Sealing fixture, assembly equipment and assembly method

Abstract

The present invention relates to the technical field of equipment assembly, and discloses a sealing fixture, assembly equipment, and assembly method. The sealing fixture includes: a fixed plate; a straw, slidably arranged on the fixed plate, with both ends located on both sides of the fixed plate, and one end provided with an air suction device; a clamping claw, arranged at the other end of the straw, including two claw bodies with one end hinged on the straw and the other end provided with facing clamping surfaces; a connecting rod, one end hinged on the claw body, and the other end hingedly connected to the fixed plate. The sealing assembly equipment includes: a robotic arm, one end of which is provided with the above-mentioned sealing fixture; a tray, which is provided with a plurality of grooves for accommodating containers. The sealing assembly equipment can quickly insert a sealing member with a columnar plug body on one side into a hole on a container.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment assembly, and in particular to a sealing fixture, assembly equipment and an assembly method. Background Art

[0002] On smaller containers for holding liquids, holes with smaller diameters are usually provided to connect the inside and outside of the container, which can allow the liquid in the container to be slowly released outwards during use. For example, the air intake channel on the electronic atomizer can be used to atomize the liquid in the atomizer and release it to the outside. When transporting containers containing liquids, it is necessary to use seals to block the holes on the container to prevent the liquid therein from volatilizing or overflowing. The front end of the seal is usually provided with a variable diameter cylinder that can be inserted into the hole of the container. Since the diameters of the cylinder and the hole are small, it is not easy for traditional machinery and equipment to insert the front end of the seal into the container, especially when the front end cylinder of the seal is long. At this time, manual labor is required to complete the assembly of the seal and the container, which reduces production efficiency. Summary of the Invention

[0003] The present invention is made to solve the above technical problems, and its purpose is to provide a sealing fixture, assembly equipment and assembly method, through which a sealing member with a cylindrical plug body on one side can be quickly inserted into a hole on a container.

[0004] In order to achieve the above-mentioned objectives, in a first aspect, the present invention provides a sealing clamp for clamping a sealing member having a columnar plug body on the side, comprising: a fixed plate; a suction pipe, slidably arranged on the fixed plate, with both ends respectively located on both sides of the fixed plate, and one end provided with an air suction device; a clamping claw, arranged at the other end of the suction pipe, comprising two claws with one end hinged to the suction pipe and the other end provided with facing clamping surfaces; a connecting rod, one end of which is hinged to the claw body, and the other end is hingedly connected to the fixed plate.

[0005] Preferably, the method further comprises: a driving device for driving the straw to rotate and / or slide on the fixed disk.

[0006] Preferably, it further comprises: a connecting plate, which is sleeved on the straw, and has one end provided with a rod or a pipe fixedly connected to the fixed plate, and the other end provided with a groove body which can be hinged to the connecting rod.

[0007] Preferably, when the two clamping surfaces are in contact with each other, the clamping surfaces are located at the center of the straw.

[0008] Preferably, the clamping surfaces of the two claws are provided with protrusions and recesses that can be embedded with each other.

[0009] In order to achieve the above-mentioned purpose, in a second aspect, the present invention provides a sealing assembly device, comprising: a robotic arm, one end of which is provided with the sealing fixture as described above; and a tray, on which are provided a plurality of grooves.

[0010] Preferably, a first through hole is provided at the bottom of the groove for the cylindrical plug of the sealing member to pass through; and a pulling device for pulling the cylindrical plug downward is provided below the tray.

[0011] Preferably, the pulling device includes: two splints hinged together in the middle, one end of the splint is provided with clamping parts facing each other, and the other end of the splint is slidably provided with a wedge-shaped support block; a driving device that drives the splint and the wedge-shaped support block to move; wherein, when the wedge-shaped support block moves toward the middle of the splint, the clamping parts gradually approach; when the wedge-shaped support block gradually moves away from the middle of the splint, the spring or torsion spring provided in the middle of the two splints gradually opens the clamping parts.

[0012] Preferably, a second through hole is provided in the middle of the wedge-shaped support block, one end of which faces the middle of the two clamping parts and the other end faces the inside of the storage box, and the storage box is connected to an air suction device.

