 33 is fixedly connected to the measuring base 34, the left driving motor 35, the left slider 36, and the left electric push rod 39 are all fixedly connected to the left support 38, the right driving motor 43, the right slider 44, and the right electric push rod 41 are all fixedly connected to the right support 42, the left support 38 and the right support 42 can slide on the guide rail 33, the left camera 37 is fixedly connected to the left electric push rod 39, and the extension and retraction of the left camera 37 is realized by the extension and retraction of the left electric push rod 39, and the movement principle of the right camera 40 is the same.

[0051] Combination Figure 6 The transfer robot 6 is composed of a gripper 45, a robot 46, and a seventh axis platform 47. The gripper 45 is fixedly mounted on the robot 46, and the robot 46 can move horizontally on the seventh axis platform 47.

[0052] The intelligent flexible workstation for automatic transfer and docking of drum sections is composed of a master control system and an equipment control system. Each equipment control system is completed by itself, and the overall control is completed by the master control system. There is no direct communication between the various devices. The intelligent flexible workstation for automatic transfer and docking of drum sections includes the following specific steps:

[0053] (1) According to the instructions, the system transports the barrel section and the carrying tray to the designated position on the barrel section upper line area 1;

[0054] (2) According to the system instruction, the transfer robot 6 grabs the barrel segment through the gripper 45 and transfers it to the position coarse adjustment identification area 3;

[0055] (3) After the barrel product is grabbed, according to the system instruction, the empty carrier tray is transported to the lifting area 2, and the empty carrier tray is lowered and transported to the lower layer of the barrel upper line area 1, waiting for the empty carrier tray to come off the line;

[0056] (4) In the rough adjustment identification area 3, the barrel segment mark point is identified by the camera. After the identification is completed, the transfer robot 6 places the barrel segment in the rough position adjustment area 4 according to the instruction to achieve the rough adjustment of the product mark point;

[0057] (5) The transfer robot 6 grabs the barrel segment product from the rough position adjustment area 4 and places it in the barrel segment buffer area according to the instruction, waiting for the previous product to be docked;

[0058] (6) After the previous product is docked, the photoelectric switch 32 confirms that the upper holding ring 29 has been opened. The transfer robot 6 grabs the barrel segment product and places it on the docking workbench 8 according to the instruction. The internal support single holding ring posture adjustment device 11, the reference barrel segment holding ring device 12, the double holding ring posture adjustment device 13 or the external support single holding ring posture adjustment device 14 is selected according to the product type;

[0059] (7) The transfer robot 6 withdraws from the operation area, and the left camera 37 and the right camera 40 on the measuring workbench 7 are respectively moved to the designated positions on the left and right sides of the barrel product by the action of the left drive motor 35 and the right drive motor 43. The left camera 37 and the right camera 40 are moved to the axis position of the barrel product by the action of the left electric push rod 39 and the right electric push rod 41 to identify the mark point and the axis of the product;

[0060] (8) According to the instruction, steps (6) and (7) are repeated, and the docking workbench 8 carries two barrel-section products, and realizes docking and posture adjustment of the products through the parallel platform of the holding ring device according to the camera measurement data, so as to realize product docking;

[0061] When all barrel segment products are docked, the transfer robot 6 grabs the barrel segment finished product through the gripper 45 and places it in the tray of the barrel segment offline area 9, waiting for the finished product to be offline.

[0062] The present invention can fully automatically complete the tasks of barrel section transfer and docking, thereby improving production efficiency, reducing the number of operators, reducing labor intensity, and having a high degree of flexibility. It can realize real-time collection and monitoring of docking process data and autonomous adjustment of docking posture, and is adaptable to dynamic task scheduling and flexible docking requirements of barrel sections of various models. It has a high level of automation, digitization, flexibility, and informatization, and is adaptable to the development trend of the barrel section docking field in the future.

