A feeding and ring taking mechanism for automatic assembly of O-rings and its working method

Abstract

The application discloses a feeding and ring taking mechanism for automatic assembly of O-rings, which comprises a fixed bottom plate, an O-ring feeding assembly and an O-ring taking assembly installed above the fixed bottom plate, and a tray lifting assembly installed below the fixed bottom plate; in the O-ring feeding assembly, a linear moving assembly is installed on the fixed bottom plate, and the lower end of an O-ring material rod is installed on the linear moving assembly; a tray is coaxially installed on the O-ring material rod; the tray lifting assembly comprises a lifting rod and a lifting power assembly; the O-ring taking assembly comprises a ring taking end assembly and a two-shaft servo module. The application also provides a working method of the mechanism, which comprises the following steps: at a feeding station, a batch of O-rings are sleeved on the upper end of an O-ring material rod; the linear moving assembly drives the O-ring material rod to move to a ring taking station; the lifting rod lifts the tray upward, and the tray extrudes the O-rings upward into the ring taking end assembly. The application can realize stable small-batch and multi-batch ring taking without affecting the quality of the O-rings.

Description

Technical Field

[0001] This invention belongs to the field of automatic O-ring assembly technology, and relates to a feeding and picking mechanism for automatic O-ring assembly and its working method, which is particularly suitable for the automatic assembly of small batches and multiple batches of aerospace pyrotechnics. Background Technology

[0002] O-rings, as one of the most commonly used sealing elements, are widely used in aerospace pyrotechnics such as explosive bolts and mechanical actuators. Two essential processes for automated O-ring assembly are O-ring feeding and O-ring removal. Currently, the most common method for O-ring feeding in automation is using a spiral vibratory feeder. This involves placing O-rings in batches into the vibratory feeder's hopper, and then using vibration to ensure the O-rings are evenly arranged one by one from the straight outlet, achieving continuous feeding. This feeding method can only guarantee continuity and uniformity for large batches of O-rings. However, when the batch is small, discontinuous and uneven feeding occurs, leading to automatic assembly interruptions, affecting the assembly cycle, and making it unsuitable for the multi-batch, small-volume assembly characteristics of aerospace pyrotechnics. In O-ring retrieval, the most common method currently is to position the O-ring at the outlet based on a vibratory feeder, and then use a pneumatic or electric multi-jaw jig to open and pick up the O-ring. This method requires the O-ring to be opened to a certain extent to ensure stable retrieval. Moreover, the multi-jaw internal support cannot guarantee the uniformity of the O-ring opening in all directions, which can easily cause the O-ring to over-expand. This may affect its sealing performance after subsequent assembly and fail to meet the high-quality requirements of aerospace pyrotechnics.

[0003] In summary, existing technologies cannot meet the feeding and unloading requirements for small-batch, multi-batch automatic assembly of O-rings. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects and provide a feeding and picking mechanism for automatic O-ring assembly and its working method. This invention solves the technical problem that existing equipment cannot be applied to the multi-batch, small-volume assembly characteristics of aerospace pyrotechnic products and is prone to causing O-ring quality degradation during the assembly process. This invention can achieve stable multi-batch, small-volume picking without affecting O-ring quality.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] A feeding and picking mechanism for automatic assembly of O-rings includes a fixed base plate, an O-ring feeding assembly, a material tray lifting assembly, and an O-ring picking assembly;

[0007] The O-ring feeding assembly and the O-ring picking assembly are installed above the fixed base plate, and the material tray lifting assembly is installed below the fixed base plate;

[0008] The O-ring feeding assembly includes a linear motion assembly, a linear power assembly, a top feed plate, and an O-ring feed rod;

[0009] The linear motion assembly is mounted on the fixed base plate, and the lower end of the O-ring material rod is mounted on the linear motion assembly. The linear motion assembly is used to drive the O-ring material rod to perform linear reciprocating motion between the loading station and the ring picking station under the drive of the linear power assembly; the top plate is coaxially mounted on the O-ring material rod.

[0010] The material tray lifting assembly includes a lifting rod and a lifting power assembly for driving the lifting rod; the O-ring picking assembly includes a picking end assembly and a two-axis servo module for driving the picking end assembly.

[0011] At the feeding station, the O-ring is placed on the upper end of the O-ring rod and located above the top plate; at the picking station, the two-axis servo module drives the picking end component to reach the predetermined position above the O-ring rod, and the lifting rod lifts the top plate upward under the driving action of the lifting power component, and the top plate squeezes the O-ring upward into the picking end component.

