An adaptive gripping device for irregularly shaped curved workpieces

Abstract

This invention relates to the field of gripping robot technology and discloses an adaptive gripping device for irregularly shaped curved workpieces, comprising: a central support base made of lightweight metal with a multi-functional quick-connect interface on the top; a central adsorption module fixed at the center of the bottom of the central support base, including: a pressure balancing pipeline connected to an external air source; and an axially extendable central negative pressure suction cup with a biomimetic corrugated adsorption surface. This invention achieves high-precision centering and stable adsorption through radial adjustment of the cross shaft, an elastic buffer structure, and a vertical guide component working together. The vertical guide ensures vertical contact of the suction cup, adapts to different curvatures of the surface, maintains stable adsorption force in small areas, and the electrical control connection allows for immediate power-on upon installation, making it suitable for automated precision gripping.

Description

Technical Field

[0001] This invention relates to the field of gripping robot technology, specifically to an adaptive gripping device for irregularly shaped curved workpieces. Background Technology

[0002] In modern automated production, workpiece gripping devices, as key execution units connecting robotic arms to workpieces, are widely used in assembly, handling, inspection, and processing. As the manufacturing industry moves towards higher precision, flexibility, and intelligence, workpiece shapes are becoming increasingly complex, especially irregularly shaped curved workpieces with non-standard geometric features, which are prevalent in the automotive, aerospace, consumer electronics, and medical device industries. These workpieces often exhibit convex, concave, inclined, or free-form surfaces, making traditional planar clamping or standard adsorption methods insufficient for their gripping needs. Therefore, higher demands are placed on the adaptability and reliability of gripping devices.

[0003] Currently, common workpiece gripping methods mainly include mechanical clamping, vacuum adsorption, and magnetic adsorption. Among these, vacuum adsorption has become the mainstream technology for handling curved workpieces due to its advantages such as non-contact operation, no surface damage, and suitability for thin-walled parts. However, existing vacuum adsorption devices are mostly based on fixed or rigid connection structures, with non-adjustable suction cup positions and orientations, only adaptable to workpieces with specific curvatures or flat surfaces. When facing irregular curved surfaces with significant curvature variations, the suction cups often cannot achieve full contact, leading to edge leakage, reduced sealing, and significantly weakened or even failed adsorption force. Especially when there are local protrusions, tilts, or areas of abrupt curvature changes on the workpiece surface, rigid adsorption heads are prone to point or line contact, significantly reducing the effective adsorption area and making it difficult to maintain stable gripping.

[0004] Furthermore, most adsorption devices lack the ability to compensate for dynamic deviations during movement. When there are minor errors in the robotic arm's positioning or workpiece position shifts, the adsorption head cannot automatically adjust its contact state, easily leading to risks of uneven loading, tilting, or detachment. While some systems incorporate flexible material suction cups or universal joint structures to improve adhesion, their adjustment range is limited and they lack guiding constraints. After long-term use, they are prone to deformation fatigue or positioning drift, affecting the accuracy of repetitive operations. Simultaneously, existing devices often experience interference between radial adjustment and axial adsorption in multi-degree-of-freedom coordinated motion, further reducing system stability.

[0005] More significantly, when dealing with small areas that can be adsorbed (such as workpiece edges or near reinforcing ribs), traditional large-size suction cups cannot be used due to space constraints, while micro-suction cups struggle to maintain sufficient adsorption force due to insufficient guiding accuracy and uneven force distribution. These problems severely limit the breadth and reliability of automated systems in handling complex curved workpieces, necessitating a new gripping solution that can adapt to different surface curvatures and ensure stable sealing and high adsorption force maintenance. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive gripping device for irregularly shaped curved workpieces to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an adaptive gripping device for irregularly shaped curved surface workpieces, comprising:

[0008] The central support base is made of lightweight metal and features a multi-functional quick-connect interface on the top.

[0009] The central adsorption module, fixed at the center of the bottom of the central support base, includes:

[0010] Pressure balancing pipeline connected to an external air source;

[0011] A central negative pressure suction cup that can extend and retract axially has a biomimetic corrugated structure on its adsorption surface.

[0012] Pressure sensor array, with multiple sets of miniature pressure detection units evenly embedded in the edge area of ​​the central negative pressure suction cup;

[0013] The ring-shaped distribution mechanism includes:

[0014] The work base is a ring array consisting of basic workstation groups and extended workstation groups with identical structures;

[0015] The drive ring seat is installed on the basic workstation assembly via an electrical control connection component;

[0016] An adjustable bearing ring is movably assembled in the drive ring seat via an angle adaptation mechanism;

[0017] A radial displacement assembly is located inside the adjustable bearing ring;

[0018] Vertical force transmission rod, connected to the output end of radial displacement component;

[0019] Edge-reinforced suction cups are hinged to the end of the vertical force transmission rod;

[0020] The contact force monitor is configured as a combination of a central main monitor and a circumferential auxiliary monitor array.

[0021] The central main monitor is fixed to the center of the bottom of the edge-enhanced suction cup;

[0022] The circumferential auxiliary monitoring array contains at least four sets of auxiliary sensors, which are embedded in the annular edge area where the central negative pressure suction cup adsorption surface contacts the workpiece;

[0023] The built-in air pressure enhancement unit is integrated inside the vertical force transmission rod.

[0024] According to the above technical solution, the central adsorption module includes:

[0025] Multi-stage linear actuator, with the cylinder block fixed to the central bearing base;

[0026] Hollow lifting sleeve, connecting the telescopic end of a multi-stage linear actuator;

[0027] The central negative pressure suction cup is installed at the end of the hollow lifting sleeve;

[0028] A guide stabilizing ring is fitted onto the outside of the hollow lifting sleeve;

[0029] The support rod connects the guide stabilizing ring to the central load-bearing base.

[0030] According to the above technical solution, the drive ring seat is installed via a quick-release assembly, which includes:

[0031] Positioning pins are symmetrically arranged on the side wall of the drive ring seat;

[0032] The flexible locking module includes:

[0033] The mounting slots are symmetrically arranged on both sides, and are located inside the side wall of the working base.

[0034] A convex locking block is slidably set in the mounting groove of the working base, and an alignment spring is provided at the adjacent end. The alignment spring is in a compressed state and provides locking force.

[0035] The locking protrusion is located on the outer end of the convex locking block and engages with the insertion groove of the positioning pin.

