An automated positioning and transfer system and method for a pulsed production line.

Abstract

This invention relates to an automatic positioning and transfer system and method for a pulsed production line, belonging to the field of automated assembly lines for aerospace liquid engines. The automatic positioning and transfer system includes a control system, a conveying mechanism, a stop mechanism, a near-position sensor, a position sensor, a separation mechanism, a dedicated carrier, and a positioning and rotating mechanism. Based on the motion signals received by the control system from various magnetic switches, photoelectric sensors, etc., it further drives the conveying mechanism, detection and blocking mechanism, separation mechanism, positioning and rotating mechanism, and other actuators to achieve automatic workpiece positioning and transfer. It meets the construction requirements of pulsed, rhythmic production lines for liquid rocket engines and effectively solves the problems of low positioning accuracy and inability to achieve fully automated transfer found in previously disclosed automatic positioning solutions.

Description

Technical Field

[0001] This invention belongs to the technical field of automated assembly line production for liquid rocket engines, and relates to an automated positioning and transfer system and method for a pulsed production line. Background Technology

[0002] Faced with the demanding requirements of "high-density launches, high-intensity delivery, and high-quality production" for liquid rocket engines, comprehensively promoting the application of automation, digitalization, intelligence, and information technology in manufacturing has become an inevitable development direction. Successful experiences in the transformation of liquid rocket engine manufacturing demonstrate that pulsed, rhythmic production is an effective way to achieve lean manufacturing of liquid rocket engines. However, the transformation of production models first requires overcoming the key problems of high manual turnover, low efficiency, and slow response in existing product processes.

[0003] Engine distribution and positioning requirements:

[0004] (1) To achieve fully automated flow, positioning, detection, and continued flow after detection;

[0005] (2) During the engine's operation, it should be able to be accurately positioned when it reaches the inspection or assembly station to ensure the consistency of the inspection position;

[0006] (3) In order to meet the assembly and testing requirements, the engine needs to rotate in the plane after positioning, and the rotation angle can be precisely controlled.

[0007] The existing linear positioning and transfer solution uses mechanical limit switches as the stopping components. After the stopping components intercept the workpiece, the subsequent operations are performed manually. The positioning accuracy of the base plate cannot be guaranteed, which can easily cause the positioning position of each engine to be inconsistent, thus affecting the inspection effect. Summary of the Invention

[0008] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an automatic positioning and transfer system and method for pulsed production lines, which solves the problems of engine transfer positioning accuracy and rotational positioning for testing, and effectively ensures the product transfer cycle and assembly testing stability.

[0009] The solution of the present invention is: an automatic positioning and transfer system for a pulsed production line, comprising a control system, a frame, a conveying mechanism, a special carrier, a stop unit, a separation mechanism, a positioning and rotation mechanism, a sensor about to arrive, and a sensor in place;

[0010] A special carrier is used to carry the workpiece and is equipped with positioning pin holes; a conveying mechanism is installed on the frame and is used to carry the special carrier to flow on the production line, and stops when the special carrier flows to the assembly station; a stop is located behind the assembly station along the flow direction and can stop the special carrier at the assembly station when it rises.

[0011] The positioning and rotating mechanism is fixedly connected to the separation mechanism at one end, and the other end is positioned by cooperating with the positioning pin hole of the special carrier through the guide pin. After the conveying mechanism stops, the positioning and rotating mechanism automatically docks with the special carrier.

[0012] The separation mechanism, fixed in the frame and located directly below the assembly station, is used to lift the positioning and rotating mechanism until the positioning and rotating mechanism docks with the special carrier and then lifts the special carrier to separate from the conveying mechanism.

[0013] The "Approaching Arrival Sensor" is located in front of the assembly station along the flow direction. When the dedicated carrier reaches the detection position of the "Approaching Arrival Sensor," it sends an "Approaching Arrival" signal to the control system. The "Arrival Sensor" is located directly opposite the assembly station. When the dedicated carrier reaches the assembly station, it sends an "Arrival" signal to the control system. The control system communicates and receives signals from the conveying mechanism, stopping unit, separating mechanism, positioning and rotating mechanism, "Approaching Arrival Sensor," and "Arrival Sensor." Based on the "Approaching Arrival" and "Arrival" signals, it drives each component to perform corresponding actions.

[0014] Furthermore, a stop cylinder is provided at the bottom of the stop section, and the stop section is driven by the stop cylinder to move axially.

