A spring carrier assembly

Abstract

The application discloses a kind of spring support assembly mechanism, comprising: workbench, installation can be lifted relative to its installation platform, installation platform is equipped with the installation hole for embedding shell, installation hole outer periphery is provided with the positioning plate for positioning spring support module;Grabbing component, with first manipulator and second manipulator, first manipulator is used to grab shell to place it in installation hole, second manipulator is used to grab spring support module and transport spring support module to shell periphery;Closed loop positioning assembly, flexible installation is positioned in the outer periphery of installation platform, for the position fixing of closed loop on the shell placed in installation hole;Material taking component, for clamping spring support to shell, and transport shell with clamped spring support.According to the spring support assembly mechanism of the application, the automatic assembly of spring support can be realized, the installation efficiency is greatly improved, the labor cost is reduced, and the assembly precision is improved.

Description

Technical Field

[0001] This invention relates to the field of projectile external assembly equipment technology, and in particular to a projectile sabot assembly mechanism. Background Technology

[0002] Projectiles, especially armor-piercing projectiles, require an external sabot, which is assembled from multiple identical sabot modules. Currently, the main method for installing sabots is still through multiple separate devices in stages, requiring the projectile to move back and forth between these devices, which greatly reduces installation efficiency. In addition, the projectile is fitted with a gas-sealing ring with radially extending arms, and the sabot module has slots for the extending arms to be inserted. During installation, the extending arms of the gas-sealing ring need to be aligned with the slots on the sabot module, making the current installation scheme not only difficult to assemble but also difficult to control the installation accuracy. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a sabot assembly mechanism that enables automated assembly of sabots, greatly improving installation efficiency, reducing labor costs, and improving assembly accuracy.

[0004] A sabot assembly mechanism according to an embodiment of the present invention includes:

[0005] The workbench is equipped with a mounting platform that can be raised and lowered relative to it. The mounting platform is provided with mounting holes for inserting projectiles, and a positioning plate for positioning the sabot module is provided on the outer periphery of the mounting holes.

[0006] The gripping assembly has a first robotic arm and a second robotic arm. The first robotic arm is used to grip the projectile and place it in the mounting hole. The second robotic arm is used to grip the sabot module and transport the sabot module to the outer periphery of the projectile.

[0007] An air-sealing ring positioning assembly is movably and telescopically installed on the outer periphery of the mounting platform to fix the position of the air-sealing ring on the projectile placed in the mounting hole.

[0008] The material handling assembly is used to clamp the sabot to the projectile and to transfer the projectile with the sabot clamped.

[0009] The sabot assembly mechanism according to embodiments of the present invention has at least the following beneficial effects:

[0010] The projectile and sabot module are gripped by a gripping component, and then a gas-sealing ring positioning component is set to fix the position of the gas-sealing ring on the projectile. This realizes a fully automated operation of connecting the projectile and the sabot, which greatly improves installation efficiency, reduces labor costs, and effectively improves assembly accuracy. A material-picking component is set to clamp the sabot to the projectile and can transport the projectile out. The structure is compact and can effectively reduce production costs.

[0011] According to some embodiments of the present invention, the mounting platform is provided with a through hole penetrating the mounting platform, and there are multiple through holes. The multiple through holes are evenly spaced around the circumference, and the positioning plate is installed in each of the through holes. The positioning plate extends out of the surface of the mounting platform, and the spring-loaded module is installed between two adjacent positioning plates.

[0012] According to some embodiments of the present invention, the air-sealing ring positioning assembly includes a plurality of telescopic grippers, the telescopic grippers being connected to a telescopic cylinder that drives them to extend and retract relative to the spring body, the telescopic grippers being used to clamp the extension arm of the air-sealing ring to fix the position of the air-sealing ring.

[0013] According to some embodiments of the present invention, the telescopic gripper includes a clamping piece, the thickness of which is not greater than the thickness of the positioning plate.

[0014] According to some embodiments of the present invention, the workbench is further provided with a work frame, the work frame is equipped with a clamping cylinder, the movable end of the clamping cylinder is connected to a pressure plate, and the pressure plate is used to press the spring-loaded module onto the mounting platform.