[0036] An inclined guide surface is formed on the outside of the locking protrusion, facing the insertion direction of the positioning pin;

[0037] The linkage control rope connects the opposite ends of the two convex locking blocks;

[0038] A corner wheel is fixed inside the corner of the mounting slot, and the linkage control rope goes around the corner wheel to form a right-angle turn;

[0039] Unlock the pull ring, which connects to the traction end of the linkage control rope. Pulling the unlock pull ring will simultaneously drive the two convex locking blocks to separate.

[0040] According to the above technical solution, the angle adaptation mechanism includes:

[0041] The rotary drive source is fixed on the outer wall of the drive ring seat;

[0042] Active engagement element, connected to the output shaft of the rotary drive source;

[0043] An arc-shaped meshing band is arranged around the outer circumference of the adjustable bearing ring and meshes with the active meshing element.

[0044] According to the above technical solution, the radial displacement component includes:

[0045] The first and second bearing plates are symmetrically arranged within the adjustable bearing ring;

[0046] A servo drive motor is fixed to the first support plate;

[0047] A flexible nested linkage connects to the output of a servo drive motor.

[0048] Radial positioning seat, threaded connection of elastic nested rod assembly.

[0049] According to the above technical solution, the elastic nested rod assembly includes:

[0050] The first nested rod connects to the output shaft of the servo drive motor;

[0051] The second nested rod has threads on its outer surface that engage with the radial positioning seat, and limit rings at both ends.

[0052] The third nested rod is fixed to the second bearing plate;

[0053] A buffer spring is located inside the second nested rod;

[0054] The first and third nested rods abut against the two ends of the buffer spring, respectively.

[0055] According to the above technical solution, the vertical force transmission rod is constrained by a vertical guide assembly, which includes:

[0056] A symmetrical lever arm connects the radial positioning seat and the upper end of the vertical force transmission rod;

[0057] The compensating telescopic shaft is fixed to the top of the vertical force transmission rod;

[0058] The trapezoidal guide rail seat is installed at the bottom of the drive ring seat;

[0059] A sliding block connects the compensating telescopic shaft to the trapezoidal guide rail seat.

[0060] According to the above technical solution, the built-in air pressure enhancement unit includes:

[0061] A miniature cylinder is fixed inside the sealed cavity of a vertical force transmission rod;

[0062] Piston element, connected to the telescopic end of a miniature cylinder and extending to an edge-reinforced suction cup.

[0063] According to the above technical solution, each radial displacement assembly includes:

[0064] The first radial displacement component has a drive axis that extends in the XY plane at a 135° angle.

[0065] The second radial displacement component has a drive axis that extends along a 225° direction in the XY plane;

[0066] The driving axes of the first radial displacement component and the second radial displacement component have an angle of 90° in the XY plane and a height difference of 15±5mm in the Z axis direction. The first radial displacement component and the second radial displacement component together constitute a cross shaft displacement system.

[0067] The arc-shaped meshing band covers an angle of 0°-90°.

[0068] According to the above technical solution, the electronic control connection component includes:

[0069] A contact terminal array is disposed on the side wall of the drive ring seat;

[0070] Elastic contact pads are correspondingly installed on the surface of the workstation substrate;

[0071] When the drive ring seat is installed in place, the contact terminal array and the elastic contact piece group form an electrical connection.

[0072] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0073] (1) Full-area curvature coverage: The central suction cup has a biomimetic corrugated structure that matches the convex / concave surface with a curvature radius ≥5mm. Axial extension and retraction are achieved through a multi-level linear actuator to compensate for ±15mm height difference and eliminate the problem of air leakage at the edge of the traditional suction cup. The edge suction cup dynamic tilt angle adjustment mechanism uses a cross-axis displacement system (135°+225° spatial orthogonal drive) combined with a tilt angle algorithm to drive the edge suction cup to achieve ±45° deflection, which is suitable for high curvature surfaces such as rocket fairings and automotive body panels.

[0074] (2) Intelligent enhancement of adsorption force: The central negative pressure suction cup provides basic adsorption force, and the edge enhancement suction cup has a built-in micro cylinder that pressurizes to a peak of 220N in real time to meet the local high load requirements of curved surfaces. The contact force monitor provides feedback on the contact pressure and dynamically adjusts the output of the air pressure balance pipeline to ensure that the pressure on the adsorption surface is stable within the range of 0.2-1.5MPa.

[0075] (3) Adaptive fit to irregular curved surfaces: Through the synergistic effect of the vertical guide component and the compensation telescopic shaft, the vertical force transmission rod can achieve axial micro-stroke compensation and lateral floating adjustment when contacting the workpiece. Combined with soft suction cup material, it can adapt to complex curvature changes such as convex, concave, and inclined surfaces, automatically fit the surface contour, and avoid sealing failure due to poor contact.

[0076] (4) Small area high adsorption force output: While maintaining sufficient adsorption force, it supports the use of micro suction cups or point adsorption units, which are suitable for workpieces with small contact area (such as edges, bosses, local planes). Through high vacuum source and precise vertical contact control, it ensures that stable and reliable adsorption force can be generated even on the smallest contact surface.

[0077] (5) Significantly improved dynamic performance: Through the cross-axis displacement system (135°+225° spatial orthogonal non-intersecting drive) and the air pressure enhancement unit, the adjustment time of the edge suction cup tilt angle is shortened and the response speed is greatly improved. The central suction cup (bionic corrugated structure) and the edge suction cup (hinged + air pressure enhancement) form a master-slave force system, with a gripping force dynamic range of 10-220N and a pressure fluctuation per unit area ≤±5%. The lightweight structure combined with the local arc meshing band (coverage angle reduced to 0°-90°) reduces transmission loss and overall power consumption.