[0013] In order to achieve the above-mentioned purpose, in a third aspect, the present invention provides a method for assembling a seal, which adopts the seal assembly equipment as described above, including: a seal clamp at one end of a robotic arm sucks the seal and fixes the columnar plug body on the side of the seal by a clamping claw; moving the robotic arm so that the columnar plug body is opposite to the hole on the container in the tray, and moving the fixing plate and the suction pipe downward to insert the columnar plug body into the hole on the container.

[0014] According to the above description and practice, the sealing clamp described in the present invention can suck the cover body of the seal through the straw and the suction device, and then can clamp the cylindrical plug body of the seal through the clamping claws. On the one hand, it further improves the stability of clamping the seal, and on the other hand, it can also adjust the position of the seal, such as straightening the seal, so that the position of the seal can be accurately determined, which is convenient for subsequent accurate insertion into the container. The sealing assembly equipment described in the present invention adopts the above-mentioned sealing clamp, which can clamp the seal through the robotic arm and insert it into the container in the tray. After setting up the camera, computer and control program, the position of the seal, tray and the container therein can be identified, and the clamping, transfer and insertion operations of the seal can be automatically completed, thereby improving the assembly efficiency of the seal. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of the sealing fixture involved in the first embodiment of the present invention.

[0016] Figure 2Schematic diagram of the assembly of the clamping jaws, straw and connecting plate involved in the first embodiment of the present invention.

[0017] Figure 3 Schematic diagram of the structure of the sealing member and the container involved in the first embodiment of the present invention.

[0018] Figure 4a and Figure 4b Schematic diagram of the structure of two claws involved in embodiment 1 of the present invention.

[0019] Figure 5a and Figure 5b Schematic diagrams of the structure of the sealing assembly equipment involved in the second embodiment of the present invention from two different perspectives.

[0020] Figure 6 This is a schematic structural diagram of a tray involved in the second embodiment of the present invention.

[0021] Figure 7 This is a schematic structural diagram of the pulling device involved in the second embodiment of the present invention.

[0022] The reference numerals in the figures are:

[0023] 1. Seal; 2. Electronic atomizer; 3. Fixed plate; 4. Straw; 5. Clamping claw; 6. Connecting rod; 7. Connecting plate; 8. Robotic arm; 9. Tray; 10. Fixed frame; 11. Vibrating table; 12. Clamping plate; 13. Wedge-shaped support block; 14. Storage box; 15. Protective cover; 16. First camera; 17. Second camera; 18. Second through hole; 51. Clamping surface; 52. Protrusion; 53. Recessed portion; 71. Extended sleeve; 72. Trough body; 91. Groove; 92. First through hole; 101. Cover body; 102. Columnar plug body. DETAILED DESCRIPTION

[0024] The exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0025] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. It should be noted that in the present disclosure, the terms "including", "configured with", and "set on" are used to express open-ended inclusion and mean that in addition to the listed elements / components / etc., there may be additional elements / components / etc.; the terms "first", "second", etc. are used only as labels and are not intended to limit the number or order of their objects; the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0026] Unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0027] Example 1

[0028] This embodiment discloses a sealing member clamp for clamping a sealing member with a cylindrical plug body on its side, so as to facilitate insertion of the sealing member into a container with a hole. Figure 1 The three-dimensional structure of the sealing fixture is shown. For easier understanding, the clamped sealing member and the cylindrical plug on the sealing member are inserted into the hole of the container. Figure 2 The assembly structure of the clamping jaws, the straw and the connecting plate in the sealing fixture is shown; Figure 3 The three-dimensional structure of the sealing member and the container in this embodiment is shown; Figure 4a and Figure 4b The three-dimensional structure of the two claws in the seal clamp is shown.

[0029] Before describing the seal fixture, first combine Figure 3The seal 1 used by the clamp is explained. In this embodiment, the electronic atomizer 2 and the seal 1 thereon are taken as an example. The container of the electronic atomizer 2 is formed by fastening two parts of the shell. The figure shows the upper half shell, which is provided with a hole for the seal 1 to pass through. One end of the seal 1 is a cover 101, and the other end is provided with two cylindrical plugs 102. When in use, the cylindrical plug 102 is inserted into the hole and fixed, and then the half shell is fastened with the other half shell to form a sealed container. The seal clamp in this embodiment is used to clamp the seal 1, and then combine with other equipment to insert the seal 1 into the electronic atomizer 2. The cylindrical plug 102 is a variable diameter structure. The diameter of its front end is smaller, which plays a guiding role, making it easier to insert it into the hole of the electronic atomizer 2. The diameter of its end is larger and interference fits with the hole to achieve sealing of the electronic atomizer. When the seal 1 is inserted into place, the front end of the columnar plug body 102 is continuously pulled down, and the thinner part of the front end can be disconnected from the main body without affecting the solution in the electronic atomizer 2.