[0015] Furthermore, a first magnetic switch is provided at the extreme position above the stop part;

[0016] The first magnetic switch is triggered when the cylinder of the stop section rises, sending a signal to the control system indicating that the stop section has risen to the correct position, which is used to monitor whether the stop section has risen normally.

[0017] Furthermore, a second magnetic switch is provided at the extreme position below the stop part;

[0018] The second magnetic switch is triggered when the cylinder of the stop section descends, sending a signal to the control system indicating that the stop section has descended to the correct position. This signal is used to monitor whether the stop section has descended normally. After receiving the signal indicating that the stop section has descended to the correct position, the control system drives the conveyor mechanism to continue rotating.

[0019] Furthermore, the special vehicle includes a first chassis and N first support columns, where N > 1;

[0020] The first support columns are evenly distributed on the first chassis. Each first support column has a positioning pin on its upper inner wall for circumferential positioning of the workpiece, and a clamping block at the top of each first support column for axial positioning of the workpiece. The part of the first support column that contacts the workpiece is equipped with a protective component.

[0021] The first chassis is provided with positioning pin holes, which are used to cooperate with the positioning and rotating mechanism for docking and positioning of the special vehicle with the positioning and rotating mechanism.

[0022] Furthermore, the positioning and rotating mechanism includes a positioning part and a rotating part.

[0023] The positioning part is fixed on the rotating part, and the upper surface of the positioning part is provided with a guide pin that cooperates with the positioning pin hole.

[0024] The rotating part, connected to the separation mechanism, adjusts the rotation angle of the special vehicle.

[0025] Furthermore, the positioning and rotating mechanism can automatically dock with the special vehicle in the following ways: program-controlled zero-position positioning or positioning via photoelectric sensors.

[0026] The zero-position positioning method sets the rotation zero position of the positioning rotation mechanism. When the special carrier is placed, it ensures that the positioning pin hole is aligned with the guide pin at the rotation zero position. Before each separation mechanism operation, the positioning rotation mechanism is returned to the zero position. The guide pin head has a tapered guide section, which can realize the mating insertion of the positioning pin hole and the guide pin.

[0027] In the photoelectric positioning method, an infrared transmitter and receiver are embedded in the head of the guide pin. Before each separation mechanism action, the transmitter is controlled to emit an infrared signal, and at the same time, the positioning rotation mechanism rotates along the axis. When the receiver signal is lost, the guide pin moves to below the positioning pin hole.

[0028] Furthermore, the distance between the soon-to-be-in-place sensor and the in-place sensor is greater than the side length of the first chassis of the special vehicle parallel to the direction of rotation.

[0029] Furthermore, the conveying mechanism has two parallel conveying sections, which are one of the following: a double-speed chain, a belt, or a rack and pinion type moving slide rail.

[0030] Furthermore, an automatic positioning and transfer method for a pulsed production line is provided, comprising the following steps:

[0031] Place the special carrier carrying the workpiece on the conveying mechanism, ensuring that its positioning pin hole is aligned with the guide pin of the positioning rotation mechanism when it is in the zero position of rotation.

[0032] The system detects in real time whether the special vehicle is about to arrive. Once it is detected that the vehicle is about to arrive, the cylinder of the stop unit rises and at the same time controls the conveying mechanism to decelerate.

[0033] The system detects in real time whether the special carrier has reached the assembly station. Once it reaches the assembly station, the conveying mechanism stops, and the positioning and rotating mechanism returns to the zero position.

[0034] The separation mechanism performs a lifting action. When the positioning and rotating mechanism, which is in the zero rotation position, comes into contact with the special carrier, it automatically completes the docking. Under the lifting of the separation mechanism, the special carrier leaves the conveying mechanism.

[0035] According to the task requirements, the positioning and rotating mechanism is driven to rotate at an angle to complete the assembly or inspection of the workpiece; after completion, the positioning and rotating mechanism returns to the rotation zero position, the separation mechanism descends to place the special carrier on the conveying mechanism, the stop part descends to trigger the descent to the end signal, and the control system drives the conveying mechanism to continue to flow.

[0036] The advantages of this invention compared to the prior art are:

[0037] (1) The present invention adopts a method of cooperation between the soon-to-be-in-position sensor, the stop unit and the position sensor, and uses the order of signal transmission and reception to determine the position of the workpiece in the conveying mechanism in real time, thereby realizing the accurate positioning and effective interception of the workpiece at the assembly station.