[0078] (6) Modular electrical control connection: The electrical control connection component automatically connects with the elastic contact plate group on the workstation base through the contact terminal array set on the side wall of the drive ring seat, realizing the plug-and-play mode of "power on when the machine is in place", eliminating the need for manual wiring, supporting the quick replacement of different specifications of modules, facilitating quick equipment replacement, automated maintenance and parameter self-identification, and greatly improving the flexibility and intelligence level of the production line. Attached Figure Description

[0079] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0080] Figure 1 This is a first perspective view of the present invention;

[0081] Figure 2 This is a second perspective view of the present invention;

[0082] Figure 3 This is a third perspective view of the present invention;

[0083] Figure 4 This is a first partial three-dimensional schematic diagram of the present invention;

[0084] Figure 5 This is a second partial perspective view of the present invention;

[0085] Figure 6 This is a third partial perspective view of the present invention;

[0086] Figure 7 This is a fourth partial perspective view of the present invention;

[0087] Figure 8 This is a fifth partial perspective view of the present invention;

[0088] Figure 9 This is a sixth partial perspective view of the present invention;

[0089] Figure 10 This is a third-dimensional schematic diagram of the seventh part of the present invention;

[0090] Figure 11 This is the eighth partial perspective view of the present invention;

[0091] Figure 12 This is the present invention. Figure 10 A magnified view of a portion of point A in the middle;

[0092] In the diagram: 100-Central bearing base, 101-Multi-functional quick-connect interface, 200-Central adsorption module, 201-Central negative pressure suction cup, 202-Pressure sensor array, 203-Multi-stage linear actuator, 204-Hollow lifting sleeve, 205-Guide stabilizing ring, 206-Support rod, 207-Air pressure balance pipeline, 300-Annular distribution mechanism, 301-Basic workstation group, 302-Extended workstation group, 303-Drive ring seat, 304-Adjustable direction 305 - Angle Adaptation Mechanism; 306 - Radial Displacement Assembly; 306a - First Radial Displacement Assembly; 306b - Second Radial Displacement Assembly; 307 - Vertical Force Transmission Rod; 308 - Edge Reinforced Suction Cup; 309 - Contact Force Monitor; 309a - Central Main Monitor; 309b - Auxiliary Monitor; 310 - Built-in Pneumatic Enhancement Unit; 311 - Quick-Release Assembly; 312 - Positioning Pin; 312a - Insertion Groove; 313 - Elasticity 313a-Convex locking block, 313b-Alignment spring, 313c-Locking protrusion, 313d-Mounting groove, 313e-Inclined guide surface, 314-Linkage control rope, 314a-Corner wheel, 314b-Unlocking pull ring, 315-Rotary drive source, 316-Arc-shaped meshing belt, 317-Active meshing component, 318-First bearing plate, 319-Second bearing plate, 320-Servo drive motor, 321-Elastic nested rod assembly, 321 a-First nested rod, 321b-Second nested rod, 321c-Third nested rod, 321d-Limiting ring, 322-Radial positioning seat, 323-Buffer spring, 324-Vertical guide assembly, 325-Symmetrical lever arm, 326-Compensating telescopic shaft, 327-Trapezoidal guide rail seat, 328-T-shaped sliding block, 329-Miniature cylinder, 330-Piston element, 400-Electrical control connection assembly, 401-Contact terminal array, 402-Elastic contact piece group. Detailed Implementation

[0093] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0094] Please see Figure 1-12 The present invention provides a technical solution: an adaptive gripping device for irregularly shaped curved workpieces, comprising:

[0095] The central support base 100 is made of lightweight metal and has a multi-functional quick-connect interface 101 on the top.

[0096] The central adsorption module 200 is fixed at the center of the bottom of the central support base 100, and includes:

[0097] Pressure balancing pipeline 207 connected to an external air source;

[0098] The central negative pressure suction cup 201, which can be extended and retracted axially, has a biomimetic corrugated structure on its adsorption surface.

[0099] The pressure sensor array 202 has multiple sets of miniature pressure detection units evenly embedded in the edge area of ​​the central negative pressure suction cup 201.

[0100] The ring-shaped distribution mechanism 300 includes:

[0101] The working base is a ring array consisting of a basic workstation group 301 and an extended workstation group 302 with identical structures;

[0102] The drive ring seat 303 is installed on the basic workstation group 301 via the electrical control connection assembly 400;

[0103] The adjustable bearing ring 304 is movably assembled in the drive ring seat 303 via the angle adaptation mechanism 305;

[0104] Radial displacement component 306 is disposed inside adjustable bearing ring 304;

[0105] Vertical force transmission rod 307 is connected to the output end of radial displacement component 306;

[0106] An edge-reinforced suction cup 308 is hinged to the end of a vertical force transmission rod 307;

[0107] The contact force monitor 309 is configured as a combination of a central main monitor 309a and a circumferential auxiliary monitoring array.

[0108] The central main monitor 309a is fixed to the center of the bottom of the edge-enhanced suction cup 308;

[0109] The circumferential auxiliary monitoring array includes at least four sets of auxiliary sensors 309b, which are embedded in the annular edge region where the adsorption surface of the central negative pressure suction cup 201 contacts the workpiece.

[0110] The built-in air pressure enhancement unit 310 is integrated inside the vertical force transmission rod 307;

[0111] Specifically, the central adsorption module 200 includes:

[0112] Multi-stage linear actuator 203, with cylinder body fixed to central bearing base 100;

[0113] Hollow lifting sleeve 204, connected to the telescopic end of multi-stage linear actuator 203;

[0114] The central negative pressure suction cup 201 is installed at the end of the hollow lifting sleeve 204;

[0115] The guide stabilizing ring 205 is sleeved on the outside of the hollow lifting sleeve 204;

[0116] Support rod 206 connects guide stabilizing ring 205 to central bearing base 100;

[0117] The multi-stage linear actuator 203 serves as the power source for the module. Through axial telescopic motion, it drives the hollow lifting sleeve 204, which in turn causes the central negative pressure suction cup 201 to contact the workpiece surface. Its multi-stage structure (such as multi-segment piston rods or multi-degree-of-freedom drives) provides high-precision displacement control, adapting to workpiece surfaces of varying heights. The hollow lifting sleeve 204 acts as a motion transmission medium, converting the axial motion of the multi-stage linear actuator 203 into the vertical displacement of the central negative pressure suction cup 201. Simultaneously, it serves as an air passage providing a vacuum source for the central negative pressure suction cup 201. An internal air passage is pre-reserved, directly connecting to the air pressure balance pipe 207, reducing external pipe interference and improving system integration. The central negative pressure suction cup 201 is the core unit for generating adsorption force, achieved through a vacuum environment. The current workpiece anchoring system utilizes a biomimetic corrugated structure design that can adapt to complex surface deformations, maximizing the initial contact area. It integrates a high-sensitivity pressure sensor to monitor edge pressure distribution in real time and generate a pressure cloud map, providing data support for subsequent dynamic compensation. Through the air pressure balance pipeline 207, it links with an external air source to quickly establish 60%-70% of the total adsorption force, forming the core anchoring point. A guide stabilizing ring 205 is fitted onto the outside of the hollow lifting sleeve 204, ensuring the straightness and stability of the central negative pressure suction cup 201 during its lifting process through guiding constraints, preventing adsorption failure due to skew. The support rod 206, as a structural reinforcement component, connects the guide stabilizing ring 205 to the central bearing base 100, providing additional rigid support to prevent the module from tilting or shaking during adsorption.