Claims

1. An intelligent flexible workstation for automatic transfer and docking of cylinder sections, characterized by: It comprises a barrel section upper production line area (1), a lifting area (2), a position coarse adjustment identification area (3), a position coarse adjustment area (4), a barrel section buffer area (5), a transfer robot (6), a measuring workbench (7), a docking workbench (8), a barrel section lower production line area (9), a safety protection device (10) and a control system, wherein: The barrel section loading area (1) is used for barrel section loading and barrel section support tray storage, and adopts a double-layer structure, the upper layer is used for loading, and the lower layer is used for supporting tray unloading; The lifting area (2) is used for lifting the barrel section support tray, and is used for lowering the barrel section support tray from the upper layer to the lower layer; The coarse position adjustment identification area (3) is used to identify the marking points of the product and provide adjustment data for the coarse position adjustment area (4); The coarse position adjustment area (4) is used to receive the adjustment data sent by the coarse position adjustment identification area (3) to adjust the marking points of the product; The barrel segment buffer area (5) is used for caching products after the position rough adjustment area (4) is completed; The transfer robot (6) is used for the transfer of products between various areas; The measuring workbench (7) is used to readjust the marking points of the product, provide posture adjustment data for the docking workbench (8), and send the data to the docking workbench (8); The docking workbench (8) is used for adjusting the posture, docking and disassembling of barrel segment products; The barrel section offline area (9) is used for offline production of finished products; The safety protection device (10) is used to protect the safety of personnel during operation; The control system is used for operation control; The docking workbench (8) comprises an internally supported single-ring posture adjustment device (11), a reference barrel section support device (12), a double-ring posture adjustment device (13), an externally supported single-ring posture adjustment device (14), a motion platform (15) and a base (16); the base (16) is installed on the ground, the motion platform (15) is fixed on the base (16), the internally supported single-ring posture adjustment device (11), the reference barrel section support device (12), the double-ring posture adjustment device (13), the externally supported single-ring posture adjustment device (14), a motion platform (15) and a base (16); The single-ring posture adjustment device (14) is slidably connected to the motion platform (15); the inner-support type single-ring posture adjustment device (11) is used to fix a barrel segment product with one end of the barrel segment locked by a ring and the other end of the inner support locked; the reference barrel segment support device (12) is used to fix a barrel segment product that serves as a docking reference; the double-ring posture adjustment device (13) is used to fix a product with both ends of the barrel segment locked by a ring; and the outer-support type single-ring posture adjustment device (14) is used to fix a barrel segment product with one end of the barrel segment locked by a ring and the other end only being supported by an auxiliary support; The internally supported single-holding ring posture adjustment device (11) comprises a holding ring (17), a six-degree-of-freedom parallel platform (18), a support base (19), a translation motor (20), an internally supported three-jaw chuck (21) and a three-jaw chuck base (22); the bottom of the support base (19) is slidably connected to the motion platform (15) via a guide rail slider, the six-degree-of-freedom parallel platform (18) is fixed on the support base (19), the translation motor (20) is fixedly connected to the support base (19) and is used to drive the internally supported single-holding ring posture adjustment device (11) to move horizontally on the docking workbench (8), the three-jaw chuck base (22) is fixed on one side of the six-degree-of-freedom parallel platform (18), the holding ring (17) is fixed on the other side of the six-degree-of-freedom parallel platform (18), the internally supported three-jaw chuck (21) is fixed on one side of the three-jaw chuck base (22), and together with the holding ring (17) fixes the barrel segment product; The holding ring (17) comprises a sleeve (23), a supporting claw (24), a rotating motor (25), a roller (26), a rotating base (27), a lower holding ring (28), an upper holding ring (29), a button-type locking device (30) and a caliper (31); the rotating motor (25) and the roller (26) are fixedly connected to the rotating base (27); the lower holding ring (28) is supported by the output end of the rotating motor (25) and the roller (26); the lower holding ring (28) and the upper holding ring (29) are locked and fixed by the caliper (31); the upper holding ring (29) and the lower holding ring (28) are both fixedly connected with a sleeve (23); the sleeve (23) is pin-connected to the button-type locking device (30); and the button-type locking device (30) is fixedly connected to the supporting claw (24).

2. The intelligent flexible workstation for automatic transfer and docking of cylinder sections according to claim 1 is characterized by: The rotating base (27) is also provided with a photoelectric switch (32) for detecting whether the lower holding ring (28) and the upper holding ring (29) are in an open state.

3. The intelligent flexible workstation for automatic transfer and docking of cylinder sections according to claim 1 is characterized by: The sleeve (23), the button-type locking device (30), and the supporting claw (24) are three in number and are evenly distributed on a circular ring formed by a lower holding ring (28) and an upper holding ring (29).

4. The intelligent flexible workstation for automatic transfer and docking of cylinder sections according to claim 1 is characterized by: The measuring workbench (7) comprises a measuring base (34), a guide rail (33) being fixed on the measuring base (34), two supports being slidably connected to the guide rail (33) via a slider, and an electric push rod (39) being fixed on each of the supports, the input end of which is connected to a driving motor, and the output end of which is connected to a camera.

5. The intelligent flexible workstation for automatic transfer and docking of cylinder sections according to claim 1 is characterized by: The transfer robot (6) comprises a gripper (45), a robot (46) and a seventh-axis platform (47); the gripper (45) is fixedly mounted on the robot (46), and the robot (46) can move horizontally on the seventh-axis platform (47).

6. The intelligent flexible workstation for automatic transfer and docking of cylinder sections according to claim 1 is characterized by: The control system includes a master control system and an equipment control system. The master control system is used for overall operation control, and the equipment control system is used for controlling corresponding equipment.

7. A docking method based on the intelligent flexible workstation for automatic transfer and docking of barrel sections according to any one of claims 1 to 6, characterized in that: Includes steps: Step 1: According to the instruction, the barrel section and the carrying tray are transported to the designated position on the barrel section upper line area (1); Step 2: According to the instruction, the transfer robot (6) grabs the barrel segment and transfers it to the position coarse adjustment identification area (3); Step 3, after the transfer is completed, according to the instruction, the empty load tray is transported to the lifting area (2), and the empty load tray is lowered and transported to the lower layer of the drum section upper line area (1), waiting for the load tray to come off the line; Step 4, the position coarse adjustment identification area (3) identifies the barrel segment mark point. After the identification is completed, the transfer robot (6) places the barrel segment in the position coarse adjustment area (4) according to the instruction to adjust the product mark point; Step 5, the transfer robot (6) grabs the barrel segment product from the rough position adjustment area (4) and places it in the barrel segment buffer area (5) according to the instruction, and waits for the previous product to be docked; Step 6, after the previous product is docked, it is detected that the upper holding ring (29) has been opened, and the transfer robot (6) grabs the barrel segment product and places it on the docking workbench (8) according to the instruction, and selects the internal support type single holding ring posture adjustment device (11), the reference barrel segment support device (12), the double holding ring posture adjustment device (13) or the external support type single holding ring posture adjustment device (14) according to the product type; Step 7, the transfer robot (6) withdraws from the operation area, and the two cameras on the measuring workbench (7) are respectively moved to the designated positions on both sides of the barrel product by the driving motor, and the two cameras are moved to the axis position of the barrel product by the electric push rod to identify the product's mark point and the product axis; Step 8, according to the instruction, repeat steps 6 and 7, the docking workbench (8) will carry out docking and posture adjustment of the two barrel segments according to the camera measurement data, and then dock the products; Step 9, when all barrel segment products are docked, the transfer robot (6) grabs the barrel segment finished product and places it in the barrel segment offline area (9), waiting for the finished product to be offline.

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