A mounting device and a mounting method for a workpiece having a ring-shaped inner wall

Abstract

The present application belongs to the field of workpiece installation, and particularly relates to a device and method for installing a workpiece with an annular inner wall. The device comprises a tray, an opening and closing clamping device, and an installation positioning device. The tray is provided with a material clamp, which comprises a plurality of clamping plates. The opening and closing clamping device is used to close the clamping plates to each other, and the clamping plates are separated from the annular inner wall of the workpiece when closed. The installation positioning device comprises a fifth linear movement mechanism and a positioning platform, which is arranged around the outer side of the clamping plates. The present application forms an avoiding gap by closing the clamping plates with the opening and closing clamping device, and the positioning platform of the installation positioning device accurately supports the workpiece to a preset height. Then, the clamping plates are unfolded to elastically tighten the annular inner wall of the workpiece from the inside, so that the workpiece is installed with high precision, small contact area, and no damage.

Description

Technical Field

[0001] This invention belongs to the field of workpiece installation, specifically relating to an installation device and method for a workpiece with an annular inner wall. Background Technology

[0002] In automated assembly and surface treatment production lines, it is often necessary to fix workpieces with annular inner walls onto material clamps on a tray for subsequent processes such as spraying, electroplating, or drying. In existing technologies, clamping such workpieces typically involves external clamping jaws that hold the outer wall of the workpiece, or pressing the workpiece directly into the clamping cavity of an elastic clamping element, relying on the clamping force generated by the elastic deformation of the clamping element to hold the workpiece's outer surface from the outside. Alternatively, mechanical locking methods such as screws and clips are also used to fix the workpiece. However, existing clamping methods have several drawbacks. In external clamping methods, the jaws need to contact the outer surface of the workpiece and apply clamping force, which can easily create clamping marks, scratches, or obstructions on the workpiece surface, affecting the uniformity and integrity of subsequent surface treatments. Directly pressing the workpiece into an elastic clamping element results in continuous frictional contact between the workpiece and the clamping element during installation, which can also damage the workpiece surface, and long-term use can lead to wear of the clamping element and a decrease in clamping force. More importantly, conventional installation methods struggle to precisely control the axial mounting height and radial concentricity of the workpiece on the clamping device. Installation accuracy is significantly affected by part machining tolerances and assembly errors, failing to meet high-precision positioning requirements. Furthermore, to accommodate different workpieces or provide sufficient clamping force, each clamping unit often requires an independent drive mechanism, resulting in complex and bulky equipment with poor synchronization and high costs. Therefore, there is an urgent need for a workpiece mounting device with an annular inner wall that enables damage-free workpiece clamping, precise and controllable mounting height, and a simple and efficient structure. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an installation device and method for a workpiece with an annular inner wall. By using a switching clamping device to close the clamping plates to form an clearance gap, the positioning platform of the installation positioning device accurately supports the workpiece to a preset height, and then the clamping plates unfold to elastically support the annular inner wall of the workpiece from the inside, thereby achieving high-precision, small-contact-area, and damage-free installation of the workpiece.

[0004] The present invention provides a workpiece mounting device with an annular inner wall, including a material tray, a switching clamp device and a mounting positioning device; The material tray is provided with a material clamp, which includes several clamping plates. The clamping plates are used to abut against the annular inner wall of the workpiece when it is unfolded. The switching clamping device is used to make several clamping plates close together, and when they are closed, the clamping plates separate from the annular inner wall of the workpiece. The installation and positioning device includes a fifth linear moving mechanism and a positioning platform disposed on the output end of the fifth linear moving mechanism. The positioning platform is arranged around the outside of several clamping plates, and the top of the positioning platform is used to support the workpiece. When the workpiece is installed on the material clamp, the switching clamp device causes several clamping plates to retract towards each other. The fifth linear movement mechanism drives the positioning platform to a set height. After the workpiece is transferred to the positioning platform, the switching clamp device causes several clamping plates to unfold towards each other to clamp the workpiece, thereby fixing the clamping plates and the workpiece in a set relative position.

[0005] Furthermore, the switch clamping device includes two clamping rods that are relatively close together and far apart, as well as an abutment block disposed on the clamping rods; The two clamping rods move closer together, and the driving abutment block moves closer to the clamping plate.

[0006] Furthermore, the opposing sidewalls of the two clamping rods are provided with positioning and mounting grooves that fit into the outline of the workpiece.

[0007] Furthermore, the positioning platform includes two positioning plates and a positioning platform disposed on top of the two positioning plates; The positioning plate is provided with through holes for the abutment block to pass through.

[0008] Furthermore, the through hole extends through the positioning platform, so that the positioning platforms on each positioning plate are arranged in two opposite positions.

[0009] Furthermore, the two positioning plates are configured to be able to move closer together or further apart.

[0010] Furthermore, the material clips are arranged in a rectangular array of multiple types; The length of the clamping rod is longer than that of a column of material clamps, and the number of abutment blocks on the clamping rod is the same as the number of material clamps in a column. The fifth linear motion mechanism and positioning platform are arranged in multiple columns.

[0011] Furthermore, the clamping rod and the clamping drive mechanism are mounted on a dual-coordinate moving platform, with one moving direction of the dual-coordinate moving platform parallel to the row direction of the material clamp and the other moving direction perpendicular to the plane direction of the positioning platform; The installation and positioning device further includes a sixth linear moving mechanism, and several fifth linear moving mechanisms are arranged on the sixth linear moving mechanism. The moving direction of the sixth linear moving mechanism is parallel to the row direction of the material clamp.

[0012] Furthermore, it also includes a first vision module, which is configured to determine the height position of the clamp tip, and thus determine the height of the positioning platform.

[0013] The present invention also provides a method for mounting a workpiece having an annular inner wall. Using the above-described mounting device for a workpiece having an annular inner wall, when it is necessary to mount the workpiece onto a material clamp, the method includes the following steps: S1, determine the preset relative position of the workpiece and the material clamp for installation; S2, the fifth linear motion mechanism drives the positioning platform to the set height; S3 controls the switch clamping device to make several clamps retract into each other; S4, transfer the workpiece to the positioning platform, and ensure that the annular inner wall of the workpiece does not contact the clamping plates; S5 controls the switch clamping device to make several clamping plates unfold relative to each other, and the several clamping plates unfold and abut against the annular inner wall of the fixed workpiece; S6, the fifth linear moving mechanism drives the positioning platform to reset, completing the installation of the workpiece and the material clamp at the preset relative position.