[0015] According to some embodiments of the present invention, the workbench is provided with a first slide rail, the material picking component is slidably mounted on the first slide rail and connected to a driving device for driving it to slide along the first slide rail; when the material picking component slides to one end of the first slide rail near the mounting table, the material picking component can clamp the ejector onto the projectile.

[0016] According to some embodiments of the present invention, the material handling assembly includes two clamping parts that can slide relative to each other, and each of the two clamping parts has a slot on its opposite side.

[0017] According to some embodiments of the present invention, the air-sealing ring is provided with a plurality of radially extending extension arms, and the air-sealing ring positioning components are provided with a plurality of extension arms. At least one of the air-sealing ring positioning components is located between the material picking component and the mounting platform, and the air-sealing ring positioning component located between the material picking component and the mounting platform is connected to a second lifting device.

[0018] According to some embodiments of the present invention, the gripping assembly includes a robotic arm, the end of which is provided with a mounting plate, and the first robotic hand and the second robotic hand are respectively connected to opposite sides of the mounting plate.

[0019] According to some embodiments of the present invention, the robotic arm further includes a rotating structure and a lifting structure, the mounting plate is connected to the rotating structure, and the rotating structure is connected to the lifting structure.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the installation of the air-sealing ring positioning component according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the installation of the material handling component according to an embodiment of the present invention;

[0025] Figure 4 for Figure 1 Enlarged view of point A in the middle;

[0026] Figure 5 for Figure 2 Enlarged view of point B in the middle;

[0027] Figure 6 for Figure 3 Enlarged view of point C in the middle;

[0028] Figure 7 This is a schematic diagram of the assembly of the mounting platform and positioning plate according to an embodiment of the present invention.

[0029] Icon labels:

[0030] Workbench 100, mounting table 110, mounting hole 111, through hole 112, positioning plate 113, work frame 120, clamping cylinder 121, pressure plate 122, first slide rail 130, first lifting device 140;

[0031] Grasping component 200, robotic arm 210, rotating structure 211, lifting structure 212, mounting plate 213, first robotic arm 220, second robotic arm 230;

[0032] Air-sealing ring positioning assembly 300, telescopic gripper 310, telescopic cylinder 311, clamping plate 312, second lifting device 320;

[0033] Material handling assembly 400, clamping part 410, and slot 411. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0036] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0037] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0038] Reference Figures 1 to 7 An embodiment of the present invention provides a sabot assembly mechanism, comprising a worktable 100 and a mounting platform 110 mounted on the worktable 100, a gripping component 200, a closed-loop positioning component 300, and a material handling component 400. The mounting platform 110 is connected to a first lifting device 140, which is mounted on the worktable 100 and can drive the mounting platform 110 to rise and fall relative to the worktable 100. The first lifting device 140 and the mounting platform 110 are connected by fasteners, such as bolts. The mounting platform 110 is provided with mounting holes 111 for inserting a portion of the projectile. The gripping component 200 is used to grip the projectile and sabot modules. The gripping component 200 first grips the projectile, then places the bottom of the projectile into the mounting hole 111, and then sequentially grips multiple sabot modules and places them sequentially on the mounting platform 110, placing the sabot modules sequentially around the outer periphery of the projectile.

[0039] In this embodiment of the invention, the sabot is composed of three sabot modules. Therefore, the gripping component 200 needs to grip the sabot modules three times and place the three sabot modules sequentially on the outer periphery of the missile body to facilitate subsequent assembly of the sabot modules. Furthermore, the outer periphery of the missile body is generally fitted with a sealing ring, which is an essential structure in the missile of this embodiment. The sealing ring is installed inside the sabot and has radially extending extension arms. There are three extension arms, therefore, the sabot module also has three components. (Refer to...) Figure 4 , Figure 5 As shown, the sabot module is fan-shaped, with slots on both sides for the extension arm to be inserted. When installing the sabot module onto the projectile body, the slots on the sabot module need to be aligned with the extension arm to facilitate the assembly of the sabot. Therefore, a gas-sealing ring positioning component 300 is provided to hold the extension arm and fix the position of the gas-sealing ring, thereby facilitating the installation of the sabot module.