[0118] Specifically, the drive ring seat 303 is installed via a quick-release assembly 311, which includes:

[0119] Positioning pins 312 are symmetrically arranged on the side wall of drive ring seat 303;

[0120] The flexible locking module 313 includes:

[0121] Mounting slot 313d is formed inside the side wall of the working base, and is symmetrically arranged on both sides;

[0122] A convex locking block 313a is slidably disposed in the mounting groove 313d of the working base, and an alignment spring 313b is provided at the adjacent end. The alignment spring 313b is in a compressed state and provides locking force.

[0123] The locking protrusion 313c is located on the outer end of the convex locking block 313a and is fitted into the corresponding insertion groove 312a of the positioning pin 312.

[0124] An inclined guide surface 313e is formed on the outside of the locking protrusion 313c, facing the insertion direction of the positioning pin 312;

[0125] The linkage control rope 314 connects the opposite ends of the two convex locking blocks 313a;

[0126] An angle wheel 314a is fixed at the corner inside the mounting groove 313d, and the linkage control rope 314 passes around the angle wheel 314a to form a right-angle turn.

[0127] The unlocking ring 314b is connected to the traction end of the linkage control rope 314. Pulling the unlocking ring 314b can synchronously drive the two convex locking blocks 313a to separate.

[0128] The drive ring seat 303 is the core component of the device for modular installation and quick disassembly. It connects to the working base via a quick-release assembly 311, exhibiting high stability, rapid response, and reusability. The quick-release assembly 311 consists of positioning pins 312, an elastic locking module 313, a linkage control rope 314, and an unlocking pull ring 314b. Positioning pins 312 are symmetrically arranged on the sidewalls of the drive ring seat 303 for precise positioning and initial fixation. Their insertion grooves 312a engage with locking protrusions 313c to ensure axial alignment between the drive ring seat 303 and the working base. The double-sided pin design counteracts eccentric torque during installation, preventing stress concentration caused by unilateral locking. The elastic locking module 313 achieves final fixation of the drive ring seat 303 through the engagement of the locking protrusions 313c with the positioning pins 312. Simultaneously, a dynamic locking force is provided by the alignment spring 313b to adapt to installation errors or changes in operating conditions. The convex locking block 313a is located in the mounting groove 313. The sliding mechanism d is guided by the inclined guide surface 313e. The alignment spring 313b is always in a compressed state, providing preload for the locking protrusion 313c. The locking protrusion 313c and the insertion groove of the positioning pin 312 form a mechanical interlock, ensuring the stability of the drive ring seat 303 under maximum load (such as the peak of the adsorption force). The design of the inclined guide surface 313e makes the locking protrusion 313c automatically aligned during insertion, realizing automatic insertion and reducing the difficulty of manual installation. The linkage control rope 314 realizes the synchronous separation of the two convex locking blocks 313a through the corner wheel 314a. The unlocking pull ring 314b serves as the operating end, triggering the disassembly action. After the linkage control rope 314 passes around the corner wheel 314a, it forms a right-angle turn, ensuring that the traction force is evenly transmitted to the two convex locking blocks 313a. Pulling the unlocking pull ring 314b only needs to overcome the preload of the alignment spring 313b (theoretical value ≤5N) to synchronously drive the two locking blocks to separate, realizing quick disassembly with one hand.

[0129] Specifically, the angle adaptation mechanism 305 includes:

[0130] The rotary drive source 315 is fixed to the outer wall of the drive ring seat 303;

[0131] Active engagement element 317 is connected to the output shaft of rotary drive source 315;

[0132] An arc-shaped meshing band 316 is arranged around the outer circumference of the adjustable bearing ring 304 and meshes with the active meshing element 317;

[0133] The angle adaptation mechanism 305 is the core component of the device that realizes dynamic angle compensation and adjustable load-bearing capacity. Through the coordinated work of the rotary drive source 315, the active meshing element 317, and the arc-shaped meshing belt 316, it meets the gripping requirements of complex curved workpieces. The rotary drive source 315 is the power input unit of the mechanism, fixed to the outer wall of the drive ring seat 303. It drives the active meshing element 317 to rotate via its output shaft, thereby driving the arc-shaped meshing belt 316 to move. Its core function is to provide controllable rotational torque to achieve angle adjustment. For precision and dynamic response, the active meshing component 317, as an intermediate link in power transmission, is directly connected to the output shaft of the rotary drive source 315 and meshes with the arc-shaped meshing belt 316, converting rotary motion into linear displacement or angle adjustment. The arc-shaped meshing belt 316 is the motion execution unit of the mechanism, which is arranged around the outer circumference of the adjustable bearing ring 304 and forms a meshing relationship with the active meshing component 317. Its core function is to convert rotary motion into the tilt angle adjustment of the bearing ring, covering 360° omnidirectional adjustment requirements.

[0134] Specifically, the radial displacement component 306 includes:

[0135] The first bearing plate 318 and the second bearing plate 319 are symmetrically arranged within the adjustable bearing ring 304;

[0136] The servo drive motor 320 is fixed on the first support plate 318;

[0137] The flexible nested rod assembly 321 is connected to the output end of the servo drive motor 320;

[0138] Radial positioning seat 322, threaded connection elastic nested rod group 321;