[0014] The beneficial effects of this invention are as follows: The installation device for a workpiece with an annular inner wall provided by this invention first drives the clamping plates to retract via a switching clamping device, forming an interference-free installation gap between the workpiece and the clamping plates. Then, the positioning platform of the installation positioning device precisely carries the workpiece to a set height. Finally, the clamping plates are released, allowing them to elastically unfold from the inside to tighten the annular inner wall of the workpiece. Throughout the installation process, there is no frictional contact between the workpiece and the clamping plates, protecting the quality of the workpiece's inner and outer surfaces. The lifting height of the positioning platform can be precisely set, ensuring that the axial installation position of the workpiece on the material clamp is accurate and consistent, unaffected by the dimensional tolerances of the clamping plates themselves, resulting in high installation accuracy. The clamping method from the inside provides uniform clamping force, and the small contact area ensures that the workpiece is almost unobstructed during subsequent processing, resulting in good processing uniformity. Simultaneously, the switching clamping device can synchronously control the retraction and unfolding of multiple clamping plates, resulting in good action consistency and a compact structure. It eliminates the need for a separate drive source for each material clamp, significantly reducing equipment complexity and cost. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure for installing the positioning device in this invention; Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a schematic diagram of the switch clamp device in this invention; Figure 4 This is a schematic diagram showing the usage state of the positioning device, the switch clamping device, the material tray, and the workpiece in this invention. Figure 5 This is a partially enlarged structural diagram of the positioning device, switch clamping device, material tray, and workpiece in use according to the present invention. Figure 6 for Figure 5A magnified view of a section at point B in the middle; Figure 7 This is a schematic diagram of the material tray structure in this invention; Figure 8 This is a schematic diagram of the workpiece structure in this invention.

[0016] In the diagram, 5-installation positioning device; 501-fifth linear movement mechanism; 502-positioning platform; 5021-positioning plate; 50211-through hole; 5022-positioning table; 503-sixth linear movement mechanism; 6-switch clamp device; 601-clamping rod; 6011-positioning mounting groove; 602-abutment block; 603-dual coordinate moving platform; 19-material tray; 1901-pin mating structure; 1902-main beam; 1903-secondary beam; 1904-material clamp; 19041-clamping plate; 20-workpiece; 2001-annular side wall; 20011-annular inner wall; 20012-annular outer wall; 2002-end plate. Detailed Implementation

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

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

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

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

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

[0022] The following is a detailed description of the mounting device for the workpiece 20 with an annular inner wall 20011. This device is used to precisely mount the workpiece 20 into the material clamp 1904 on the material tray 19, fixing the workpiece 20 in a clamped manner with the annular inner wall 20011, so that subsequent processing steps such as spraying, electroplating, or drying can be performed. This mounting device receives the workpiece 20, which has been adjusted in posture from the workpiece transfer device (including the transfer positioning mechanism 11 and the transfer mechanism 12), and precisely mounts the workpiece 20 onto the material clamp 1904 of the material tray 19, which is positioned and locked on the material rack conveying fixing device 4.

[0023] like Figures 1-8 As shown, in one embodiment, a workpiece mounting device with an annular inner wall includes a material tray 19, a switching clamp device 6, and a mounting and positioning device 5. The material tray 19 serves as a carrier for the material clamp 1904 and is conveyed and positioned by the material rack conveying and fixing device 4 of the feeding system.

[0024] The material tray 19 is provided with a material clamp 1904, which includes a plurality of clamping plates 19041. The clamping plates 19041 are used to abut against the annular inner wall 20011 of the workpiece 20 when unfolded. In its natural state, the clamping plates 19041 are unfolded by their own elastic restoring force. The outer surface of each clamping plate 19041 is used to abut against the annular inner wall 20011 of the workpiece 20, and to tighten and fix the workpiece 20 from the inside, thereby achieving a clamping method with a small contact area and reducing obstruction to the surface of the workpiece 20.

[0025] The switching clamping device 6 is used to retract several clamping plates 19041 together, separating the clamping plates 19041 from the annular inner wall 20011 of the workpiece 20 during retraction. The switching clamping device 6 is positioned at the mounting station below the material tray 19 and provides the retraction driving force for the clamping plates 19041 during workpiece 20 mounting. When the clamping plates 19041 retract, the outer surfaces of each clamping plate 19041 radially retract inward, forming a gap with the annular inner wall 20011 of the workpiece 20, providing interference-free space for the placement of the workpiece 20.

[0026] The installation and positioning device 5 includes a fifth linear motion mechanism 501 and a positioning platform 502 disposed on the output end of the fifth linear motion mechanism 501. The fifth linear motion mechanism 501 is arranged vertically, and the positioning platform 502 is installed on the output end of the fifth linear motion mechanism 501 and is driven by the fifth linear motion mechanism 501 to move vertically up and down. The positioning platform 502 is arranged around the outside of several clamping plates 19041, and the top of the positioning platform 502 is used to support the workpiece. The positioning platform 502 has a ring-shaped or split structure, surrounding the periphery of each clamping plate 19041 of the material clamp 1904, and its top bearing surface is used to receive the workpiece 20 from the transfer mechanism 12 and stably support the workpiece 20 at a preset height.