[0038] (2) The present invention provides a positioning scheme for positioning pin holes and guide pins, which ensures that the positioning pin of the rotary positioning mechanism can accurately enter the positioning pin hole of the transport component.

[0039] (3) The present invention sets two magnetic switches at the upper and lower extreme positions of the stop part to realize the monitoring of whether the stop part is operating normally.

[0040] (4) The present invention uses a special carrier to carry the workpiece on the conveying mechanism, which effectively prevents the workpiece from directly contacting the conveying mechanism or frame during the conveying process, and increases the stability of the workpiece in the circumferential and axial directions during the conveying. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the automatic positioning and transfer system according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the special vehicle structure in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the separation mechanism and the positioning rotation mechanism according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of signal transmission in the automatic positioning and circulation system according to an embodiment of the present invention. Detailed Implementation

[0045] The invention will now be further described with reference to the accompanying drawings.

[0046] This embodiment provides a base plate conveying, positioning and rotating assembly device and system for a base plate type engine pulse assembly production line, including a control system, a conveying mechanism 2, a detection blocking mechanism, a separation mechanism 5, a special carrier 3 and a positioning and rotating mechanism 6; wherein, the control system is selected as a PLC.

[0047] Figure 1The diagram shows an automatic transfer and positioning device for base plates. The conveying mechanism 2 is fixed on the frame 1 of the production line and is used to convey the base plates to be assembled. The conveying mechanism 2 includes a conveying motor 21 and a conveying section 22. The conveying motor 21 can be a servo motor or a geared motor. The control system controls the forward and reverse rotation or stop of the conveying motor 21. The conveying section 22 can be any one of chain drive, belt drive, or rack and pinion type moving slide rail. In this embodiment, the conveying section 22 uses a double-speed chain for transmission.

[0048] like Figure 2 To prevent direct contact between the workpiece and the conveying mechanism 2 or the frame 1 during the conveying process, a special carrier 3 is used to carry the workpiece. In this embodiment, the special carrier 3 includes a first chassis and four first support columns. The four first support columns are evenly distributed on the first chassis. Each first support column has a positioning pin 31 on its upper inner wall for circumferential positioning of the workpiece, and a clamping block 32 on its top for axial positioning of the workpiece. The part of the first support column that contacts the workpiece is provided with a protective component 33, which is made of soft non-metallic material, such as rubber pads or felt. The first chassis has positioning pin holes 34 that cooperate with the positioning and rotating mechanism 6.

[0049] like Figure 3 As shown, the separation mechanism 5 includes a first base plate, a second base plate, linear bearings 51, and linear cylinders 52. The lower end of the linear bearings 51 is fixedly connected to the frame. The first base plate has through holes around its perimeter, through which the linear bearings 51 pass to connect the lower end faces of the first and second base plates. The linear cylinders 52 are fixedly disposed below the first base plate and at a certain distance from it. The linear cylinders 52 are connected to each linear bearing 51, providing the linear bearings 51 with the power to extend and retract axially, thereby driving the second base plate to move up and down.

[0050] The positioning and rotating mechanism 6 is fixedly connected above the second base plate of the separating mechanism 5, such as... Figure 3 As shown, the positioning and rotating mechanism 6 includes a positioning part 61 and a rotating part 62. The rotating part 62 is connected to the second base plate of the separating mechanism 5, and the positioning part 61 is fixed on the rotating part 62. The upper surface of the positioning part 61 is provided with a guide pin 611, which cooperates with the positioning pin hole 34 on the first chassis of the special carrier 3 to achieve workpiece positioning. In this embodiment, the rotating part 62 adopts a servo motor + gear transmission, and the servo motor is driven by the control system to automatically and accurately adjust the workpiece rotation angle according to the workpiece processing and inspection requirements.

[0051] The rotation zero position of the positioning and rotating mechanism 6 is set, and the placement position of the special carrier in the conveying section 22 is aligned with the rotation zero position of the positioning and rotating mechanism 6, so that when the special carrier 3 moves to the assembly station in the flow direction on the conveying section 22, the guide pin 611 and the positioning pin hole 34 of the special carrier 3 automatically complete the docking.