[0030] Please refer to Figures 1 to 4b The sealing fixture includes a fixed disk 3, a straw 4, a clamp 5 and a connecting rod 6. The fixed disk 3 is a plate-like structure with a plurality of holes provided thereon for inserting the straw 4. The straw 4 is slidably arranged in the holes on the fixed disk 3, with its two ends respectively located on both sides of the fixed disk 3, and can slide up and down along its own length when in use. The clamp 5 is composed of two claws, one end of which is hinged to the middle part of the straw 4, and the other end is bent towards each other, and has clamping surfaces 51 facing each other at the end for clamping the columnar plug 102. The middle part of the clamp 5 is connected to the fixed disk 3 by the connecting rod 6. When the straw 4 slides downward, the upper end of the clamp 5 moves downward with the straw 4, and the connecting rod 6 can open the clamp 5 to both sides; when the straw 4 slides upward, the upper end of the clamp 5 moves upward with the straw 4, and the connecting rod 6 can close the clamp 5 to the middle. The jaws 5 can be opened and closed to clamp the cylindrical plug 102 of the sealing member 1. In addition, a suction device is connected to the upper end of the straw 4. When the cover 101 of the sealing member 1 contacts the lower end of the straw 4, the suction device is activated to suck the cover 101 of the sealing member 1 onto the lower end of the straw 4.

[0031] The sealing clamp can absorb the cover body 101 of the sealing member 1 through the suction tube 4 and the suction device, and then can clamp the cylindrical plug body 102 of the sealing member 1 through the clamping claws 5. On the one hand, it further improves the stability of clamping the sealing member 1, and on the other hand, it can also adjust the position of the sealing member 1, such as straightening the sealing member 1, so as to accurately determine the position of the sealing member 1, so as to facilitate its subsequent accurate insertion into the electronic atomizer 2.

[0032] Since the straw 4 is slidably arranged on the fixed disk 3, the driving device that drives it to slide can be set on the straw 4, in which case the fixed disk 3 is fixed; it can also be set on the fixed disk 3, in which case the straw 4 is fixed. Both methods can enable the straw 4 to slide on the fixed disk 3. In addition, when two columnar plugs 102 are provided on the sealing member 1, it may be necessary to adjust the angle of the sealing member 1 during the insertion process. Therefore, a driving device that can drive the straw 4 to rotate is also provided on the straw 4. The above-mentioned driving device and suction device both include a variety of feasible technical solutions in the corresponding technical fields, such as pneumatic, electric or hydraulic structures, and they are not the innovation of this application, so they will not be described in detail, and their structure is not shown in the figure.

[0033] In addition, in this embodiment, a connecting plate 7 is provided between the clamping jaw 5 and the fixed disk 3, and the clamping jaw 5 and the fixed disk 3 are connected together through the connecting plate 7 and the connecting rod 6. Figure 1 and 2 As shown, the connecting plate 7 is sleeved over the straw 4. Its upper end is provided with an extended sleeve 71 fixedly connected to the lower end of the fixed disk 3. Its lower end is provided with a slot 72 hingedly connected to one end of the connecting rod 6. The lower end of the connecting rod 6 is hinged to the outside of the claw body, while the upper end of the connecting rod 6 is hinged within the slot 72. Therefore, when the straw 4 slides downward relative to the fixed disk 3, the upper end of the connecting rod 6 remains stationary, while the upper end of the claw body moves downward, allowing the lower end of the connecting rod 6 to open the jaws 5. Conversely, when the straw 4 slides upward relative to the fixed disk 3, the connecting rod 6 closes the jaws 5. In this embodiment, by providing the connecting plate 7 below the fixed disk 3, the upper end of the connecting rod 6 is not directly hinged to the fixed disk 3, but is instead hinged within the slot 72 provided at the lower end of the connecting plate 7. This allows subsequent changes to the structure of the jaws 5 to be made without modifying the fixed disk 3, reducing modification costs. Furthermore, the extended sleeve 71 on the connecting plate 7 fits over the straw 4, increasing the radial restraint area of ​​the straw 4. This prevents radial movement of the straw 4 during use and improves the precision of inserting the seal 1. Alternatively, other rod structures could be used in place of the extended sleeve 71 to similarly securely connect the connecting plate 7 to the lower end of the fixed plate 3.