[0027] When the workpiece 20 is installed onto the material clamp 1904, the switching clamp device 6 causes several clamping plates 19041 to retract towards each other. The fifth linear movement mechanism 501 drives the positioning platform 502 to a set height. After the workpiece 20 is transferred onto the positioning platform 502, the switching clamp device 6 causes several clamping plates 19041 to unfold and clamp the workpiece 20, thus fixing the clamping plates 19041 and the workpiece 20 in a set relative position. The specific working process is as follows: First, the first vision module identifies the height position of the tips of each clamping plate 19041 of the material clamp 1904. The fifth linear movement mechanism 501 drives the positioning platform 502 to rise and fall to a set height based on the vision recognition result, so that the top bearing surface of the positioning platform 502 maintains a preset vertical distance between the tips of the clamping plates 19041. Then, the switching clamp device 6 is activated, driving each clamping plate 19041 to retract towards each other, and the outer surface of the clamping plates 19041 radially retracts inward. Subsequently, the transfer mechanism 12 transfers the workpiece 20, which has already undergone attitude adjustment on the transfer positioning mechanism 11, to the top bearing surface of the positioning platform 502. At this time, the annular inner wall 20011 of the workpiece 20 is fitted around the retracted clamping plates 19041, maintaining a clearance fit between them without contact. Next, the switching clamping device 6 releases the retracting driving force on the clamping plates 19041. Under the action of their own elastic restoring force, each clamping plate 19041 automatically unfolds outward, and the outer surface of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20, supporting and fixing the workpiece 20 from the inside. Finally, the fifth linear movement mechanism 501 drives the positioning platform 502 to descend and reset, moving away from below the workpiece 20, completing the installation of the workpiece 20 and the material clamp 1904 in the set relative position.

[0028] In this embodiment, the workpiece mounting device with an annular inner wall achieves high-precision positioning and installation of the workpiece 20 on the material clamp 1904 through the coordinated operation of the mounting positioning device 5 and the switching clamp device 6. The positioning platform 502 provides a precise bearing height, ensuring the relative positional accuracy of the workpiece 20 and the material clamp 1904 in the vertical direction; the switching clamp device 6 controls the timing of the retraction and expansion of the clamping plate 19041, allowing the workpiece 20 to be placed in a non-interference state, and then automatically tightened and fixed by the elastic restoring force of the clamping plate 19041. The entire installation process does not require applying external force to clamp the workpiece 20, avoiding damage to the surface of the workpiece 20. Since the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20 only contact at a few points or along a line, the contact area is small, so that the workpiece 20 is almost unobstructed during subsequent processes such as spraying, electroplating, or drying, resulting in good processing uniformity.

[0029] Meanwhile, this installation device enables efficient unidirectional installation of workpiece 20. Workpiece 20 only needs to be fitted vertically from top to bottom onto the retracted clamping plate 19041, and the clamping plate 19041 will elastically unfold to complete the fixation. The installation action is simple and fast. After installation, the clamping plate 19041 elastically supports the annular inner wall 20011 of workpiece 20 from the inside, and the supporting force is evenly distributed along the circumference. Workpiece 20 remains stable during subsequent flipping, handling, and processing of the tray 19 and will not loosen due to vibration or changes in the direction of gravity. In addition, the high-precision positioning installation also facilitates automated gripping and alignment in subsequent processes. This mounting device is particularly suitable for applications where the workpiece 20 needs to undergo immersion electroplating, high-temperature baking, or powder coating. In these processes, the tray 19 may be flipped, tilted, or completely immersed in liquid. The elastic clamping method can still reliably fix the workpiece 20 when the temperature changes, liquid impact, or the direction of gravity changes. Moreover, the small contact area does not affect the uniformity and integrity of the plating or coating. It overcomes the problems of traditional external clamping methods that easily block the surface, loosen due to temperature, or have reduced clamping force during immersion.

[0030] Furthermore, this fixing method, which uses clamping plates 19041 to elastically support the workpiece 20 from the inside of the annular inner wall 20011 outwards, has significant technical advantages. Since the clamping plates 19041 only contact the annular inner wall 20011 of the workpiece 20 at several points or along a line, the annular outer wall 20012 and the outer surface of the end plate 2002 of the workpiece 20 are completely exposed without any clamping components obstructing the view. In subsequent surface treatment processes such as spraying, electroplating, and powder coating, the treatment medium can evenly cover all exposed surfaces of the workpiece 20, avoiding the processing dead corners or clamping marks caused by the clamping claws in traditional external clamping methods. The clamping plate 19041 relies on its own elastic restoring force to support the workpiece 20 from the inside out. The supporting force is evenly distributed along the circumferential direction of the annular inner wall 20011. Regardless of whether the tray 19 is in the forward, inverted, tilted or even flipped state, the direction of the supporting force on the workpiece 20 is always radiating from the inside out, independent of the direction of gravity. It remains stable during subsequent flipping, handling, vibration and multi-position processing, and will not loosen or shift due to changes in the direction of gravity or vibration. In high-temperature baking and other processing environments, when workpiece 20 and clamping plate 19041 undergo thermal expansion, the elastic clamping mechanism of clamping plate 19041 can automatically adapt to the dimensional changes of the annular inner wall 20011 caused by thermal expansion. When workpiece 20 expands due to heat, clamping plate 19041 can be slightly compressed inward. When workpiece 20 cools and contracts, clamping plate 19041 automatically moves outward under the action of elastic restoring force, always maintaining a tight fit with the annular inner wall 20011. Compared with rigid clamping or screw locking, it will not cause workpiece 20 to deform or clamping to loosen due to differences in thermal expansion. In liquid environments such as immersion electroplating or chemical treatment, the elastic clamping force of clamping plate 19041 is provided by the elasticity of the material itself and is independent of the surrounding medium. The clamping force is not affected by changes in liquid buoyancy, fluid impact, or friction. Workpiece 20 will not detach from material clamping plate 1904 during immersion, stirring, or liquid flow. Simultaneously, during the unfolding process, each clamp 19041 expands outward synchronously, with its outer surface contacting the annular inner wall 20011 of the workpiece 20. This automatically pushes the workpiece 20 to a position concentric with the material clamp 1904, achieving automatic centering and compensating for minor positional deviations of the workpiece 20 on the positioning platform 502, thus reducing the placement accuracy requirements of the upstream transfer mechanism 12. Furthermore, the clamp 19041 maintains its grip on the workpiece 20 using its own elastic restoring force, eliminating the need for continuous external power supply such as air, electricity, or hydraulics. The clamping force remains constant and stable throughout the entire flow and processing of the material tray 19. Even if the material tray 19 detaches from the equipment and enters a process chamber or storage area without a power source, the workpiece 20 remains reliably fixed. The magnitude of the elastic clamping force can be precisely designed by the material, cross-sectional shape and size of the clamping plate 19041 to ensure that the clamping force is sufficient to fix the workpiece 20 without causing plastic deformation or surface scratches on the annular inner wall 20011, and without damaging the workpiece 20. It is especially suitable for precision, thin-walled or low surface hardness workpieces 20.