[0052] The detection blocking mechanism includes detection sensors installed beside the conveying mechanism and a blocking part 42 located in the middle area of ​​the conveying mechanism. Each assembly station is equipped with two detection sensors (411, 412). The first detection sensor, workpiece arrival sensor 411, is located directly below the assembly station and is used to provide a signal that the dedicated carrier 3 has arrived in place. The second detection sensor, imminent arrival sensor 412, is located in front of the assembly station along the product flow direction and is used to provide a signal that the dedicated carrier 3 is about to arrive in place. The distance between the imminent arrival sensor 412 and the arrival sensor 411 is greater than the side length of the first chassis of the dedicated carrier 3 parallel to the flow direction.

[0053] The installation height of the stop section 42 can be slightly lower than the height of the conveyor section 22. It is used to stop the special carrier 3 at the assembly station when it rises and to release the restriction on the special carrier 3 when it falls. The bottom of the stop section 42 is equipped with a stop cylinder, and a magnetic baffle is set in the middle. The magnetic baffle extends radially out of the stop section 42. A first magnetic switch and a second magnetic switch are respectively set at the upper and lower extreme positions of the stop section; the line connecting the first magnetic switch and the second magnetic switch intersects with the magnetic baffle.

[0054] The stop unit 42 is driven by a stop unit cylinder to move up and down axially. When the stop unit cylinder rises, the magnetic baffle contacts the first magnetic switch, triggering the first magnetic switch and sending a signal indicating that the stop unit 42 has reached its raised position. When the stop unit cylinder descends, the magnetic baffle contacts the second magnetic switch, triggering the second magnetic switch and sending a signal indicating that the stop unit 42 has reached its lowered position. The first and second magnetic switches can be used to monitor whether the stop unit 42 is operating normally.

[0055] In this implementation, such as Figure 1 As shown, when the conveying part 22 of the conveying mechanism 2 drives the special carrier 3 to move from right to left, the signal transmission of the automatic positioning and transfer system of the pulse assembly production line is as follows: Figure 4 As shown:

[0056] The conveyor unit 22 is powered by the conveyor motor 21 to move to the left. When the special carrier 3 moves with the conveyor unit 22 to the position of the imminent arrival sensor 412, the imminent arrival sensor 412 sends an imminent arrival signal to the control system. After receiving the imminent arrival signal, the control system sends a command to raise the cylinder of the stop unit, and at the same time sends a deceleration command to the conveyor motor 21 to slow down the movement speed of the conveyor unit 22. If the stop unit 4 operates normally, the first magnetic switch is triggered, and a signal to raise the stop unit 4 to the assembly station is sent to the control system. When the special carrier 3 reaches the assembly station, the arrival sensor 411 sends a signal indicating that it has arrived, and at the same time, the control system sends a stop command to the conveyor motor 21. The special carrier 3 is stopped at the assembly station by the stop unit 42. After receiving the signal indicating that it has arrived, the control system sends a signal to the positioning rotation mechanism 6 to return to the zero position. After receiving the zero return feedback signal, the control system sends a cylinder rise command to the linear cylinder 52, which drives the third base plate of the separation mechanism 5 to rise, separating the special carrier 3 from the conveyor unit 22. After the special carrier 3 completes the inspection or assembly task according to the task instructions on the positioning and rotating mechanism 6, the control system controls the positioning and rotating mechanism 6 to return to the zero position. At the same time, the control system sends a cylinder descent command to the linear cylinder 52, so that the special carrier 3 is supported on the conveying section 22; and sends a cylinder descent command to the stop section 42, driving the stop section 42 to descend. If the stop section 4 operates normally, the second magnetic switch is triggered, and a signal indicating that the stop section 4 has descended to the correct position is fed back to the control system. After receiving the signal indicating that the stop section 4 has descended to the correct position, the control system sends a start command to the conveying motor 21, controlling the conveying mechanism 2 to continue conveying the special carrier 3 and the base plate along the logistics direction.

[0057] This embodiment provides an automatic positioning and transfer method for a base-plate type engine pulse assembly production line. The workflow is as follows:

[0058] S1. Place the special carrier 3 carrying the workpiece on the conveying mechanism 2, ensuring that its positioning pin hole 34 is aligned with the guide pin 611 of the positioning rotation mechanism 6 when it is in the zero position of rotation.