[0012] Furthermore, the O-ring removal assembly also includes a two-axis module mounting bracket and a removal end assembly mounting bracket; the removal end assembly includes a removal sleeve, a removal piston, a piston spring, a removal sleeve limiting plate, a piston guide rod, and a guide rod limiting shaft;

[0013] The two-axis servo module is fixedly mounted on the top of the base plate via a two-axis module mounting bracket. The ring-retrieving end component mounting bracket is mounted on the Y-axis module of the two-axis servo module. The upper end of the ring-retrieving sleeve is fixedly connected to the ring-retrieving end component mounting bracket via a ring-retrieving sleeve limiting plate, and the lower end of the ring-retrieving sleeve extends downward through the ring-retrieving end component mounting bracket. A piston guide rod and a piston spring fitted around the outside of the piston guide rod are installed inside the ring-retrieving sleeve. The upper end of the piston guide rod is connected to a guide rod limiting shaft, and the lower end of the piston guide rod is connected to the ring-retrieving piston. The large end of the guide rod limiting shaft is located above the ring-retrieving sleeve limiting plate, and the small end of the guide rod limiting shaft passes through the ring-retrieving sleeve limiting plate and enters the ring-retrieving sleeve to connect with the upper end of the piston guide rod. The small end of the ring-retrieving piston is located inside the ring-retrieving sleeve and is connected with the lower end of the piston guide rod. The large end of the ring-retrieving piston is located below the ring-retrieving sleeve and is used to receive the O-rings squeezed upward by the top material plate. The upper and lower ends of the piston spring contact the ring-retrieving sleeve limiting plate and the upper (or small) end of the ring-retrieving piston, respectively, to buffer the force between the O-ring and the ring-retrieving piston.

[0014] Furthermore, the large end of the ring-removing piston is provided with an annular groove, and the end of the ring-removing piston is rounded. After the O-ring passes through the end of the ring-removing piston, it is squeezed into the annular groove.

[0015] Furthermore, the outer diameter of the piston end is 1.1 to 1.2 times the inner diameter of the O-ring, and the diameter of the annular groove is smaller than the inner diameter of the O-ring.

[0016] Furthermore, the O-ring feeding assembly also includes a manual locking assembly and a lateral movement buffer assembly;

[0017] The lower end of the O-ring rod is installed on the linear motion component by a straight insertion method. After the straight insertion, the O-ring rod is fixed on the linear motion component by a manual locking component.

[0018] The transverse buffer assembly is used to buffer and limit the movement of the O-ring material rod to the feeding station and the ring removal station, respectively.

[0019] Furthermore, the number of O-ring rods is greater than 1, and each O-ring rod is coaxially mounted with a top plate.

[0020] Furthermore, the material tray lifting assembly also includes a guide sleeve and a lifting rod fixing plate;

[0021] The power output end of the lifting power component is connected to the lower end of the lifting rod through the lifting rod fixing plate. The guide sleeve is fixedly installed on the lower surface of the fixed base plate. The upper end of the lifting rod passes through the guide sleeve and the fixed base plate to lift the material plate upward.

[0022] The number of lifting rods at the same ring-removal station is ≥3, and the lifting rods are arranged in a uniform ring.

[0023] Furthermore, when the two-axis servo module drives the ring-taking end assembly to a predetermined position above the O-ring material rod, the predetermined position is located directly above the O-ring material rod and the distance from the upper end of the O-ring material rod is less than the thickness of a single O-ring.

[0024] Furthermore, the linear power component is a linear cylinder or a motor screw module;

[0025] The lifting power component is a linear cylinder or a motor screw module.

[0026] A method for operating a feeding and unloading mechanism for automatic O-ring assembly includes:

[0027] Position the O-ring feed rod at the feeding station;

[0028] Place a batch of O-rings onto the upper end of the O-ring rod, with the O-rings positioned above the top material plate;

[0029] Driven by the linear power component, the linear motion component moves the O-ring material rod to the ring picking station;

[0030] The two-axis servo module drives the end assembly of the ring picker to a predetermined position above the O-ring material rod;

[0031] Driven by the lifting power component, the lifting rod lifts the top material plate upward, and the top material plate pushes the O-ring upward into the end component of the ring removal device;

[0032] Repeat the above steps to extract the loops one by one.