[0040] It is conceivable that, since the air-sealing ring is equipped with three extension arms, there are also three air-sealing ring positioning components 300. The three air-sealing ring positioning components 300 operate simultaneously to clamp the three extension arms at the same time, thereby ensuring that the three sabot modules can be installed quickly.

[0041] It is conceivable that if the air-sealing ring is equipped with two or four extension arms, the number of sabot modules will also need to be adjusted accordingly.

[0042] In some embodiments of the present invention, the material handling component 400 is mainly used to clamp the three sabot modules, so that the three sabot modules are formed into a whole sabot, and then transport the projectile with the sabot installed to the next process position.

[0043] It should be understood that the assembly mechanism in this embodiment of the invention also includes a feeding device, which includes at least a device for supplying the projectile and a device for supplying the sabot module. Both the projectile and the sabot module are gripped by the gripping component 200. (Refer to...) Figure 1 As shown, the gripping assembly 200 has a first robotic arm 220 and a second robotic arm 230. The first robotic arm 220 is used to grip the projectile and place it in the mounting hole 111, and the second robotic arm 230 is used to grip the projectile support module and transport the projectile support module to the outer periphery of the projectile. Specifically, the gripping assembly 200 includes a robotic arm 210, the end of which is provided with a mounting plate 213. The first robotic arm 220 and the second robotic arm 230 are respectively connected to opposite sides of the mounting plate 213. By mounting both the first robotic arm 220 and the second robotic arm 230 on the mounting plate 213 and driving them through the same robotic arm 210, the number of devices can be effectively reduced, thereby reducing costs.

[0044] In some specific embodiments of the present invention, the robotic arm 210 further includes a rotating structure 211 and a lifting structure 212. A mounting plate 213 is connected to the rotating structure 211, and the rotating structure 211 is connected to the lifting structure 212. Specifically, since the positions of the projectile and the sabot module still need to be adjusted when placing them, a lifting structure 212 and a rotating structure 211 are provided. (Refer to...) Figure 1 As shown, the robotic arm 210 of this embodiment is not limited to having a lifting structure 212 and a rotating structure 211. The robotic arm 210 also has multiple degrees of freedom of movement in various directions, but the specific directions of freedom can be arranged according to actual conditions. Since the robotic arm 210 is a relatively conventional technical solution in the field of machining, it will not be described in detail in this embodiment.

[0045] In some embodiments of the present invention, the mounting platform 110 is provided with a mounting hole 111, and a positioning plate 113 for positioning the sabot module is provided on the outer periphery of the mounting hole 111. Specifically, refer to Figure 7 As shown, the mounting platform 110 has multiple through holes 112 penetrating through it, evenly spaced around its circumference. Each through hole 112 contains a positioning plate 113. The positioning plates 113 extend beyond the surface of the mounting platform 110, and the spring-loaded modules are installed between pairs of adjacent positioning plates 113. As mentioned above, there are three spring-loaded modules, each installed between pairs of adjacent positioning plates 113; therefore, there are also three positioning plates 113. The mounting hole 111 is located at the center of the mounting platform 110. Three through holes 112 are evenly spaced around the outer periphery of the mounting hole 111, and each of the three through holes 112 contains a positioning plate 113. The positioning plates 113 effectively position the spring-loaded modules, thereby improving the installation efficiency.

[0046] In some specific embodiments of the present invention, the through hole 112 is an elongated hole, and the first end of the positioning plate 113 passes through the through hole 112. The second end of the positioning plate 113 is detachably connected to the mounting platform 110 by bolts. To facilitate the installation of the spring-loaded module and the clamping of the subsequent material handling assembly 400, the first end of the positioning plate 113 should be as thin as possible while ensuring its hardness. The first end of the positioning plate 113 needs to have a certain degree of hardness to reduce deformation or damage. The detachable connection between the second end of the positioning plate 113 and the mounting platform 110 facilitates the individual replacement of the positioning plate 113. When the positioning plate 113 is damaged, replacing the positioning plate 113 individually can effectively reduce costs.