[0031] Compared with the conventional assembly method that achieves the mating of workpiece 20 and clamping plate 19041, the assembly method adopted in this solution, which involves first retracting clamping plate 19041, supporting it with positioning platform 502, and then unfolding clamping plate 19041, has significant advantages. Conventional assembly methods typically involve directly pressing or pushing workpiece 20 into clamping plate 19041, which is already in an unfolded state. During installation, the annular inner wall 20011 of workpiece 20 and the outer surface of clamping plate 19041 continuously rub against each other, easily scratching the annular inner wall 20011 of workpiece 20 or the surface of clamping plate 19041. Long-term use may also lead to wear and elasticity loss in clamping plate 19041, affecting clamping accuracy and service life. In this solution, the clamping device 6 first retracts each clamping plate 19041 synchronously, so that an installation gap is formed between the outer side of the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20. After the workpiece 20 is supported by the positioning platform 502 at a precisely set height, the clamping plate 19041 then elastically unfolds and tightens the workpiece 20. Throughout the process, there is no frictional contact between the workpiece 20 and the clamping plate 19041, which protects the surface quality of the workpiece 20 and extends the service life of the clamping plate 19041. Meanwhile, in conventional methods, the vertical position of workpiece 20 is difficult to accurately determine, often relying on the mechanical limiting of the workpiece 20 end plate 2002 and the bottom of clamping plate 19041 or the surface of tray 19. The positional accuracy is greatly affected by the machining tolerances and assembly errors of the parts. In this solution, the fifth linear movement mechanism 501 drives the positioning platform 502 to a set height. The workpiece 20 is first accurately supported by the positioning platform 502, and then unfolded and tightened by the clamping plate 19041. The vertical installation position is precisely determined by the height of the positioning platform 502, and is not affected by the dimensional tolerances of the clamping plate 19041 itself, resulting in higher installation accuracy and better consistency. In addition, conventional methods usually require a separate clamping drive mechanism for each workpiece 20 or press-fitting the workpiece 20 one by one, which is complex and slow. In this solution, the long clamping rod 601 drives multiple abutment blocks 602 to synchronously drive the entire row of clamping plates 19041 to retract, and multiple positioning platforms 502 synchronously support the entire row of workpieces 20, realizing the batch synchronous installation of multiple workpieces 20 in one row, significantly improving efficiency.

[0032] In one embodiment, the switch clamping device 6 includes two clamping rods 601 that are positioned towards and away from each other, and abutment blocks 602 disposed on the clamping rods 601. The two clamping rods 601 are positioned opposite each other on both sides of the material clamp 1904 and arranged horizontally. Each clamping rod 601 has an abutment block 602 disposed at a position corresponding to the clamping plate 19041, and the abutment block 602 extends toward the clamping plate 19041. The two clamping rods 601 can be driven by a drive mechanism such as a cylinder, an electric push rod, or a cam mechanism to achieve the action of moving closer or further apart.

[0033] The two clamping rods 601 move closer to each other, and the drive abutment block 602 abuts against the clamping plate 19041 and moves closer to each other.

[0034] In one embodiment, the opposing sidewalls of the two clamping rods 601 are provided with positioning and mounting grooves 6011 that fit into the outer contour of the workpiece 20. Specifically, when it is necessary to retract the clamping plates 19041, the two clamping rods 601 move synchronously toward the material clamp 1904 under the drive of the drive mechanism. The abutment blocks 602 provided on the clamping rods 601 move with the clamping rods 601, abutting against the outer side or end of each clamping plate 19041 from the outside, and continuing to press inward, overcoming the elastic restoring force of the clamping plates 19041 themselves, driving each clamping plate 19041 to retract inward. After retraction, the outer side of each clamping plate 19041 radially retracts inward, forming a gap with the annular inner wall 20011 of the workpiece 20 to be installed, providing an interference-free space for the placement of the workpiece 20. When the workpiece 20 is transferred to the positioning platform 502 and the annular inner wall 20011 is fitted around the clamping plate 19041 in its retracted state, the two clamping rods 601 move outward synchronously under the drive of the drive mechanism, the abutment block 602 disengages from the clamping plate 19041, and the clamping plate 19041 automatically unfolds outward under its own elastic restoring force, abutting against the annular inner wall 20011 of the workpiece 20, thus completing the support and fixation of the workpiece 20.

[0035] In this embodiment, the switch clamp device 6 employs two clamping rods 601 that move closer or further apart simultaneously. Through the abutment block 602, each clamping plate 19041 is simultaneously squeezed or released from the outside, achieving synchronous retraction or expansion of the entire row or group of material clamps 1904. This design is simple in structure, reliable in operation, and avoids the need for a separate drive mechanism for each material clamp 1904, reducing equipment complexity. The synchronous drive of the clamping rods 601 ensures the consistency of the retraction and expansion actions of each clamping plate 19041, improving the accuracy and stability of workpiece 20 installation.

[0036] In one embodiment, the positioning platform 502 includes two positioning plates 5021 and a positioning platform 5022 disposed on top of the two positioning plates 5021. The two positioning plates 5021 are disposed opposite each other on both sides of the material clamp 1904 and extend vertically. Each positioning plate 5021 has a positioning platform 5022 on its top, and the top bearing surface of the positioning platform 5022 is used to jointly bear the workpiece 20. The two positioning plates 5021 can be driven by a driving mechanism to move closer or further apart to accommodate workpieces 20 of different specifications or to achieve clearance.