[0033] Compared with the prior art, the present invention has at least one of the following advantages:

[0034] (1) This invention creatively proposes a feeding and picking mechanism for automatic assembly of O-rings. A cylindrical material rod is used to feed the O-rings. The outer diameter of the material rod is generally designed to be 1.1 to 1.2 times the inner diameter of the O-ring. Therefore, no matter how many O-rings are assembled, after being put into the material rod, the O-rings are arranged neatly and orderly in the vertical direction. Then, under the lifting action of the material tray lifting component of this invention, the O-ring material layer can move up and down quickly and continuously. This can avoid the problem of discontinuous and uneven feeding when the traditional vibratory plate is used for small batches.

[0035] (2) The present invention achieves O-ring removal by squeezing the O-rings one by one into the cylindrical removal end through the lifting action. The outer diameter of the removal end is designed to match the O-ring specifications. Combined with the floating design of the internal spring and the smooth end face treatment, it can avoid the problems of uneven O-ring expansion, excessive expansion and damage caused by the traditional method of removing the O-rings.

[0036] (3) The present invention simultaneously adjusts the distance between the end component of the ring picking and the O-ring material rod by a two-axis servo module, and controls the lifting parameters of the material tray lifting component (the cylinder controls the lifting air pressure and lifting time, and the motor screw module controls the lifting displacement), so as to achieve a stable ring picking effect of picking one O-ring each time.

[0037] (4) The present invention processes an annular groove at the end of the ring to make the O-ring in a relaxed state after it is squeezed in, thus ensuring that it will not fall off during the subsequent transfer process. Attached Figure Description

[0038] Figure 1 This is a diagram showing the overall structural layout of the mechanism of the present invention (in the state at the material loading station);

[0039] Figure 2 This is a diagram showing the overall structural layout of the mechanism of the present invention (in the state at the ring-taking station);

[0040] Figure 3 This is a diagram showing the overall structural layout of the mechanism of the present invention (taking the state during the ring lifting process);

[0041] Figure 4 This is a schematic diagram of the O-ring feeding assembly of the present invention;

[0042] Figure 5 This is a schematic diagram of the material tray lifting assembly of the present invention;

[0043] Figure 6 This is a schematic diagram of the O-ring take-up assembly of the present invention;

[0044] Figure 7 This is a schematic diagram of the end component of the O-ring taking assembly of the present invention;

[0045] Figures 1 to 7 The reference numerals in the accompanying drawings include:

[0046] 1—Fixed base plate, 2—O-ring feeding assembly, 3—Plate lifting assembly, 4—O-ring picking assembly, 201—Linear movement assembly, 202—Linear power assembly, 203—Manual locking assembly, 204—Horizontal movement buffer assembly, 205—Top plate, 206—O-ring feeding rod, 207—O-ring, 301—Guide sleeve, 302—Lifting rod, 303—Lifting rod fixing plate, 304—Lifting power assembly, 401—Two-axis servo module, 402—Two-axis module mounting bracket, 403—Picking end assembly mounting bracket, 404—Picking sleeve, 405—Picking piston, 406—Piston spring, 407—Picking sleeve limit plate, 408—Piston guide rod, 409—Guide rod limit shaft. Detailed Implementation

[0047] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0048] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0049] This invention provides a feeding and unloading mechanism for small-batch automatic assembly of O-rings that provides continuous and non-damaging material supply. It mainly includes four parts: an O-ring feeding assembly, a material tray lifting assembly, an O-ring unloading assembly, and a fixed base plate. The O-ring feeding assembly and the O-ring unloading assembly are installed above the fixed base plate, while the main body of the material tray lifting assembly is located below the fixed base plate.

[0050] The O-ring feeding assembly mainly consists of a linear movement assembly, a linear power assembly, a manual locking assembly, a lateral buffer assembly, a top material plate, and an O-ring feeding rod. It is used for feeding O-rings and facilitating movement between the feeding station and the unloading station. In application, a certain number of O-rings are manually placed onto the cylindrical O-ring feeding rod. The diameter and length of the feeding rod can be designed to match the specifications and quantity of the O-rings. A coaxial circular top material plate is installed on the O-ring feeding rod. The top material plate can move up and down relative to the feeding rod. Therefore, when there are O-rings on the feeding rod, the O-rings on the feeding rod will also move up and down along the feeding rod as the top material plate moves up and down. The O-ring rod is installed on the linear motion assembly by direct insertion. After insertion, it is fixed on the linear motion assembly by manual locking. The linear motion assembly can realize linear reciprocating motion at the loading station and the ring picking station under the drive of the linear power assembly. The linear power assembly generally uses a linear cylinder, but a motor screw module can also be used. The transverse buffer assembly is used to buffer the ends of the two moving positions to avoid impact.