[0059] S2. The sensor 412 detects in real time whether the special carrier 3 is about to arrive. After detecting the signal, the control system drives the cylinder of the stop section to rise and sends a deceleration command to the conveying mechanism 2 to control the conveying mechanism 2 to decelerate.

[0060] S3, the positioning sensor 412 detects in real time whether the special carrier 3 has reached the assembly station. After reaching the assembly station, the conveying mechanism 2 stops, and at the same time the positioning rotation mechanism 6 returns to the rotation zero position.

[0061] S4. When the separation mechanism 5 performs the lifting action, the positioning rotation mechanism 6, which is in the zero rotation position, automatically completes the docking when it comes into contact with the special carrier 3. Under the lifting of the separation mechanism 5, the special carrier 3 leaves the conveying mechanism 2.

[0062] S4. Automatically or manually drive the positioning rotation mechanism 6 to rotate at an angle according to the task requirements to complete the workpiece assembly or inspection; after completion, the positioning rotation mechanism 6 rotates back to the rotation zero position, the separation mechanism 5 descends to place the special carrier 3 on the conveying mechanism 2, the stop part descends to trigger the descent to position signal, and the control system drives the conveying mechanism 2 to continue to rotate.

[0063] In another embodiment, a method is provided for calibrating the angle of the positioning rotation mechanism 6 after the conveying mechanism 2 stops and before the separating mechanism 5 rises, so that the guide pin 611 is aligned with the positioning pin hole 34, as follows:

[0064] An infrared transmitter and receiver are embedded in the head of the guide pin 611. Before each action of the separation mechanism 5, the transmitter emits an infrared signal, and the positioning rotation mechanism 6 rotates axially. When the receiver signal is lost, it indicates that the guide pin 611 has moved below the positioning pin hole 34. At this time, the control system drives the positioning rotation mechanism 6 to stop rotating, completing the position calibration process. In this case, the initial placement position of the special carrier 3 on the conveying mechanism 2 is not limited.

[0065] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and 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 content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An automatic positioning and transfer system for a pulsed production line, characterized in that, Includes a control system, a frame (1), a conveying mechanism (2), a special carrier (3), a stop unit (42), a separation mechanism (5), a positioning and rotating mechanism (6), a sensor about to arrive (412), and a sensor in place (411); A special carrier (3) is used to carry the workpiece and is provided with a positioning pin hole (34); a conveying mechanism (2) is installed on the frame (1) and is used to carry the special carrier (3) to flow on the production line and stop when the special carrier (3) flows to the assembly station; a stop part (42) is located behind the assembly station along the flow direction and can stop the special carrier (3) at the assembly station when it rises; The positioning and rotating mechanism (6) is fixedly connected to the separation mechanism (5) at one end, and the other end is positioned by the positioning pin hole (34) of the special carrier (3) through the guide pin (611). After the conveying mechanism (2) stops, the positioning and rotating mechanism (6) automatically docks with the special carrier (3). The separation mechanism (5) is fixed in the frame (1) and located directly below the assembly station. It is used to lift the positioning and rotating mechanism (6) until the positioning and rotating mechanism (6) docks with the special carrier (3) and then lifts the special carrier (3) to separate from the conveying mechanism (2). The "about to arrive" sensor (412) is located in front of the assembly station along the flow direction. When the special carrier (3) reaches the detection position of the "about to arrive" sensor, it sends a "about to arrive" signal to the control system. The "arrival" sensor (411) is located directly opposite the assembly station. When the special carrier (3) reaches the assembly station, it sends a "arrival" signal to the control system. The control system sends and receives signals from the conveying mechanism (2), the stop unit (42), the separation mechanism (5), the positioning and rotating mechanism (6), the "about to arrive" sensor (412), and the "arrival" sensor (411). Based on the "about to arrive" signal and the "arrival" signal, the control system drives each component to perform corresponding actions.

2. The automatic positioning and transfer system for a pulsed production line according to claim 1, characterized in that, The bottom of the stop part (42) is provided with a stop part cylinder, and the stop part (42) is driven by the stop part cylinder to move axially.

3. An automatic positioning and transfer system for a pulsed production line according to claim 2, characterized in that, A first magnetic switch is provided at the extreme position above the stop part (42); The first magnetic switch is triggered when the cylinder of the stop section is raised, and sends a signal to the control system that the stop section has risen to the correct position, which is used to monitor whether the stop section (42) has risen normally.