[0139] The radial displacement assembly 306 is the core module in the device that enables precise radial displacement adjustment and dynamic load adaptation. Through the coordinated operation of the servo drive motor 320, the elastic nested rod assembly 321, and the radial positioning seat 322, it meets the high-precision positioning requirements under complex working conditions. The first bearing plate 318 and the second bearing plate 319 are symmetrically arranged within the adjustable bearing ring 304, serving as the structural foundation of the radial displacement assembly 306. They provide an installation platform for the servo drive motor 320 and the elastic nested rod assembly 321, and a rigid connection ensures the stability of the overall structure. The servo drive motor 320 is the power input unit of the assembly, fixed to the first bearing plate 318, and drives the elastic nested rod assembly 321 through its output end to achieve high-precision radial displacement control. Permanent couplings are used. The magnetic synchronous servo motor has a response time of ≤5ms, meeting dynamic adjustment requirements. It can integrate encoders and current loop feedback to correct displacement errors in real time (accuracy ≤0.01mm). The elastic nested rod group 321 is a key link for force transmission and buffering. It connects the output end of the servo drive motor 320 to the radial positioning seat 322. It absorbs dynamic impacts through elastic deformation to ensure the smoothness of the displacement process. The multi-level nested structure adopts a multi-section concentric bushing design to achieve radial displacement (stroke range ≥20mm) through telescoping. It has an embedded rubber or polyurethane buffer layer to absorb high-frequency vibrations (reducing noise ≥15dB). The radial positioning seat 322 is connected to the elastic nested rod group 321 through threads to achieve position locking and fine adjustment, ensuring accurate positioning of the workpiece in the radial direction.

[0140] Specifically, the elastic nested rod assembly 321 includes:

[0141] The first nested rod 321a is connected to the output shaft of the servo drive motor 320;

[0142] The second nested rod 321b has a thread on its outer surface and is threaded to the radial positioning seat 322, and has limit rings 321d at both ends;

[0143] The third nested rod 321c is fixed on the second bearing plate 319;

[0144] A buffer spring 323 is disposed inside the second nested rod 321b;

[0145] The first nested rod 321a and the third nested rod 321c respectively abut against the two ends of the buffer spring 323;

[0146] The first nested rod 321a is directly connected to the output shaft of the servo drive motor 320, serving as the power input end. It transmits the axial thrust or rotational motion of the servo motor, driving the entire nested rod assembly to extend and retract. Its front end abuts against one end of the buffer spring 323, achieving direct force transmission. It is made of high-strength stainless steel or titanium alloy to ensure fatigue resistance (life ≥ ) under high-frequency reciprocating motion. (Second cycle), the end is designed with a ball head or flat structure to achieve stable contact with the buffer spring 323 and avoid off-center loading. The outer surface of the second nested rod 321b is threaded and threaded to the radial positioning seat 322. Limiting rings 321d are set at both ends as motion conversion and limit execution units, converting axial displacement into rotational or linear motion of the radial positioning seat 322, and preventing excessive displacement through the limiting rings 321d. The third nested rod 321c provides another fulcrum for the elastic system. One end of it abuts against the other end of the buffer spring 323 to form a complete elastic circuit. Both the nested rod 321a and the third nested rod 321c have circumferential limiting sliders on their sidewalls to prevent circumferential slippage. The cross-sections of the first nested rod 321a and the third nested rod 321c can also be elliptical. The buffer spring 323 is located inside the second nested rod 321b, with its two ends abutting against the first nested rod 321a and the third nested rod 321c respectively. It serves as an elastic energy storage and buffer element, absorbing dynamic impacts, compensating for assembly errors, and providing protection during overload. The compression spring is made of high-elasticity alloy steel and has a high fatigue life and a stable elastic coefficient.

[0147] Specifically, the vertical force transmission rod 307 is constrained by the vertical guide assembly 324, which includes:

[0148] Symmetrical lever arm 325 connects the radial positioning seat 322 and the upper end of the vertical force transmission rod 307;

[0149] The compensating telescopic shaft 326 is fixed to the top of the vertical force transmission rod 307;

[0150] Trapezoidal guide rail seat 327 is installed at the bottom of drive ring seat 303;

[0151] T-shaped sliding block 328 connects the compensation telescopic shaft 326 and the trapezoidal guide rail seat 327;

[0152] The trapezoidal guide rail seat 327 has a precision trapezoidal groove machined on its surface, which has self-centering characteristics. The T-shaped sliding block 328 is embedded in the guide rail groove, allowing sliding only along the guide rail direction (i.e., axial direction), effectively suppressing the radial runout, tilting or torsion of the vertical force transmission rod 307. The guide rail contact surface can be sprayed with PTFE or inlaid with a self-lubricating copper sleeve to reduce the coefficient of friction and improve the smoothness of movement. When the radial displacement component 306 is adjusted (such as the first radial displacement component 306a moving along the 135° direction), it will cause the radial positioning seat 322 to change position, which will affect the upper end of the vertical force transmission rod 307 connected to it. The symmetrical lever arm 325 acts as a lever structure, allowing the upper end to move with the radial positioning seat 322, while the lower end (vertical force transmission rod) remains relatively stable. The compensation telescopic shaft 326 integrates a linear bearing + precision guide shaft or bellows-type telescopic structure, which can freely extend and retract in the axial direction (stroke 5-10mm), absorbing the axial position deviation caused by radial movement. Its vertical setting method shows significant advantages when dealing with irregularly shaped curved workpieces with small adsorption areas. It reduces the adsorption area while maintaining the adsorption force, which is difficult to achieve with traditional methods due to insufficient contact and poor sealing. The vertical guide component 324, through the cooperation of the trapezoidal guide rail seat 327 and the T-shaped sliding block 328, ensures that the edge suction cup can be vertically and stably attached to the workpiece surface. Even in a small contact area, it can achieve uniform force and effective sealing. At the same time, the compensating telescopic shaft 326 and the T-shaped sliding block 328 have axial extension and lateral floating capabilities, which can actively adapt to changes in the curved surface contour, eliminate assembly errors and motion interference, and achieve adaptive fitting. In addition, the symmetrical lever arm 325 decouples the force flow from the overall structure, so that the radial adjustment action will not affect the vertical adsorption stability, and avoids suction cup displacement or air leakage caused by lateral force. This design effectively isolates the mutual interference between multi-degree-of-freedom movements, ensuring that the adsorption force remains reliable during dynamic alignment.

[0153] Specifically, the built-in air pressure enhancement unit 310 includes:

[0154] Miniature cylinder 329 is fixed inside the sealed cavity of vertical force transmission rod 307;

[0155] Piston element 330 is connected to the telescopic end of micro cylinder 329 and extends to edge-reinforced suction cup 308;

[0156] Specifically, each radial displacement assembly 306 includes:

[0157] The first radial displacement component 306a has a drive axis that extends in the XY plane along a 135° direction;

[0158] The second radial displacement component 306b has a drive axis that extends in the XY plane along a 225° direction;

[0159] The driving axes of the first radial displacement component 306a and the second radial displacement component 306b have an angle of 90° in the XY plane and a height difference of 15±5mm in the Z axis direction. The first radial displacement component 306a and the second radial displacement component 306b together constitute a cross shaft displacement system.