[0047] In some embodiments of the present invention, the air-sealing ring positioning assembly 300 includes a plurality of telescopic grippers 310. Each telescopic gripper 310 is connected to a telescopic cylinder 311 that drives it to extend and retract relative to the projectile. The telescopic cylinder 311 is used to clamp the extension arm of the air-sealing ring to fix its position. Specifically, as described above, three air-sealing ring positioning assemblies 300 are provided, each with a telescopic gripper 310. The telescopic grippers 310 are used to clamp the extension arm of the air-sealing ring, thereby facilitating the insertion of the extension arm of the air-sealing ring into the slot of the projectile sabot module.

[0048] In some embodiments of the present invention, the telescopic gripper 310 includes a clamping piece 312, the thickness of which is not greater than the thickness of the positioning plate 113. (Refer to...) Figure 2 , Figure 5 As shown, clamping plates 312 are disposed at the end of the telescopic jaw 310. Two clamping plates 312 are provided, spaced vertically apart and capable of sliding relative to each other. The extension arm of the air-sealing ring is clamped between the two clamping plates 312. A telescopic cylinder 311 is used to drive the telescopic jaw 310 to extend or retract, while the clamping plates 312 are used to clamp or release the extension arm. The thickness of the clamping plates 312 is no greater than the thickness of the positioning plate 113, primarily to ensure that the clamping plates 312 do not obstruct the installation of the sabot module. If the thickness of the clamping piece 312 is greater than the thickness of the positioning plate 113, when the ejector module is placed, the ejector module will contact the clamping piece 312 instead of the positioning plate 113. After all three ejector modules have been placed, when the telescopic gripper 310 retracts, the clamping piece 312 may move the ejector module's moving rod because it is in contact with the ejector module. This could hinder or prevent the next step from proceeding. Therefore, only by ensuring that the thickness of the clamping piece 312 is not greater than, and preferably less than, the thickness of the positioning plate 113 can the correct execution of the next step be ensured.

[0049] In some embodiments of the present invention, the workbench 100 is provided with a first slide rail 130, and the material-picking assembly 400 is slidably mounted on the first slide rail 130 and connected to a driving device for driving it to slide along the first slide rail 130; when the material-picking assembly 400 slides to one end of the first slide rail 130 near the mounting table 110, the material-picking assembly 400 can clamp the projectile onto the projectile. Specifically, refer to Figure 3 , Figure 6 As shown, the first slide rail 130 is mounted on the surface of the workbench 100. The material handling assembly 400 includes two clamping parts 410 that can slide relative to each other. Each of the two clamping parts 410 has a slot 411 on one side facing each other. Both slots 411 are semi-circular grooves. The two clamping parts 410 slide towards each other and can just clamp the projectile with the projectile support module installed.

[0050] Reference Figure 3As shown, the material handling assembly 400 also includes a rotating shaft, and two clamping parts 410 are slidably mounted on the rotating shaft. The rotation of the rotating shaft can drive the clamping parts 410 to rotate synchronously, thereby causing the projectile to flip. After all three sabot modules are installed on the outer periphery of the projectile, the material handling assembly 400 slides along the first slide rail 130 to a position close to the mounting table 110. Then, the two clamping parts 410 clamp the projectile with the sabot installed, and finally slides to the end of the first slide rail 130 away from the mounting table 110, and flips the projectile.

[0051] In some embodiments of the present invention, as can be seen from the above, the mounting platform 110 is connected to a first lifting device 140. When the clamping part 410 of the material taking component 400 clamps the projectile, the first lifting device 140 drives the mounting platform 110 to descend, so that the mounting platform 110 is separated from the projectile, thereby enabling the material taking component 400 to drive the projectile to slide along the first slide rail 130.