4. An automatic positioning and transfer system for a pulsating production line according to claim 3, characterized in that, A second magnetic switch is provided at the extreme position below the stop part (42); The second magnetic switch is triggered when the cylinder of the stop section descends, and sends a signal to the control system that the stop section has descended to the correct position. This signal is used to monitor whether the stop section (42) has descended normally. After receiving the signal that the stop section has descended to the correct position, the control system drives the conveying mechanism (2) to continue to rotate.

5. An automatic positioning and transfer system for a pulsed production line according to claim 1, characterized in that, The special vehicle (3) includes a first chassis and N first support columns, where N > 1; The first support columns are evenly distributed on the first chassis. Each first support column has a positioning pin (31) for circumferential positioning of the workpiece on the inner wall of its upper end. Each first support column has a clamping block (32) for axial positioning of the workpiece at its top end. The part of the first support column that contacts the workpiece is provided with a protective component (33). The first chassis is provided with a positioning pin hole (34), which is a part that cooperates with the positioning rotation mechanism (6) and is used for docking and positioning of the special carrier (3) and the positioning rotation mechanism (6).

6. An automatic positioning and transfer system for a pulsating production line according to claim 1, characterized in that, The positioning and rotating mechanism (6) includes a positioning part (61) and a rotating part (62). The positioning part (61) is fixed on the rotating part (62), and the upper surface of the positioning part (61) is provided with a guide pin (611) that cooperates with the positioning pin hole (34). The rotating part (62) is connected to the separation mechanism (5) and adjusts the rotation angle of the special vehicle (3).

7. An automatic positioning and transfer system for a pulsed production line according to claim 1, characterized in that, The positioning and rotating mechanism (6) automatically docks with the special vehicle (3) in the following ways: program-controlled zero-position positioning or positioning via photoelectric sensors. In the zero-position positioning method, the rotation zero position of the positioning rotation mechanism (6) is set. When the special carrier (3) is placed, the positioning pin hole (34) is aligned with the guide pin (611) when rotating to the zero position. Before each action of the separation mechanism (5), the positioning rotation mechanism (6) is returned to the zero position. The head of the guide pin has a tapered guide section, which can realize the insertion of the positioning pin hole (34) and the guide pin (611). In the photoelectric positioning method, an infrared transmitter and receiver is embedded in the head of the guide pin (611). Before each separation mechanism (5) is activated, the transmitter is controlled to emit an infrared signal. At the same time, the positioning rotation mechanism (6) rotates along the axis. When the receiver signal is lost, the guide pin (611) moves to below the positioning pin hole (34).

8. An automatic positioning and transfer system for a pulsating production line according to claim 5, characterized in that, The distance between the soon-to-arrive sensor (412) and the arrival sensor (411) is greater than the side length of the first chassis of the special vehicle (3) parallel to the direction of flow.

9. An automatic positioning and transfer system for a pulsed production line according to claim 1, characterized in that, The conveying mechanism (2) has two parallel conveying sections (22), which are one of the moving slides of the double speed chain, belt or gear rack type.

10. Based on claim 4, an automatic positioning and transfer method for a pulsating production line, characterized in that, The process includes the following steps: Place the special carrier (3) carrying the workpiece on the conveying mechanism (2), ensuring that its positioning pin hole (34) is aligned with the guide pin (611) of the positioning rotation mechanism (6) when it is in the zero position of rotation; Real-time detection of whether the special vehicle (3) is about to arrive. After the vehicle is about to arrive, the cylinder of the stop section rises and at the same time controls the conveying mechanism (2) to decelerate. Real-time detection of whether the special carrier (3) has reached the assembly station. After reaching the assembly station, the conveying mechanism (2) stops, and at the same time the positioning rotation mechanism (6) returns to the rotation zero position. When the separation mechanism (5) performs the lifting action, the positioning rotation mechanism (6) which is in the zero rotation position automatically completes the docking when it comes into contact with the special carrier (3). Under the lifting of the separation mechanism (5), the special carrier (3) leaves the conveying mechanism (2). According to the task requirements, the positioning and rotating mechanism (6) is driven to rotate at an angle to complete the workpiece assembly or inspection; after completion, the positioning and rotating mechanism (6) rotates back to the zero position, the separation mechanism (5) descends to place the special carrier (3) on the conveying mechanism (2), the stop part descends to trigger the descent to position signal, and the control system drives the conveying mechanism (2) to continue to flow.

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