[0034] In this embodiment, because the cylindrical plug 102 is located at the centerline of the seal 1, the two clamping surfaces 51 of the clamping jaws 5 are configured so that when the two clamping surfaces 51 abut together, the clamping surfaces 51 are located at the center of the straw 4. In this case, after the straw 4 draws the seal 1, the clamping jaws 5 can push the seal 1 to the center of the straw 4, facilitating its positioning.

[0035] In addition, if Figure 2 、 Figure 4a and Figure 4bAs shown, the clamping surfaces 51 of the two claws are provided with a protrusion 52 and a recess 53 that can be interlocked. Since the seal 1 in this embodiment has two cylindrical plugs 102, the protrusion 52 and recess 53 are located in the middle of the two cylindrical plugs 102. On the one hand, this prevents the two cylindrical plugs 102 from becoming entangled. On the other hand, it also prevents lateral shaking between the claws after the clamping surfaces 51 of the two claws abut together, which also serves to stabilize the seal 1 and improve the insertion accuracy.

[0036] Example 2

[0037] This embodiment discloses a sealing member assembly device, which uses the sealing member fixture in the first embodiment to assemble the sealing member onto the electronic atomizer. Figure 5a and Figure 5b The structure of the seal assembly device is shown in two different perspectives; Figure 6 The structure of the tray in the seal assembly equipment is shown; Figure 7 The structure of the pulling device in the seal assembly equipment is shown.

[0038] Please refer to Figures 5a to 7 The seal assembly equipment primarily comprises a robotic arm 8 and a tray 9. The front end of the robotic arm 8 is equipped with the seal fixture described in the first embodiment. The upper end of the fixed plate 3 is connected to the front end of the robotic arm 8 via a rotating shaft. A drive mechanism drives the fixed plate 3 to move up and down, as well as rotate. The tray 9 is provided with multiple recesses 91 for accommodating the electronic atomizer 2. The recesses 91 are shaped identically to the electronic atomizer 2 and are capable of securing the electronic atomizer 2. The fixed plate 3 is provided with eight straws 4, each equipped with a corresponding clamping jaw 5 and other structures. During use, eight seals 1 can be grasped at once by rotating the fixed plate 3. The robotic arm 8 is then activated to transfer the seals 1 to a predetermined position above the tray 9, aligning the cylindrical plug 102 of the seal 1 with the hole in the electronic atomizer 2. The fixed plate 3 is then lowered, simultaneously with the straws 4. As the cylindrical plug 102 gradually inserts into the hole, the clamping jaws 5 gradually open, ultimately allowing the straws 4 to insert the seal 1 into the electronic atomizer 2.

[0039] In addition, in this embodiment, a first camera 16 and a second camera 17 are provided. The first camera 16 is provided below the robotic arm 8 and is used to photograph the position of the seal 1 from bottom to top after the seal clamp on the robotic arm 8 clamps the seal 1; the second camera 17 is provided at the head of the robotic arm 8 and is used to photograph the position of the seal 1 on the vibration table 11 so that the seal clamp cooperates with the robotic arm 8 to clamp the seal 1, and is used to photograph the position of the tray 9 so as to insert the seal 1 into the electronic vaporizer 2 in the tray 9.

[0040] By setting a first camera 16 and a second camera 17 on the seal assembly device, the process of automatically clamping and inserting the seal 1 can be realized in combination with a control program. Specifically, the two cameras can take pictures of the seal 1 at different positions and take pictures of the tray 9. In combination with the calculation program, the coordinates of the seal 1 and the electronic atomizer 2 can be calculated, and then the moving paths of the robot arm 8, the fixed plate 3 and the straw 4 can be calculated, and finally the seal 1 and the electronic atomizer 2 are assembled together. The calculation program contains a variety of feasible technical solutions in the corresponding technical field, and it is not the innovation of this application, so it will not be introduced in detail. In other embodiments, the above-mentioned camera may not be set, but the seal 1 is placed at a preset position for easy clamping, and then the tray 9 is placed at a preset position, and then the robot arm 8 and the seal clamp clamp the seal 1, transfer the seal 1, and insert the seal 1 according to the preset program, thereby completing the assembly process of the seal and the electronic atomizer.