[0037] The positioning plate 5021 is provided with a through hole 50211 for the abutment block 602 to pass through. The through hole 50211 is formed on the surface of the positioning plate 5021, and its position corresponds to the abutment block 602 of the switch clamping device 6. When the switch clamping device 6 is activated and the two clamping rods 601 move closer together, the abutment block 602 can pass through the through hole 50211 on the positioning plate 5021, from the outside of the positioning plate 5021 to the inside, and then abut against the clamping plate 19041 of the material clamp 1904, driving the clamping plate 19041 to close. The through hole 50211 provides a channel for the abutment block 602 to pass through the positioning plate 5021, so that the positioning plate 5021 can coexist with the abutment block 602 in space without having to avoid it, resulting in a compact structure.

[0038] In this embodiment, by opening a through hole 50211 on the positioning plate 5021 for the abutment block 602 to pass through, the switch clamping device 6 can drive the abutment block 602 through the through hole 50211 from the outside of the positioning platform 502 to act on the clamping plate 19041 of the material clamp 1904, thus achieving a compact spatial layout of the switch clamping device 6 and the mounting positioning device 5. In this structure, both the switch clamping device 6 and the mounting positioning device 5 can be arranged below the material tray 19, while the space above the material tray 19 is completely open, without any driving mechanism or positioning component occupying it. The open space above the material tray 19 provides ample operating space for the transfer mechanism 12 and its suction cup mechanism 1202. The transfer mechanism 12 can smoothly transfer the workpiece 20 from top to bottom onto the positioning table 5022 of the positioning platform 502, with an unobstructed transfer path and simple, efficient operation. Meanwhile, since both the switch clamp device 6 and the mounting and positioning device 5 are located below the material tray 19, the material tray conveying mechanism 16 or other conveying devices can be configured above the material tray 19 to directly grab or remove the material tray 19 from above without having to avoid the drive mechanism, which facilitates the coordinated operation of multiple devices and the optimized spatial layout of the overall equipment.

[0039] In one embodiment, the through hole 50211 extends and penetrates the positioning platform 5022, so that the positioning platforms 5022 on each positioning plate 5021 are arranged in two opposite positions. That is, the through hole 50211 extends upward from the plate surface of the positioning plate 5021 and penetrates to the top bearing surface of the positioning platform 5022, dividing the positioning platform 5022 into two independent bearing blocks arranged opposite each other along the extension direction of the through hole 50211. The two bearing blocks are located on both sides of the through hole 50211, and together form the top bearing surface of the positioning platform 5022, which is used to support the bottom of the annular end plate 2002 of the workpiece 20. The through hole 50211, penetrating the positioning table 5022, provides a complete channel for the abutment block 602 to travel from the outside of the positioning plate 5021 through the through hole 50211 to the outside of the clamping plate 19041. The vertical movement of the abutment block 602 within the through hole 50211 is not limited by the positioning table 5022, allowing for more flexible adjustment of the contact height and force application position with the clamping plate 19041. Simultaneously, although the positioning table 5022 is divided into two parts, the two bearing blocks are symmetrically distributed on both sides of the through hole 50211. After the workpiece 20 is placed, its bottom surface of its end plate 2002 simultaneously contacts the tops of both bearing blocks, ensuring stable and reliable bearing.

[0040] In this embodiment, by passing the through hole 50211 through the positioning table 5022, the abutment block 602 can move freely within the height range of the positioning table 5022. The layout of the switch clamp device 6 and the mounting positioning device 5 in the height direction is more compact, eliminating the need to reserve extra clearance space for the abutment block 602 above or below the positioning table 5022, thus reducing the overall height of the equipment. At the same time, the positioning table 5022, even after being divided into two parts, still maintains symmetrical load-bearing capacity, without affecting the stable support for the workpiece 20, achieving non-interference between the drive channel and the load-bearing function.

[0041] In one embodiment, the two positioning plates 5021 are configured to move closer together or further apart. The positioning platform 502 also includes a positioning plate driving mechanism, on which both positioning plates 5021 are disposed. The positioning plate driving mechanism drives the two positioning plates 5021 to move closer or further apart synchronously in the horizontal direction. The positioning plate driving mechanism can be a lead screw pair, a cylinder, or a synchronous belt mechanism, etc.

[0042] During the installation of workpiece 20, when it is necessary to support workpiece 20, the two positioning plates 5021 are first driven by the positioning plate drive mechanism to a close-to-each-other state, so that the distance between the two positioning platforms 5022 matches the size of the annular end plate 2002 of the workpiece 20 to be installed, thereby stably supporting workpiece 20. After workpiece 20 has been firmly fixed by the clamping plate 19041 of the material clamp 1904, the fifth linear movement mechanism 501 drives the positioning platform 502 to descend and reset. The two positioning plates 5021 can then be driven by the positioning plate drive mechanism to move away from each other and expand outward to make room, providing more clearance for the removal of the subsequent material tray 19 or the operation of the next process. In addition, when it is necessary to adapt to workpieces 20 of different specifications and sizes, the span between the two positioning platforms 5022 can be changed by adjusting the distance between the two positioning plates 5021, so as to adapt to the end plate 2002 of workpiece 20 with different diameters, without the need to replace the positioning platform 502, thus improving the versatility and changeover efficiency of the device.

[0043] In this embodiment, by configuring the two positioning plates 5021 to be close together or far apart, the positioning platform 502 can provide stable support matching the size of the workpiece 20 during installation, and can also move outward after installation to make room for the flow of the material tray 19 and the movement of other mechanisms, avoiding interference. At the same time, the adjustable spacing design allows one positioning platform 502 to adapt to workpieces 20 of various specifications, reducing changeover time and spare parts costs.

[0044] In one embodiment, multiple material clamps 1904 are arranged in a rectangular array. That is, multiple material clamps 1904 are regularly arranged along the row and column directions on the material tray 19, and each material clamp 1904 includes several clamping plates 19041 for independently clamping a workpiece 20. The rectangular array layout allows the material tray 19 to carry multiple workpieces 20 at one time, improving the single tray capacity and the batch efficiency of subsequent processing.