[0051] The material tray lifting assembly mainly consists of a lifting power component, a guide sleeve, a lifting rod, and a lifting rod mounting plate. It is used to lift the material tray of the O-ring feeding assembly upwards, thereby causing the O-rings on the material rod to move upwards. The lifting power component is a linear cylinder or a motor screw module, located below the fixed base plate. Its output end is connected to the lifting rod through the lifting rod mounting plate. The guide sleeve is fixedly mounted on the fixed base plate, through which the material rod passes. During operation, the lifting rod is located directly below the material tray. When the lifting power component drives the material rod to move up and down, the material tray above it and the O-rings on the material tray can simultaneously move up and down along the material rod.

[0052] The O-ring retrieving assembly mainly consists of a two-axis servo module (the Y-axis is used to adjust the height distance between the retrieving end assembly and the O-ring rod, and the X-axis is used to move it above the rod and transfer it after retrieving), a two-axis module mounting bracket, a retrieving end assembly mounting bracket, and the retrieving end assembly itself. It receives the O-rings lifted by the material tray lifting assembly and transfers them after retrieval. The retrieving end assembly is mounted on the Y-axis of the two-axis servo module via the retrieving end assembly mounting bracket, and the two-axis servo module is fixed to the base plate via the two-axis module mounting bracket. During operation, the retrieving end assembly moves along the X-axis to be directly above the O-ring rod, and adjusts its height along the Y-axis to precisely control the distance between the bottom of the retrieving end assembly and the top of the O-ring rod. Then, under the action of the material tray lifting assembly, the O-rings on the O-ring rod move upwards along the rod. Through parameter control of the lifting power assembly, the topmost O-ring on the O-ring rod is finally squeezed into the end of the retrieving end assembly, completing the retrieving process. The O-ring removal end assembly mainly includes a removal sleeve, a removal piston, a piston spring, a piston guide rod, a sleeve limiting plate, and a guide rod limiting shaft. The assembly employs a floating design with an internal spring. During O-ring insertion, the removal end can float appropriately to prevent rigid contact damage to the O-ring surface. Simultaneously, in conjunction with the parameter control of the material tray lifting assembly, it ensures that only one O-ring is removed at a time. Furthermore, the outer diameter of the removal piston at the removal end is designed to match the O-ring specifications, preventing excessive expansion of the O-ring during removal. Its end features a smooth design and an annular groove, allowing the O-ring to remain relaxed after insertion and preventing it from falling off during subsequent transfer.

[0053] Example:

[0054] like Figure 1 , Figure 2 and Figure 3 The diagram shows the structural layout and workflow of a feeding and picking mechanism for automatic assembly of small batches of O-rings. It consists of four main parts: a fixed base plate 1, an O-ring feeding assembly 2, a material tray lifting assembly 3, and an O-ring picking assembly 4. The O-ring feeding assembly 2 and the O-ring picking assembly 4 are installed above the fixed base plate 1, and the main body of the material tray lifting assembly 3 is installed below the fixed base plate 1.

[0055] like Figure 4The diagram shows the O-ring feeding assembly 2, which mainly consists of a linear movement assembly 201, a linear power assembly 202, a manual locking assembly 203, a lateral movement buffer assembly 204, a top material plate 205, and an O-ring feeding rod 206. It is used for feeding O-rings and moving between the feeding station and the ring removal station. In application, a certain number of O-rings 207 are manually placed onto the cylindrical O-ring feeding rod 206. The diameter of the O-ring feeding rod 206 is designed to match the O-ring specifications, and the length of the rod is designed to match the batch size of assembled O-rings. A coaxial circular top material plate 205 is installed on the O-ring feeding rod 206. The top material plate 205 can move up and down relative to the O-ring feeding rod 206. Therefore, when there are O-rings on the O-ring feeding rod 206, the O-rings on the O-ring feeding rod 206 will move along the top material plate 205 as the top material plate 205 moves up and down. The feeding rod moves up and down; the O-ring feeding rod 206 is installed on the linear moving component 201 by direct insertion, and after insertion, it is fixed on the linear moving component 201 by manual locking component 203; the upper part of the linear moving component 201 is a machined structural component used to fix the O-ring feeding rod 206. The dual-station (two or more feeding stations) design can install two O-ring feeding rods 206 at the same time, reducing the frequency of downtime for material change. The lower part is a linear guide rail that cooperates with the machined structural component. It can realize linear reciprocating motion between the feeding station and the ring picking station under the drive of the linear power component 202. The linear power component 202 is generally a linear cylinder, but a motor with a lead screw module can also be used; both the feeding station and the ring picking station are equipped with transverse buffer components 204 to buffer the linear moving component when it moves to the feeding station and the ring picking station to avoid impact.