[0041] In this embodiment, the robotic arm 8 and tray 9 are both mounted on a common fixed frame 10. The fixed frame 10 also includes a track for the tray 9 to move, facilitating streamlined operations and improving assembly efficiency. Furthermore, the seal assembly apparatus includes a vibration table 11, which is used to adjust the seal 1 so that the cylindrical plug 102 faces downward, facilitating the gripping of the seal 1 by the seal fixture. The specific structure of the vibration table 11 encompasses a variety of feasible technical solutions within the relevant technical field, and since it is not an innovative feature of this application, it will not be further described.

[0042] In this embodiment, since the front end portion of the seal 1 needs to be disconnected from the main body, a first through hole 92 for the cylindrical plug body 102 to pass through is provided at the bottom of the groove 91, and a pulling device for pulling the cylindrical plug body 102 downward is also provided under the tray 9.

[0043] The pulling device has the function of clamping the cylindrical plug body 102 and moving it downward. In this embodiment, a pulling device of a structural form is provided. Figure 7As shown, the pulling device includes two clamping plates 12 hinged together at the center. One end of each clamping plate 12 is provided with a clamping portion facing each other, and the other end of each clamping plate 12 is slidably provided with a wedge-shaped support block 13. When the wedge-shaped support block 13 moves toward the center of each clamping plate 12, the clamping portion gradually approaches, capable of clamping the cylindrical plug body 102. The clamping plate 12 then moves downward, pulling the thinner portion of the cylindrical plug body 102 from the main body. When the wedge-shaped support block 13 gradually moves away from the center of each clamping plate 12, a spring or torsion spring disposed between the two clamping plates 12 gradually opens the clamping portion, thereby releasing the cylindrical plug body 102. The driving device that drives the clamping plates 12 and wedge-shaped support block 13 is known from the prior art and will not be further described here. In other embodiments, the pulling device may also employ a structure similar to the jaws 5 in the aforementioned seal clamp, similarly capable of clamping and pulling the cylindrical plug body 102.

[0044] In addition, the pulling device in this embodiment is equipped with a storage box 14 for collecting the portion of the cylindrical plug 102 that has been broken off from the sealing member 1. A second through hole 18 is provided in the middle of the wedge-shaped support block 13, with one end facing the center of the two clamping portions and the other end facing into the storage box 14. A suction device is connected to the storage box 14 to reduce the air pressure inside the storage box 14 to below the ambient pressure. When the thinner front end of the cylindrical plug 102 breaks off from the main body, the lower pressure inside the storage box 14 allows the broken portion of the cylindrical plug 102 to fall into the storage box 14, where it can be collected.

[0045] Furthermore, in this embodiment, a protective cover 15 is provided around the outer periphery of the clamping plates 12 and the wedge-shaped support blocks 13. The upper end of the protective cover 15 is open, and the lower end is connected to the storage box 14. The protective cover 15 not only guides airflow, allowing the disconnected cylindrical plug 102 to be drawn into the storage box 14, but also protects the clamping plates 12 and the wedge-shaped support blocks 13, preventing the operator's body, clothing, etc. from entering between the clamping plates 12, thereby improving the safety of the device.

[0046] In this embodiment, a method for assembling the seal 1 and the electronic atomizer 2 using the seal assembly device is also provided. The method mainly includes: using the seal clamp at one end of the robotic arm 8 to suck the seal 1, and fixing the columnar plug body 102 on one side of the seal 1 by the clamp 5; moving the robotic arm 8 so that the columnar plug body 102 is opposite to the hole on the electronic atomizer 2 in the tray 9, and moving the fixed plate 3 and the straw 4 downward so that the columnar plug body 102 is inserted into the hole on the electronic atomizer 2.

[0047] More specifically, the seal 1 is first placed on the vibration table 11, and each seal 1 is adjusted to the cover 101 facing upward and the cylindrical plug 102 facing downward through the vibration table 11; then the robotic arm 8 is started, and the seal clamp is moved to the top of the seal 1 whose position has been adjusted, and the second camera 17 is used to identify the specific position of the seal 1, and then the seal clamp is used to clamp the seal 1; after each clamping jaw 5 on the fixed plate 3 clamps the seal 1, the first camera 16 is used to identify the specific position of each seal 1 on the clamping jaw 5; then the robotic arm 8 is started to transfer the seal 1 to the top of the tray 9, and then the second camera 17 is used to identify the position of the hole on each electronic atomizer 2; finally, the fixed plate 3 and the straw 4 are moved downward, and the cylindrical plug 102 of the seal 1 thereon is inserted into the hole.