[0160] The arc-shaped meshing band 316 has a coverage angle of 0°-90°;

[0161] The cross-axis displacement system is a high-precision two-dimensional adjustment mechanism consisting of two sets of identical radial displacement components arranged in specific directions: a first radial displacement component 306a and a second radial displacement component 306b. These components are orthogonally staggered in space. The system achieves independent and coordinated bidirectional radial adjustment of the target object (such as a workpiece, sensor, or actuator) in a plane through two mutually perpendicular drive axes (135° and 225°). It possesses advantages such as high rigidity, high precision, dynamic self-adaptation, and compact structure, and is widely applicable to automation scenarios such as precision positioning, clamping and centering, and attitude adjustment. The components are not installed coplanarly and parallel, but are offset by a certain distance along the axial direction to avoid mechanical interference and improve structural rigidity. Each radial displacement component independently drives its corresponding radial positioning seat 322 to move along its own axis. Since the two axes are orthogonal, the system can achieve displacement in the X direction (equivalent to the 135° direction) and Y direction (equivalent to the 225° direction) in the plane. Through decoupling control, the displacement in the two directions can be adjusted separately to achieve precise positioning of the center point. By setting the drive axes with orthogonal decomposition of 135° and 225°, the angle adaptation mechanism 305 only needs to rotate ≤45°. This allows the edge-reinforced chuck 308 to adapt to the normal tilt angle of the workpiece. Compared to the conventional 180° rotation range, the adjustment time is greatly shortened, and gear transmission losses are reduced. At this point, the arc-shaped meshing band 316 is only set in a local area of ​​the outer circumference of the adjustable bearing ring 304, covering an angle of 0°-90°. A virtual cross-axis structure is formed using 135° and 225° dual drive axes (spatially perpendicular but not intersecting), completely decoupling the tilt angle adjustment of the edge chuck in the X / Y directions. When the workpiece surface is tilted normally, the 135° axial displacement drive component controls the edge-reinforced chuck 308. 08. At the southeast tilt angle, the 225° axial displacement drive component controls the southwest tilt angle. The two work together to achieve 180° full-range adaptive deflection of the edge-reinforced suction cup. Due to the orthogonal decomposition of the dual axes, when the maximum tilt angle requirement of the edge-reinforced suction cup 308 is 45° (such as the curved surface of a car A-pillar), the adjustable bearing ring only needs to rotate ≤45° (the traditional solution requires 180°). The coverage range of the arc-shaped meshing band 316 is reduced to 0°-90° (originally requiring a full 360°), which makes the structure lighter, improves the system's response speed, reduces energy consumption, and increases accuracy and stability.

[0162] Specifically, the electronically controlled connection assembly 400 includes:

[0163] Contact terminal array 401 is disposed on the side wall of drive ring seat 303;

[0164] The elastic contact piece group 402 is correspondingly disposed on the surface of the workstation substrate;

[0165] When the drive ring seat 303 is installed in place, the contact terminal array 401 and the elastic contact piece group 402 form an electrical connection.

[0166] The electrical connection component 400 is a key interface module that enables a non-contact, separable electrical connection between the drive ring seat 303 and the external control system. Its core function is to automatically establish a stable and reliable electrical path after the drive ring seat 303 has completed mechanical installation and positioning. This provides power supply and signal transmission channels for the radial displacement component 306, servo drive motor 320, sensors, and other execution and feedback units. The component employs a mating structure of contact terminal array 401 and elastic contact piece group 402, achieving a high-density, high-reliability, and plug-and-play electrical connection. This is particularly suitable for scenarios involving frequent disassembly, rotation, or modular operation. While the drive ring seat 303 completes mechanical positioning, the contact terminal array 401 on its sidewall naturally contacts the elastic contact piece group 402, eliminating the need for manual wire insertion / removal. The cable enables an automated connection logic of "power on as soon as the machine is in place," significantly improving the efficiency of equipment changeover and maintenance. The flexible contact plate group 402 is made of phosphor bronze or beryllium bronze with a gold-plated surface. The contact terminal array 401 can integrate multiple electrical functions: power supply: providing working voltage for the servo drive motor 320; control signals: transmitting start / stop, direction, and speed commands from the PLC or motion controller; feedback signals: receiving status feedback from sensors and current detection modules; communication bus: supporting protocols such as CAN, RS485, or IO-Link to achieve parameter configuration and fault diagnosis. The typical configuration in the existing technology is 12 terminals, of which 4 are power / ground, 6 are signals, and 2 are spares. This is a common technical approach in the existing technology and will not be elaborated on further here.

[0167] This invention provides an adaptive gripping device for irregularly shaped curved workpieces. Its core lies in achieving flexible gripping of complex-shaped workpieces through multi-level modular design and dynamic adjustment mechanism. The device mainly consists of three parts: a central adsorption module, a ring distribution mechanism, and an electronically controlled connection component. Each module works together to achieve adaptive adsorption and stable gripping of the workpiece. The central module provides the main adsorption force and senses the global contact state. The ring mechanism compensates for curvature changes through multi-degree-of-freedom adjustment. The two form a gripping paradigm of "core anchoring + edge adaptation" through a dynamic control system.

[0168] The following is the main workflow of this application:

[0169] I. Initial Localization and Contact Sensing

[0170] Device positioning

[0171] The central support base 100 is connected to an external robotic arm via a top multi-functional quick-connect interface 101, and the drive unit moves as a whole to a preset area on the workpiece surface.

[0172] The multi-stage linear actuator 203 is activated, pushing the hollow lifting sleeve 204 to extend and retract axially, causing the central negative pressure suction cup 201 to contact the highest point of the workpiece surface.

[0173] The biomimetic corrugated structure's adsorption surface adapts to surface deformation, increasing the initial contact area. The pressure sensor array 202 monitors the edge pressure distribution in real time and generates an initial contact pressure cloud map.

[0174] Ring mechanism unfolding

[0175] When the electrical control connection component 400 is powered on, the drive ring seat 303 is locked onto the working base (basic workstation group 301) via the quick-release component 311. It can be installed on the extended workstation group 302 as a redundancy protection mechanism, or it can be used directly as a normal working unit. It can be freely set according to needs. The switchable configuration of the basic workstation group 301 and the extended workstation group 302 supports flexible switching from basic mode (redundancy protection) to extended mode (multi-point adsorption).