[0056] like Figure 5 The diagram shows a schematic of the material tray lifting assembly 3, which mainly consists of a guide sleeve 301, a lifting rod 302, a lifting rod fixing plate 303, and a lifting power assembly 304. It is used to lift the material tray 205 of the O-ring feeding assembly upwards, thereby driving the O-rings on the O-ring feeding rod 206 to move upwards. The material tray lifting assembly 3 is located below the fixed base plate 1 of the ring picking station. The guide sleeve 301 is fixedly installed on the surface of the fixed base plate 1, through which the lifting rod 302 can pass. During operation, the lifting rod 302 is driven by the lifting power assembly 304 to pass through the fixed base plate 1 and lift upwards. The lifting power assembly 304 can be a linear cylinder or a motor screw module; its power output end is equipped with the lifting rod fixing plate 303, and the lifting rod 302 is mounted on the lifting rod fixing plate 303. When the O-ring feeding assembly 2 moves to the ring picking station during operation, the lifting rod 302 is located directly below the top material plate 205. When the lifting power assembly 304 drives the top material rod 302 to move up and down, the top material plate 205 above it and the O-rings on the top material plate can move up and down along the O-ring feeding rod 206 at the same time.

[0057] like Figure 6The diagram shows the O-ring retrieving assembly 4, which mainly consists of a two-axis servo module 401, a two-axis module mounting bracket 402, a retrieving end assembly mounting bracket 403, a retrieving sleeve 404, a retrieving piston 405, a piston spring 406, a retrieving sleeve limiting plate 407, a piston guide rod 408, and a guide rod limiting shaft 409. It is used to receive the O-rings lifted by the material tray lifting assembly 3 and to transfer them after retrieval via the two-axis servo module. The retrieving end assembly is mounted on the Y-axis module of the two-axis servo module 401 via the retrieving end assembly mounting bracket 403, allowing control over its vertical position. The two-axis servo module 401 is fixed to the base plate 1 via the two-axis module mounting bracket 402. During operation, the O-ring picking end assembly is positioned directly above the O-ring material rod 206, and its height is adjusted via the Y-axis of the two-axis servo module 401 to precisely control the distance between the bottom of the picking end assembly and the top of the O-ring material rod 206. Generally, it is advisable to adjust this to 0.5 times the thickness of the assembled single O-ring. Then, under the action of the material tray lifting assembly 3, the O-rings on the O-ring material rod 206 move upwards along the rod. Through parameter control of the lifting power assembly 304 (air pressure and lifting time for the cylinder, displacement for the motor screw module), the topmost O-ring on the O-ring material rod 206 is finally squeezed into the end of the picking end assembly, completing the picking process. Figure 7The diagram shows the ring-removing end assembly, which mainly consists of a ring-removing sleeve 404, a ring-removing piston 405, a piston spring 406, a sleeve limiting plate 407, a piston guide rod 408, and a guide rod limiting shaft 409. The ring-removing sleeve 404 is mounted on the ring-removing end assembly mounting bracket 403 via the ring-removing sleeve limiting plate 407. The piston guide rod 408 and the piston spring 406 are installed inside the ring-removing sleeve 404. The piston guide rod 408 mainly serves as an axial guide, while the piston spring 406 provides floating force. The ring-removing piston 405 is inserted into the hole below the ring-removing sleeve 404 through a shaft hole and is connected to the lower part of the piston guide rod 408 by a thread. The upper part of the piston guide rod 408 is connected to the guide rod limiting shaft 409 by a thread. In the natural state, under the extension of the internal piston spring 406, the ring-removing piston 405 is pushed downward because the piston spring 406 is limited by the lower surface of the ring-removing sleeve limiting plate 407. The guide rod limiting shaft 409 is stretched downward and is in contact with the ring-removing sleeve limiting plate 407. During operation, as the O-ring is inserted, the take-up piston 405 is lifted upwards, while the internal piston spring 406 provides axial floating. Furthermore, the rounded end of the take-up piston 405 prevents rigid contact between the O-ring and the piston, thus avoiding damage to the O-ring surface. Simultaneously, the lifting parameters of the material tray lifting assembly 3 are controlled (parameter adjustment is generally given by the internal PLC program, eliminating the need for operator calculation during production), ensuring that only one O-ring is taken at a time. In addition, the outer diameter of the take-up piston 405 is designed to match the O-ring specifications. The outer diameter of the portion outside the annular groove of the take-up piston 405 is generally 1.1 to 1.2 times the inner diameter of the O-ring, avoiding the problems of excessive and uneven expansion of the O-ring caused by traditional take-up methods. Additionally, the annular groove machined on the outside of the take-up piston 405 allows the O-ring to remain in a relaxed state after being inserted, preventing it from falling off during subsequent transfer.