[0045] The length of the clamping rod 601 is longer than that of a column of material clamps 1904, and the number of abutment blocks 602 on the clamping rod 601 is the same as the number of material clamps 1904 in a column. Specifically, each clamping rod 601 extends along the column direction of the material clamps 1904, and its length covers the distribution range of the entire column of material clamps 1904. Multiple abutment blocks 602 are spaced apart along the length of the clamping rod 601, and the spacing of each abutment block 602 corresponds one-to-one with the spacing of adjacent material clamps 1904 in a column, so that when the clamping rod 601 moves closer, each abutment block 602 on it can simultaneously abut against the clamping plate 19041 of each material clamp 1904 in the corresponding column. Two clamping rods 601 are respectively set on both sides of the material clamp 1904 array. A single approaching action can synchronously drive all the clamping plates 19041 of the entire column of material clamps 1904 to close, and a single moving away action can synchronously release all the clamping plates 19041 of the entire column of material clamps 1904 to unfold.

[0046] Multiple fifth linear motion mechanisms 501 and positioning platforms 502 are arranged along a column direction. That is, along the distribution direction of a column of material clamps 1904, a set of fifth linear motion mechanisms 501 and positioning platforms 502 are respectively arranged for each material clamp 1904. The positioning platforms 502 are arranged around the periphery of each clamp plate 19041 of the corresponding material clamp 1904. Multiple sets of positioning platforms 502 can be raised and lowered synchronously or independently to accommodate the slight differences in the height of the tips of the clamp plates 19041 of each material clamp 1904.

[0047] During the installation of workpiece 20, the switch clamping device 6 drives the two clamping rods 601 to move closer together. The abutment blocks 602 on the clamping rods 601 pass through the through holes 50211 on the corresponding positioning plates 5021, and simultaneously abut against and press the clamping plates 19041 of each row of material clamps 1904, so that all the clamping plates 19041 in the row are closed synchronously. Then, the transfer mechanism 12 transfers the multiple workpieces 20 that have completed the attitude adjustment to the positioning tables 5022 of each positioning platform 502, and the annular inner wall 20011 of each workpiece 20 is respectively fitted around the corresponding clamping plate 19041 in the closed state. Subsequently, the two clamping rods 601 move away from each other, and the abutting blocks 602 release their pressure on the clamping plates 19041 simultaneously. Under the action of their own elastic restoring force, the clamping plates 19041 of the entire row of material clamps 1904 expand outward simultaneously and abut against the annular inner wall 20011 of the corresponding workpiece 20, thus completing the synchronous installation of the entire row of workpieces 20 in one go.

[0048] In this embodiment, by arranging the material clamps 1904 in a rectangular array, combined with the structure of long clamping rods 601, multiple abutment blocks 602, and a row of multiple positioning platforms 502, the batch synchronous installation of multiple workpieces 20 in a row is achieved, significantly improving installation efficiency. The clamping rods 601 can simultaneously retract or release all the clamping plates 19041 in a single action, resulting in a simple drive structure and good action consistency. Each positioning platform 502 can be raised and lowered independently. Combined with the independent identification of the tip height of each material clamp 1904's clamping plate 19041 by the first vision module, manufacturing and assembly tolerances of each material clamp 1904 can be compensated for, ensuring the installation height accuracy of each workpiece 20. This batch installation method is particularly suitable for automated production lines with high-volume production, significantly shortening the installation cycle time for a single piece while ensuring installation accuracy and consistency.

[0049] In one embodiment, the clamping rod 601 and the clamping drive mechanism are mounted on a dual-coordinate moving platform 603. One direction of movement of the dual-coordinate moving platform 603 is parallel to the row direction of the material clamps 1904, and the other direction of movement is perpendicular to the plane direction of the positioning platform 502. The dual-coordinate moving platform 603 provides the clamping rod 601 with two degrees of freedom of movement. Movement along the row direction of the material clamps 1904 drives the clamping rod 601 to switch positions between different columns of material clamps 1904, enabling the switching clamp device 6 to process each row or column of material clamps 1904 in the rectangular array column by column. The movement along the direction perpendicular to the plane of the positioning platform 502 is used to drive the clamping rod 601 to approach or move away from the clamping plate 19041. When the clamping rod 601 approaches, the abutment block 602 abuts against and squeezes the clamping plate 19041 to make it close. When the clamping rod 601 moves away, the abutment block 602 releases the squeezing of the clamping plate 19041, and the clamping plate 19041 unfolds elastically.

[0050] The installation and positioning device 5 also includes a sixth linear moving mechanism 503. Several fifth linear moving mechanisms 501 are mounted on the sixth linear moving mechanism 503, and the moving direction of the sixth linear moving mechanism 503 is parallel to the row direction of the material clamps 1904. That is, multiple sets of fifth linear moving mechanisms 501 and their positioning platforms 502 arranged along a column direction are all mounted on the output end of the sixth linear moving mechanism 503, and are driven by the sixth linear moving mechanism 503 to move along the row direction of the material clamps 1904. The row-direction moving stroke of the sixth linear moving mechanism 503 matches the row-direction distribution range of the material clamp array 1904, allowing the entire column of positioning platforms 502 to synchronously switch positions between different columns of material clamps 1904 with the clamping rods 601 of the switching clamp device 6.

[0051] When installing workpieces 20 in batches, firstly, the dual-axis moving platform 603 drives the clamping rod 601 to move to the row position corresponding to the first column of material clamps 1904. Simultaneously, the sixth linear moving mechanism 503 drives the entire column positioning platform 502 to move to the same row position, so that each positioning platform 502 surrounds the periphery of each material clamp 1904 in the first column. Then, following the aforementioned installation process for one column of workpieces 20, the installation of all workpieces 20 in the first column is completed. After the first column is installed, the dual-axis moving platform 603 drives the clamping rod 601 to move along the row direction to the row position corresponding to the second column of material clamps 1904. Simultaneously, the sixth linear moving mechanism 503 drives the entire column positioning platform 502 to move to the same row position to install the second column of workpieces 20. This cycle continues column by column until all material clamps 1904 on the material tray 19 have completed the installation of workpieces 20.