[0176] The rotary drive source 315 drives the active meshing component 317 to mesh with the arc-shaped meshing band 316, thereby rotating the adjustable bearing ring 304 to the initial angle (preset reference angle, which is 135° and 225° in this application. The adjustable bearing ring 304 presets the 135° direction as the X reference axis, which is the axis of the first radial component, and the 225° direction as the Y reference axis, which is the axis of the second radial component. The two are orthogonal to form a reference coordinate system. The initial angle error of the arc-shaped meshing band 316 is corrected by the closed loop of the micro encoder. The angle repeatability is ≤0.5°. The micro encoder is a common technical means in the prior art, and will not be described in detail here).

[0177] The first radial displacement component (306a, 135° direction) and the second radial displacement component (306b, 225° direction) are started synchronously. The servo drive motor 320 drives the elastic nested rod group 321 to rotate, pushing the radial positioning seat 322 to move in the orthogonal direction, so that the annularly distributed edge-enhanced suction cups 308 are radially deployed.

[0178] II. Dynamic Compensation of Curved Surface Angles and Adjustment of Pressing Force

[0179] Contact force feedback and tilt direction judgment

[0180] Central module feedback: The pressure sensor array 202 detects the pressure distribution at the edge of the central suction cup. If the pressure value in a certain quadrant is significantly higher than that in other areas (e.g., pressure difference ΔP > 15% threshold), it is determined that the surface is tilted in this direction.

[0181] Edge module feedback: The contact force monitor 309 of each edge suction cup collects data in real time, and the central main monitor and the circumferential auxiliary monitoring array (circumferentially distributed ≥4 groups) work together to calculate the pressure gradient difference at each angle of the adsorption surface.

[0182] Angle adaptation mechanism response

[0183] If the maximum tilt direction of the surface is detected to be θ (e.g., 135°):

[0184] The rotary drive source (315) drives the active engagement member 317, causing the adjustable bearing ring 304 to rotate by an angle α (α = θ - 135°), so that the drive axis (135° direction) of the first radial displacement component 306a is aligned with the normal of the curved surface.

[0185] The 316 arc-shaped meshing band only needs to rotate within the 0°-90° range to cover the 180° adjustment requirement (utilizing the symmetry of the orthogonal displacement component).

[0186] Radial displacement drive and vertical compression

[0187] First radial displacement component (coaxial drive):

[0188] The servo drive motor 320 drives the elastic nested rod group 321 to rotate, and the threaded pair converts the rotational motion into radial displacement, which pushes the radial positioning seat 322 to move in the 135° direction.

[0189] The buffer spring 323 absorbs the impact caused by micro-unevenness of the workpiece surface (impact energy reduction ≥50%).

[0190] The expansion and contraction space (±2mm) of the elastic nested rod assembly compensates for displacement errors, ensuring that the first bearing plate 318 and the second bearing plate 319 are stably located in the annular groove corresponding to the adjustable bearing ring 304.

[0191] Second radial displacement component (orthogonal auxiliary):

[0192] The second component (306b, 225° direction) synchronously ensures the position of the radial positioning seat 322, forming a resultant force vector, so that the pressing force of the edge-enhancing suction cup 308 is strictly perpendicular to the surface normal direction.

[0193] Vertical force transmission rod stabilization mechanism

[0194] The vertical force transmission rod 307 is constrained by the trapezoidal guide rail seat 327 and the T-shaped sliding block 328, and always maintains vertical movement, transmitting only the normal force.

[0195] The edge-enhanced suction cup (308) adapts to the curved surface angle through a universal hinge structure and is decoupled from the vertical force transmission rod 307 to ensure full adhesion of the suction surface.

[0196] III. Establishment and Dynamic Maintenance of Adsorption Force

[0197] Staged adsorption start-up

[0198] Pressure balancing line 207 connects to an external air source:

[0199] Central module preferential adsorption: The central negative pressure suction cup 201 generates 60%-70% of the total adsorption force, forming the core anchoring point.

[0200] Edge module collaborative adsorption: When the pressure difference ΔP between the points fed back by the circumferential auxiliary monitoring array is less than 5% of the threshold, the built-in air pressure enhancement unit 310 is activated, and the micro cylinder 329 drives the piston element 330 to pressurize and enhance the adsorption strength of the edge suction cup.

[0201] Adsorption dynamic optimization

[0202] Enhanced sealing: If the pressure variance reported by the contact force monitor is ≤0.05, the optimal sealing condition is determined, and the micro cylinder is pressurized by 20%.

[0203] Failure tolerance (under the condition of installation of extended station group 302): When the pressure of an edge suction cup suddenly drops by more than 30%, the extended station group 302 of the adjacent station group is automatically activated, and the radial displacement component is linked to fill the failure area (response time ≤ 0.5s).

[0204] Extended workstation collaboration mechanism

[0205] Redundancy protection trigger conditions:

[0206] When any unit in the basic workstation group 301 experiences a pressure sensor malfunction (deviation > 20%), the extended workstation group 302 is automatically activated and takes over the adsorption task in the corresponding area.

[0207] Free configuration logic:

[0208] The expansion group can be set to synchronous operation mode (12 suction cups fully covered) or standby mode (6 suction cups running + 6 groups in standby).

[0209] IV. Release and Reset

[0210] Staged pressure relief

[0211] Pressure balancing line 207 switches to positive pressure mode:

[0212] The positive pressure airflow lasts for 0.2s, the central suction cup detaches from the curved surface to prevent the workpiece from slipping out of control, and the edge module releases after a delay of 0.3s to maintain a brief residual adsorption force.

[0213] Mechanism Reset and Module Replacement

[0214] The servo drive motor 320 reverses, and the radial displacement component returns to its initial position.

[0215] Pulling the unlocking ring 314b causes the linkage control rope 314 to pull the convex locking block 313a away from the positioning pin 312, allowing the drive ring seat 303 to be quickly disassembled.

[0216] Depending on the type of workpiece, the number of extended workstation groups 302 can be increased to 6-12 to accommodate different surface complexities.