[0058] The workflow is as follows: After a certain batch of O-rings are manually fed to the O-ring feeding assembly 2 at the feeding station, the O-ring feeding assembly 2 moves to the ring taking station. Under the control of the two-axis servo module, the ring taking end assembly of the O-ring taking assembly 4 is precisely moved to a certain distance position directly above the O-ring material rod. Then, the material tray lifting assembly 3 lifts upward, driving the top material tray of the O-ring feeding assembly 2 and the O-rings above it to move upward along the material rod. By controlling the lifting parameters of the material tray lifting assembly 3, the topmost O-ring on the material rod is squeezed into the ring taking end assembly of the O-ring taking assembly 4. This process is repeated to achieve ring taking one by one.

[0059] This invention, through the cooperation of an O-ring feeding assembly, a tray lifting assembly, and an O-ring removal assembly, can improve the automation level of O-ring feeding and removal, and has broad application prospects in the field of machining. After the O-rings are removed by the O-ring removal assembly 4, they can be transferred one by one to a predetermined unringing position or other assembly position, achieving O-ring unringing or assembly with the cooperation of other devices.

[0060] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0061] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A feeding and retrieving mechanism for automatic O-ring assembly, characterized in that, It includes a fixed base plate (1), an O-ring feeding assembly (2), a material tray lifting assembly (3), and an O-ring removal assembly (4). The O-ring feeding assembly (2) and the O-ring taking assembly (4) are installed above the fixed base plate (1), and the material tray lifting assembly (3) is installed below the fixed base plate (1); The O-ring feeding assembly (2) includes a linear motion assembly (201), a linear power assembly (202), a top material plate (205), and an O-ring feed rod (206). The linear motion assembly (201) is mounted on the fixed base plate (1), and the lower end of the O-ring rod (206) is mounted on the linear motion assembly (201). The linear motion assembly (201) is used to drive the O-ring rod (206) to perform linear reciprocating motion between the loading station and the ring picking station under the drive of the linear power assembly (202). The top plate (205) is coaxially mounted on the O-ring rod (206). The material tray lifting assembly (3) includes a lifting rod (302) and a lifting power assembly (304) for driving the lifting rod (302) to move; the O-ring taking assembly (4) includes a taking end assembly and a two-axis servo module (401) for driving the taking end assembly to move. At the loading station, the O-ring is placed on the upper end of the O-ring rod (206) and located above the top plate (205); at the unloading station, the two-axis servo module (401) drives the unloading end assembly to a predetermined position above the O-ring rod (206), and the lifting rod (302) lifts the top plate (205) upward under the driving action of the lifting power assembly (304), and the top plate (205) squeezes the O-ring upward into the unloading end assembly; The O-ring removal assembly (4) also includes a two-axis module mounting bracket (402) and a removal end assembly mounting bracket (403); the removal end assembly includes a removal sleeve (404), a removal piston (405), a piston spring (406), a removal sleeve limiting plate (407), a piston guide rod (408), and a guide rod limiting shaft (409). The two-axis servo module (401) is fixedly mounted on the top of the fixed base plate (1) via the two-axis module mounting bracket (402); the ring-taking end component mounting bracket (403) is mounted on the Y-axis module of the two-axis servo module (401); the upper end of the ring-taking sleeve (404) is fixedly connected to the ring-taking end component mounting bracket (403) via the ring-taking sleeve limiting plate (407); the lower end of the ring-taking sleeve (404) extends downward through the ring-taking end component mounting bracket (403); a piston guide rod (408) and a piston spring (406) fitted on the outside of the piston guide rod (408) are installed inside the ring-taking sleeve (404); the upper end of the piston guide rod (408) is connected to the guide rod limiting shaft (409), and the lower end of the piston guide rod (408) is connected to the ring-taking valve. The plug (405), the guide rod limiting shaft (409) has its large end located above the ring-retrieving sleeve limiting plate (407), and its small end passes through the ring-retrieving sleeve limiting plate (407) into the ring-retrieving sleeve (404) and connects to the upper end of the piston guide rod (408). The small end of the ring-retrieving piston (405) is located inside the ring-retrieving sleeve (404) and connects to the lower end of the piston guide rod (408). The large end of the ring-retrieving piston (405) is located below the ring-retrieving sleeve (404) and is used to receive the O-rings squeezed upward by the top material plate (205). The upper and lower ends of the piston spring (406) are in contact with the ring-retrieving sleeve limiting plate (407) and the upper end of the ring-retrieving piston (405) respectively, and are used to buffer the force between the O-rings and the ring-retrieving piston (405). The large end of the ring-removing piston (405) is provided with an annular groove, and the end of the ring-removing piston (405) is rounded. After the O-ring passes through the end of the ring-removing piston (405), it is squeezed into the annular groove. The outer diameter of the piston (405) at the end is 1.1 to 1.2 times the inner diameter of the O-ring, and the diameter of the annular groove is smaller than the inner diameter of the O-ring.