[0052] In this embodiment, by setting the clamping rod 601 on the dual-coordinate moving platform 603 and setting multiple sets of fifth linear moving mechanisms 501 on the sixth linear moving mechanism 503, the synchronous switching of the switch clamping device 6 and the installation positioning device 5 in the row direction is realized. The clamping rod 601 moves with the row direction of the dual-coordinate moving platform 603, and coordinates and synchronizes with the positioning platform 502 moving with the row direction of the sixth linear moving mechanism 503. Only one set of row-direction moving mechanisms is needed to realize cross-column operation of the entire column of switch clamping components and the entire column of positioning platforms. There is no need to set up separate switch clamping devices 6 and positioning platforms 502 for each column. The equipment structure is simplified and the control and coordination are convenient. The column-by-column installation method ensures the high efficiency of synchronous installation of multiple workpieces in a single column, while taking into account the coverage capability of the rectangular array multi-column layout. It is suitable for fully automatic installation scenarios of large batches and high-density load-bearing trays 19.

[0053] In one embodiment, a first vision module is also included, configured to determine the height position of the tip of the clamping plate 19041, thereby determining the height of the positioning platform 502. The first vision module is fixedly installed above or to the side of the installation station, and its field of view covers the area where the tips of each clamping plate 19041 of the material clamp 1904 are located. The first vision module may be a CCD camera, a laser displacement sensor, or a structured light 3D scanning device, etc., used to acquire precise height information of the tips of the clamping plates 19041 in the vertical direction.

[0054] In the specific operation, before each installation of workpiece 20, the first vision module first photographs or scans the tips of the clamping plates 19041 of each material clamp 1904 to obtain the height position data of the tips of each clamping plate 19041. Based on the height data fed back by the first vision module, the control system calculates the set height that the top bearing surface of the positioning platform 5022 needs to reach. This set height ensures that the top bearing surface of the positioning platform 5022 and the tips of the clamping plates 19041 maintain a preset vertical distance. Subsequently, the fifth linear motion mechanism 501 drives the positioning platform 502 to rise and fall to the set height based on the calculation result. After workpiece 20 is transferred onto the positioning platform 5022, the vertical relative position between the bottom surface of the annular end plate 2002 of workpiece 20 and the tips of the clamping plates 19041 is precisely controlled within the preset value, ensuring that when the clamping plates 19041 are subsequently unfolded, the contact position between the outer surface of the clamping plates 19041 and the annular inner wall 20011 of the workpiece 20 is precisely consistent.

[0055] In this embodiment, by setting a first vision module, real-time detection and precise positioning of the tip height of each material clamp 19041 clamp plate 19041 are achieved. Since the tip height of the clamp plate 19041 may undergo slight changes due to elastic fatigue, wear, or assembly tolerances during long-term use, the real-time detection capability of the first vision module can automatically compensate for these deviations. The set height is redefined before each installation, ensuring the consistency of the installation height of each workpiece 20 in mass production, improving installation accuracy and product yield. Simultaneously, the closed-loop vision feedback control eliminates the need for manual calibration, improving the automation level and changeover efficiency of the equipment.

[0056] The present invention also provides a method for mounting a workpiece having an annular inner wall. Using the aforementioned mounting device for a workpiece having an annular inner wall, when it is necessary to mount the workpiece 20 onto the material clamp 1904, the method includes the following steps: S1. Determine the preset relative position of the workpiece 20 and the material clamp 1904. Specifically, based on the specifications and dimensions of the workpiece 20, the actual height of each clamping plate 19041 of the material clamp 1904, and the preset clamping position requirements, determine the relative position of the contact area between the annular inner wall 20011 of the workpiece 20 and the outer side of the clamping plate 19041 in the vertical direction, and calculate the set height that the positioning platform 502 needs to reach accordingly.

[0057] S2, the fifth linear motion mechanism 501 drives the positioning platform 502 to a set height. Based on the set height determined in S1, the fifth linear motion mechanism 501 drives the positioning platform 502 to move vertically up and down, so that the bearing surface of the positioning table 5022 at the top of the positioning platform 502 reaches the set height position. At this time, a preset vertical distance is maintained between the bearing surface of the positioning table 5022 and the tips of each clamping plate 19041 of the material clamp 1904. This distance ensures that after the subsequent workpiece 20 is placed, the contact area between its annular inner wall 20011 and the clamping plate 19041 is located at a preset position.

[0058] S3, the control switch clamping device 6 causes several clamping plates 19041 to retract towards each other. When the switch clamping device 6 is activated, the two clamping rods 601 move closer together, and each abutment block 602 passes through the through hole 50211 on the positioning plate 5021, abutting and pressing against each clamping plate 19041, overcoming the elastic restoring force of the clamping plates 19041 themselves, driving each clamping plate 19041 to retract inward synchronously. After retraction, the outer surface of each clamping plate 19041 radially retracts inward, forming a radial gap between the outer surface of the clamping plate 19041 and the annular inner wall 20011 of the workpiece 20 to be installed.

[0059] S4, the workpiece 20 is transferred to the positioning platform 502, and the annular inner wall 20011 of the workpiece 20 does not contact the clamping plates 19041. The suction cup mechanism 1202 of the transfer mechanism 12 picks up the workpiece 20, which has completed the posture adjustment on the transfer positioning mechanism 11, and drives it to be transferred above the positioning platform 502 by the first moving mechanism 1201. The workpiece 20 is then placed from top to bottom on the top bearing surface of the positioning table 5022. At this time, the annular inner wall 20011 of the workpiece 20 is fitted around the periphery of each clamping plate 19041 in the retracted state. The two are in a clearance fit due to the radial inward contraction of the clamping plates 19041 and do not contact each other. The weight of the workpiece 20 is entirely supported by the positioning table 5022.

[0060] S5, the control switch clamping device 6 causes several clamping plates 19041 to unfold relative to each other, and the clamping plates 19041 unfold and abut against the annular inner wall 20011 of the workpiece 20. The switch clamping device 6 is activated, the two clamping rods 601 move away from each other, and each abutment block 602 releases its pressure on the clamping plates 19041. Under the action of their own elastic restoring force, each clamping plate 19041 automatically unfolds outward synchronously, and the outer side of each clamping plate 19041 abuts against the annular inner wall 20011 of the workpiece 20 from the inside, supporting and fixing the workpiece 20. At this time, the workpiece 20 and the material clamp 1904 are fixed at a preset relative position, and the workpiece 20 is reliably clamped.