[0048] For the cylindrical plug body 102 whose front end needs to be disconnected, during assembly, it is also necessary to use the pulling device under the tray 9 to pull the thinner diameter part of the front end of the cylindrical plug body 102 off from the main body, and suck the pulled part into the storage box 14.

[0049] During the assembly process of the seals and electronic atomizers, the seal clamp can clamp 8 seals 1 at a time. After the 8 seals are installed, the seals 1 can continue to be clamped from the vibration table 11 for assembly; after the electronic atomizers 2 on a single tray 9 are all installed with seals 1, the tray 9 can be moved on the track of the fixed frame 10, so that the seals 1 can be installed on the subsequent electronic atomizers 2 on the tray 9, which can form a streamlined operation procedure and improve the assembly efficiency of the seals 1 and the electronic atomizer 2.

[0050] The above describes in detail the seal fixture, seal assembly equipment and assembly method in the present disclosure by taking the electronic atomizer 2 and the seal 1 thereon as an example. Undoubtedly, the seal fixture, seal assembly equipment and assembly method in the present disclosure can also be applied to other types of seals 1 with a columnar plug body 102 on the side and containers that need to be sealed by the seal 1, and will not be repeated here.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A sealing assembly device, characterized in that: include: A mechanical arm, one end of which is provided with a sealing fixture, the sealing fixture being used to clamp a sealing member having a cylindrical plug body on its side, the sealing member having a cover body at one end and a cylindrical plug body at the other end, the cylindrical plug body being a variable diameter structure with a front end diameter smaller than a rear end diameter; A tray is provided with a plurality of grooves, the bottom of each groove is provided with a first through hole for the cylindrical plug to pass through, and a pulling device for pulling the cylindrical plug downward is provided below the tray; Wherein, the sealing fixture comprises: Fixed plate; A suction pipe is slidably mounted on the fixed plate, with two ends located on both sides of the fixed plate, and one end is provided with an air suction device; a clamping claw, disposed at the other end of the straw, comprising two claw bodies, one end of which is hinged to the straw and the other end of which is provided with a clamping surface facing each other, wherein when the two clamping surfaces abut against each other, the clamping surfaces are located at the center of the straw; A connecting rod, one end of which is hinged to the claw body and the other end of which is hinged to the fixed plate; When the cover is in contact with the lower end of the straw, the suction device is turned on to adsorb the cover on the lower end of the straw; when the straw slides upward, the clamping claws are closed to clamp the cylindrical plug.

2. The seal assembly device according to claim 1, wherein: Also includes: A driving device drives the straw to rotate and / or slide on the fixed disk.

3. The seal assembly device according to claim 1, wherein: Also includes: The connecting plate is sleeved on the straw, one end of which is provided with a rod fixedly connected to the fixing plate, and the other end of which is provided with a groove body hinged to the connecting rod.

4. The seal assembly device according to claim 1, wherein: The clamping surfaces of the two claw bodies are provided with protrusions and recesses that can be embedded with each other.

5. The seal assembly device according to claim 1, wherein: The pulling device comprises: Two clamping plates hinged together at the middle, one end of each clamping plate being provided with a clamping portion facing each other, and the other end of each clamping plate being slidably provided with a wedge-shaped support block; A driving device for driving the clamping plate and the wedge-shaped support block to move; wherein, When the wedge-shaped support block moves toward the middle of the clamping plate, the clamping parts gradually approach each other; when the wedge-shaped support block gradually moves away from the middle of the clamping plate, the springs provided in the middle of the two clamping plates gradually open the clamping parts.

6. The seal assembly device according to claim 5, wherein: The spring is a torsion spring.

7. The seal assembly device according to claim 5, wherein: A second through hole is provided in the middle of the wedge-shaped support block, with one end facing the middle of the two clamping parts and the other end facing the storage box. The storage box is connected to an air suction device.

8. A method for assembling a seal, using the seal assembly device according to any one of claims 1 to 7, characterized in that: include: The seal fixture at one end of the robotic arm picks up the seal and fixes the cylindrical plug on the side of the seal with the clamping claws; The mechanical arm is moved to make the cylindrical plug body face the hole on the container in the tray, and the fixing plate and the straw are moved downward to make the cylindrical plug body inserted into the hole on the container.

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