2. The feeding and unloading mechanism for automatic O-ring assembly according to claim 1, characterized in that, The O-ring feeding assembly (2) also includes a manual locking assembly (203) and a transverse buffer assembly (204). The lower end of the O-ring rod (206) is installed on the linear motion component (201) by a straight insertion method. After the straight insertion, the O-ring rod (206) is fixed on the linear motion component (201) by a manual locking component (203). The transverse buffer assembly (204) is used to buffer and limit the movement of the O-ring rod (206) to the feeding station and the ring picking station, respectively.

3. The feeding and unloading mechanism for automatic O-ring assembly according to claim 1, characterized in that, The number of O-ring rods (206) is greater than 1, and each O-ring rod (206) is coaxially mounted with a top plate (205).

4. The feeding and unloading mechanism for automatic O-ring assembly according to claim 1, characterized in that, The material tray lifting assembly (3) also includes a guide sleeve (301) and a lifting rod fixing plate (303). The power output end of the lifting power assembly (304) is connected to the lower end of the lifting rod (302) through the lifting rod fixing plate (303). The guide sleeve (301) is fixedly installed on the lower surface of the fixed base plate (1). The upper end of the lifting rod (302) passes through the guide sleeve (301) and the fixed base plate (1) to lift the top material plate (205) upward. The number of lifting rods (302) at the same ring-removing station is ≥3, and each lifting rod (302) is arranged in a uniform ring.

5. The feeding and unloading mechanism for automatic O-ring assembly according to claim 1, characterized in that, When the two-axis servo module (401) drives the ring-taking end assembly to a predetermined position above the O-ring material bar (206), the predetermined position is located directly above the O-ring material bar (206) and the distance from the upper end of the O-ring material bar (206) is less than the thickness of a single O-ring.

6. The feeding and unloading mechanism for automatic O-ring assembly according to claim 1, characterized in that, The linear power assembly (202) is a linear cylinder or a motor screw module; The lifting power assembly (304) is a linear cylinder or a motor screw module.

7. A method for operating a feeding and retrieving mechanism for automatic O-ring assembly according to any one of claims 1-6, characterized in that, include: Position the O-ring rod (206) at the loading station; A batch of O-rings are placed on the upper end of the O-ring material rod (206), with the O-rings located above the top material plate (205); Driven by the linear motion component (202), the linear motion component (201) moves the O-ring material rod (206) to the ring picking station; The two-axis servo module (401) drives the ring-taking end assembly to a predetermined position above the O-ring material rod (206); The lifting rod (302) lifts the top material plate (205) upward under the driving action of the lifting power component (304), and the top material plate (205) pushes the O-ring upward into the ring-removing end component; Repeat the above steps to extract the loops one by one.

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