[0052] As described above, the assembly mechanism of this embodiment includes three air-sealing ring positioning components 300. These three air-sealing ring positioning components 300 are evenly spaced around the circumference. Since the worktable 100 has limited space, at least one air-sealing ring positioning component 300 is located between the material-picking component 400 and the mounting platform 110. The air-sealing ring positioning component 300 located between the material-picking component 400 and the mounting platform 110 is connected to a second lifting device 320. (Refer to...) Figure 3 As shown, before the material picking component 400 slides along the first slide rail 130 to the mounting platform 110, the second lifting device 320 needs to drive the air-sealed ring positioning component 300 located between the material picking component 400 and the mounting platform 110 to descend. Therefore, before the material picking component 400 slides along the first slide rail 130 to the mounting platform 110, the telescopic gripper 310 of the air-sealed ring positioning component 300 located between the material picking component 400 and the mounting platform 110 needs to retract in advance; the telescopic gripper 310 of the three air-sealed ring positioning components 300 are synchronized.

[0053] In some embodiments of the present invention, the workbench 100 is further provided with a work frame 120, on which a clamping cylinder 121 is mounted. The movable end of the clamping cylinder 121 is connected to a pressure plate 122, which is used to clamp the ejector module onto the mounting platform 110. Specifically, three ejector modules are provided, and three clamping cylinders 121 are provided corresponding to three ejector modules, with each clamping cylinder 121 clamping one ejector module. (Refer to...) Figure 2 , Figure 4 , Figure 5As shown, the ejector modules are placed one by one by the gripping component 200. After each ejector module is placed, the clamping cylinder 121 is activated, driving the pressure plate 122 to press the ejector module placed on the mounting table 110 firmly, preventing subsequent operations from moving the ejector module and thus ensuring the stability of the ejector module's placement position. After all three ejector modules have been placed, before the material handling component 400 is ready to clamp the ejector modules, the three clamping cylinders 121 are activated simultaneously, causing the pressure plate 122 to retract.

[0054] It should be understood that, in some embodiments of the present invention, the first lifting device 140 also has the function of driving the mounting platform 110 to rise, so as to facilitate the gripping component 200 to place the projectile into the mounting hole 111. Since the working frame 120 is disposed above the mounting platform 110, and the working frame 120 is also provided with a clamping cylinder 121, the working frame 120 will obstruct the placement of the projectile. In order to reduce the impact of the working frame 120 on the placement of the projectile, the working frame 120 is provided with a groove corresponding to the position of the mounting hole 111 on the mounting platform 110, and the first lifting device 140 can drive the mounting platform 110 to rise, thereby facilitating the gripping component 200 to place the projectile into the mounting hole 111.

[0055] It is conceivable that if the work frame 120 does not obstruct the installation of the projectile, the first lifting device 140 can also be configured not to drive the mounting platform 110 to rise; however, the mounting platform 110 has at least a first position for placing the projectile and a second position for detaching from the projectile. When the mounting platform 110 is in the second position, the first lifting device 140 drives the mounting platform 110 to descend.

[0056] In summary, the assembly process of the assembly mechanism in this embodiment of the invention is as follows:

[0057] 1. The gripping component 200 grips the projectile and places it into the mounting hole 111 of the mounting platform 110;

[0058] 2. The air-sealing ring positioning component 300 is activated to fix the position of the air-sealing ring;

[0059] 3. The gripping component 200 grips the sabot modules in sequence and places them between two adjacent positioning plates 113 on the outer periphery of the projectile; after each sabot module is placed by the gripping component 200, the clamping cylinder 121 will press the placed sabot module against the mounting platform 110.

[0060] 4. After all three ejector modules are placed, the air-sealing ring positioning component 300 is reset, and the air-sealing ring positioning component 300 located between the material picking component 400 and the mounting platform 110 will descend under the drive of the second lifting device 320.

[0061] 5. The material picking assembly 400 slides along the first slide rail 130 to a position close to the mounting table 110, and the two clamping parts 410 of the material picking assembly 400 move away from each other, so that the projectile and the sabot module are both located between the two clamping parts 410.

[0062] 6. The three clamping cylinders 121 retract synchronously to disengage the pressure plate 122 from the sabot module;

[0063] 7. The two clamping parts 410 of the material taking component 400 slide towards each other to clamp the ejector module, so that the three ejector modules form a complete ejector;

[0064] 8. The first lifting device 140 drives the mounting platform 110 to descend to the second position, so that the mounting platform 110 is separated from the projectile;

[0065] 9. The material handling component 400 slides away from the mounting table 110 and moves the projectile with the sabot to the next processing station.