[0217] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0218] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive gripping device for a workpiece having a profiled curved surface, characterized in that, It comprises: A central bearing base (100) made of light metal material, provided with a multifunctional quick connection interface (101) on the top; A central suction module (200) fixed to the bottom center of the central bearing base (100), comprising: A gas pressure balance pipeline (207) connected to an external gas source; An axially telescopic central negative pressure suction cup (201) with a bionic corrugated structure on the suction surface; A pressure sensor array (202) with multiple groups of micro pressure detection units evenly embedded in the edge area of the central negative pressure suction cup (201); A ring-shaped distribution mechanism (300), comprising: A working base composed of a ring-shaped array of basic work station groups (301) and expanded work station groups (302) with the same structure; A drive ring seat (303) installed on the basic work station group (301) through an electric control connection assembly (400); An adjustable direction bearing ring (304) movably assembled in the drive ring seat (303) through an angle adaptation mechanism (305); A radial displacement assembly (306) arranged inside the adjustable direction bearing ring (304); A vertical force transmission rod (307) connected to the output end of the radial displacement assembly (306); An edge enhanced suction cup (308) hinged to the end of the vertical force transmission rod (307); A contact force monitor (309) arranged as a combination structure of a central main monitor (309a) and a circumferential auxiliary monitoring array: The central main monitor (309a) is fixed to the bottom center of the edge enhanced suction cup (308); The circumferential auxiliary monitoring array contains at least four groups of auxiliary sensors (309b) embedded in the ring-shaped edge area of the central negative pressure suction cup (201) in contact with the workpiece; An internal air pressure enhancement unit (310) integrated in the vertical force transmission rod (307); Wherein, the drive ring seat (303) is installed through a quick assembly and disassembly assembly (311), and the quick assembly and disassembly assembly (311) comprises: Positioning pins (312) symmetrically arranged on the side wall of the drive ring seat (303); An elastic clamping module (313) comprising: A mounting groove (313d) opened in the side wall of the working base, symmetrically arranged on both sides; A convex locking block (313a) slidingly arranged in the mounting groove (313d) of the working base, provided with a positioning spring (313b) at the adjacent end, the positioning spring (313b) being in a compressed state and providing locking force; A locking protrusion (313c) arranged on the outside end of the convex locking block (313a), corresponding to the insertion groove (312a) of the positioning pin (312) for embedding; An inclined guide surface (313e) formed on the outside of the locking protrusion (313c), facing the insertion direction of the positioning pin (312); A linkage control rope (314) connected to the opposite ends of the two convex locking blocks (313a); A corner wheel (314a) fixed to the corner inside the mounting groove (313d), the linkage control rope (314) forms a right angle turn around the corner wheel (314a); An unlocking pull ring (314b) connected to the traction end of the linkage control rope (314), pulling the unlocking pull ring (314b) can synchronously drive the two convex locking blocks (313a) to separate.

2. The apparatus of claim 1, wherein: The central suction module (200) comprises: Multi-stage linear driver (203), cylinder fixed to the central bearing base (100); Hollow lifting sleeve (204), connected to the telescopic end of the multi-stage linear driver (203); Central negative pressure suction cup (201), installed at the end of the hollow lifting sleeve (204); Guiding and stabilizing ring (205), sleeved outside the hollow lifting sleeve (204); Supporting rod (206), connecting the guiding and stabilizing ring (205) and the central bearing base (100).

3. The apparatus of claim 1, wherein: The angle matching mechanism (305) comprises: Rotary drive source (315), fixed on the outer wall of the driving ring seat (303); Active engagement piece (317), connected to the output shaft of the rotary drive source (315); Arc-shaped engagement belt (316), arranged around the outer circumference of the adjustable direction bearing ring (304) and engaged with the active engagement piece (317).

4. The apparatus of claim 1, wherein: The radial displacement assembly (306) comprises: First bearing plate (318) and second bearing plate (319), symmetrically arranged inside the adjustable direction bearing ring (304); Servo drive motor (320), fixed on the first bearing plate (318); Elastic nested rod group (321), connected to the output end of the servo drive motor (320); Radial positioning seat (322), threadedly connected to the elastic nested rod group (321).

5. The apparatus of claim 4, wherein: The elastic nested rod group (321) comprises: First nested rod (321a), connected to the output shaft of the servo drive motor (320); Second nested rod (321b), the outer surface is provided with threads and threadedly matched with the radial positioning seat (322), and the two ends are provided with limiting rings (321d); Third nested rod (321c), fixed on the second bearing plate (319); Buffer spring (323), arranged inside the second nested rod (321b); Wherein the first nested rod (321a) and the third nested rod (321c) abut at both ends of the buffer spring (323) respectively.

6. The apparatus of claim 1, wherein: The vertical force transmission rod (307) is constrained by the vertical guiding assembly (324), and the vertical guiding assembly (324) comprises: Symmetrical force arm (325), connecting the radial positioning seat (322) and the upper end of the vertical force transmission rod (307); Compensation telescopic shaft (326), fixed on the top of the vertical force transmission rod (307); Trapezoidal guide rail seat (327), correspondingly installed at the bottom of the driving ring seat (303); T-shaped sliding block (328), connecting the compensation telescopic shaft (326) and the trapezoidal guide rail seat (327).

7. The apparatus of claim 1, wherein: The built-in air pressure enhancement unit (310) comprises: Miniature air cylinder (329), fixed in the sealed cavity of the vertical force transmission rod (307); Piston element (330), connected to the telescopic end of the miniature air cylinder (329) and extending to the edge enhancement suction cup (308).

8. The apparatus of claim 3, wherein: Each radial displacement assembly (306) comprises: First radial displacement assembly (306a), the driving axis extends in the 135° direction in the XY plane; Second radial displacement assembly (306b), the driving axis extends in the 225° direction in the XY plane; The driving axes of the first radial displacement assembly (306a) and the second radial displacement assembly (306b) are 90° apart in the XY plane projection, and the installation height difference in the Z axis direction is 15±5 mm, and the first radial displacement assembly (306a) and the second radial displacement assembly (306b) jointly constitute a cross shaft displacement system. The arc-shaped engagement belt (316) covers an angle of 0°-90°.

9. The apparatus of claim 1, wherein: The electric control connection assembly (400) comprises: a contact terminal array (401) arranged on the side wall of the driving ring seat (303); a group of elastic contact sheets (402) arranged on the surface of the work station base body correspondingly; When the driving ring seat (303) is installed in place, the contact terminal array (401) and the group of elastic contact sheets (402) form an electric connection.

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