[0061] S6, the fifth linear moving mechanism 501 drives the positioning platform 502 to reset, completing the installation of the workpiece 20 and the material clamp 1904 in the preset relative position. The fifth linear moving mechanism 501 drives the positioning platform 502 to descend, the bearing surface of the positioning table 5022 detaches from the bottom surface of the end plate 2002 of the workpiece 20, and the positioning platform 502 descends to the initial position or the avoidance position, making room for the installation of the next workpiece 20 or the removal of the tray 19.

[0062] In this embodiment, the installation method for a workpiece with an annular inner wall achieves high-precision, small-contact-area installation of the workpiece 20 and the material clamp 1904 through precise height control of the positioning platform 502, timing control of the closing and unfolding of the clamping plate 19041 by the switching clamping device 6, and non-contact placement and elastic clamping of the workpiece 20. Throughout the process, the workpiece 20 is first stably supported by the positioning platform 502 at a set height, and then elastically unfolded and clamped by the clamping plate 19041. During installation, the workpiece 20 does not require external clamping force, avoiding surface damage. The clamping plate 19041 automatically unfolds and clamps based on its own elastic restoring force, eliminating the need for continuous external power to maintain clamping, thus ensuring reliable fixation of the workpiece 20 during subsequent flipping, handling, and processing. This method is simple and efficient, and can be fully automated, making it suitable for high-volume, high-precision workpiece installation scenarios.

[0063] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A workpiece mounting device having an annular inner wall, characterized in that, It includes a material tray (19), a switch clamp device (6), and a mounting and positioning device (5); The material tray (19) is provided with a material clamp (1904), which includes a plurality of clamping plates (19041). The plurality of clamping plates (19041) are used to abut against the annular inner wall (20011) of the workpiece (20) having an annular inner wall (20011) when unfolded. The switch clamp device (6) is used to make several clamps (19041) close together, and when they close, the clamps (19041) separate from the annular inner wall (20011) of the workpiece (20); The installation positioning device (5) includes a fifth linear moving mechanism (501) and a positioning platform (502) disposed on the output end of the fifth linear moving mechanism (501). The positioning platform (502) is disposed around the outside of a plurality of clamps (19041), and the top of the positioning platform (502) is used to support the workpiece. When the workpiece (20) is installed on the material clamp (1904), the switching clamp device (6) causes several clamping plates (19041) to retract into each other. The fifth linear moving mechanism (501) drives the positioning platform (502) to a set height. After the workpiece (20) is transferred to the positioning platform (502), the switching clamp device (6) causes several clamping plates (19041) to unfold and clamp the workpiece (20), so that the clamping plates (19041) and the workpiece (20) are fixed in a set relative position.

2. The mounting device for a workpiece having an annular inner wall according to claim 1, characterized in that, The switch clamp device (6) includes two clamping rods (601) that are relatively close together and far apart, and an abutment block (602) disposed on the clamping rods (601). The two clamping rods (601) move closer together, and the driving abutment block (602) abuts against the clamping plate (19041) and moves closer together.

3. The mounting device for a workpiece with an annular inner wall according to claim 2, characterized in that, The two clamping rods (601) have positioning mounting grooves (6011) on their opposite side walls that fit into the outline of the workpiece (20).

4. The mounting device for a workpiece with an annular inner wall according to claim 2, characterized in that, The positioning platform (502) includes two positioning plates (5021) and a positioning platform (5022) disposed on top of the two positioning plates (5021). The positioning plate (5021) is provided with a through hole (50211) for the abutment block (602) to pass through.

5. The mounting device for a workpiece having an annular inner wall according to claim 4, characterized in that, The through hole (50211) extends through the positioning platform (5022), so that the positioning platforms (5022) on each positioning plate (5021) are arranged in two opposite positions.

6. The mounting device for a workpiece having an annular inner wall according to claim 5, characterized in that, The two positioning plates (5021) are configured to be close together or far apart.

7. The mounting device for a workpiece having an annular inner wall according to any one of claims 2-6, characterized in that, The material clips (1904) are arranged in a rectangular array of multiple types; The length of the clamping rod (601) is longer than that of a row of material clamps (1904), and the number of abutment blocks (602) on the clamping rod (601) is the same as the number of a row of material clamps (1904); The fifth linear motion mechanism (501) and the positioning platform (502) are arranged in multiple columns.

8. The mounting device for a workpiece having an annular inner wall according to claim 7, characterized in that, The clamping rod (601) and the clamping drive mechanism are mounted on the dual-coordinate moving platform (603). One of the moving directions of the dual-coordinate moving platform (603) is parallel to the row direction of the material clamp (1904), and the other moving direction is perpendicular to the plane direction of the positioning platform (502). The installation and positioning device (5) further includes a sixth linear moving mechanism (503), and a plurality of the fifth linear moving mechanisms (501) are arranged on the sixth linear moving mechanism (503). The moving direction of the sixth linear moving mechanism (503) is parallel to the row direction of the material clamp (1904).

9. The mounting device for a workpiece having an annular inner wall according to any one of claims 1-6 and 8, characterized in that, It also includes a first vision module, which is configured to determine the height position of the tip of the clamp (19041) and thereby determine the height of the positioning platform (502).

10. A method for installing a workpiece with an annular inner wall, characterized in that, Using the mounting device for a workpiece having an annular inner wall according to any one of claims 1-9, when it is necessary to mount the workpiece (20) onto the material clamp (1904), the following steps are included: S1, determine the preset relative position of the workpiece (20) and the material clamp (1904) for installation; S2, the fifth linear motion mechanism (501) drives the positioning platform (502) to the set height; S3, control the switch clamp device (6) to make several clamps (19041) retract into each other; S4, the workpiece (20) is transferred to the positioning platform (502), and the annular inner wall (20011) of the workpiece (20) does not contact the clamping plates (19041); S5, control the switch clamping device (6) to make several clamping plates (19041) unfold to each other, and the several clamping plates (19041) unfold and abut against the annular inner wall (20011) of the fixed workpiece (20). S6, the fifth linear moving mechanism (501) drives the positioning platform (502) to reset, completing the installation of the workpiece (20) and the material clamp (1904) in the preset relative position.

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