[0066] 10. The first lifting device 140 drives the mounting platform 110 to rise to the first position, and the second lifting device 320 drives the air-sealed ring positioning component 300 located between the material picking component 400 and the mounting platform 110 to reset, and then repeat step 1.

[0067] According to the embodiments of the present invention, the sabot assembly mechanism uses a gripping component 200 to grip the projectile and the sabot module, and then a sealing ring positioning component 300 to fix the position of the sealing ring on the projectile. This achieves fully automated operation of connecting the projectile and the sabot, greatly improving installation efficiency, reducing labor costs, and effectively improving assembly accuracy. The material handling component 400 clamps the sabot to the projectile and can transport the projectile out. The structure is compact and can effectively reduce production costs.

[0068] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A sabot assembly mechanism, characterized in that, include: The workbench is equipped with a mounting platform that can be raised and lowered relative to it. The mounting platform has mounting holes for inserting projectiles. Positioning plates for positioning projectile sabot modules are provided on the outer periphery of the mounting holes. Multiple positioning plates are provided and are evenly spaced around the circumference. Projectile sabot modules are installed between two adjacent positioning plates. The gripping assembly has a first robotic arm and a second robotic arm. The first robotic arm is used to grip the projectile and place it in the mounting hole. The second robotic arm is used to grip the sabot module and transport the sabot module to the outer periphery of the projectile. An air-sealing ring positioning assembly is movably and telescopically mounted on the outer periphery of the mounting platform to fix the position of the air-sealing ring placed on the projectile within the mounting hole. The air-sealing ring positioning assembly includes multiple telescopic grippers, each connected to a telescopic cylinder that drives its extension and retraction relative to the projectile. The telescopic grippers are used to clamp the extension arm of the air-sealing ring to fix its position. Each telescopic gripper includes a clamping plate, the thickness of which is not greater than the thickness of the positioning plate. The material handling assembly is used to clamp the sabot to the projectile and to transfer the projectile with the sabot clamped.

2. The sabot assembly mechanism according to claim 1, characterized in that: The mounting platform is provided with a through hole, and there are multiple through holes. The multiple through holes are evenly spaced around the circumference, and the positioning plate is installed in each of the through holes; the positioning plate extends out of the surface of the mounting platform.

3. The sabot assembly mechanism according to claim 1, characterized in that: The workbench is also equipped with a work frame, on which a clamping cylinder is installed. The movable end of the clamping cylinder is connected to a pressure plate, which is used to press the spring-loaded module onto the mounting platform.

4. The sabot assembly mechanism according to claim 1, characterized in that: The workbench is provided with a first slide rail, the material picking component is slidably mounted on the first slide rail, and is connected to a driving device that drives it to slide along the first slide rail; when the material picking component slides to one end of the first slide rail near the mounting table, the material picking component can clamp the projectile to the projectile.

5. A sabot assembly mechanism according to claim 1, characterized in that: The material handling assembly includes two clamping parts that can slide relative to each other, and each of the two clamping parts has a slot on its opposite side.

6. A sabot assembly mechanism according to claim 1, characterized in that: The air-sealing ring is provided with multiple radially extending extension arms, and multiple air-sealing ring positioning components are provided corresponding to the extension arms. At least one air-sealing ring positioning component is located between the material picking component and the mounting platform. The air-sealing ring positioning component located between the material picking component and the mounting platform is connected to a second lifting device.

7. A sabot assembly mechanism according to claim 1, characterized in that: The gripping assembly includes a robotic arm, the end of which is provided with a mounting plate, and the first robotic hand and the second robotic hand are respectively connected to opposite sides of the mounting plate.

8. A sabot assembly mechanism according to claim 7, characterized in that: The robotic arm also includes a rotating structure and a lifting structure, the mounting plate is connected to the rotating structure, and the rotating structure is connected to the lifting structure.

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