A sealing ring assembly machine

Abstract

This invention discloses a sealing ring assembly machine, comprising: a machine base; a first feeding mechanism for automatic O-ring feeding; a second feeding mechanism for valve stem feeding; a synchronous assembly conveying mechanism disposed on one side of the first feeding mechanism, the synchronous assembly conveying mechanism including a first displacement device for longitudinal and lateral movement, a first manipulator connected to the first displacement device, and an assembly device for assembling O-rings and valve stems; a valve stem conveying mechanism disposed on one side of the second feeding mechanism, the valve stem conveying mechanism being provided with a third manipulator for gripping and conveying valve stems; an auxiliary working mechanism disposed between the valve stem conveying mechanism and the synchronous assembly conveying mechanism, the auxiliary working mechanism being provided with a worktable for accommodating valve stems; and a first discharge guide groove disposed below the synchronous assembly conveying mechanism. This invention achieves automated assembly of special O-rings, improves production efficiency, and reduces production costs for enterprises.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a sealing ring assembly machine. Background Technology

[0002] O-rings, also known as O-ring seals, are common sealing devices typically used in static or dynamic hydraulic and pneumatic sealing applications. They are made of elastic materials such as rubber, polyurethane, and silicone, and have an annular cross-section, with their outer and inner diameters adapted to the outer and inner diameters of the installation location, respectively. The working principle of an O-ring is that its flexible material forms a tight seal at the joint being sealed, preventing liquid or gas leakage.

[0003] For valve stem shaft-type workpieces, to improve their sealing effect, an O-ring needs to be fitted into the groove of the valve stem. Generally, valve stems are straight rods with recessed grooves at the head or tail, making it easy to fit the O-ring. However, if... Figure 1 The valve stem product shown has an outward protruding step 11 at its upper end, and a groove 111 for installing an O-ring 2 is formed under the outward protruding step 11. Due to the obstruction of the outward protruding step 11, it is very difficult to assemble the O-ring in this type of valve stem 1. Current equipment is difficult to meet its assembly requirements, and it can only be installed manually at present, which leads to a great waste of manpower and an increase in production costs. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a sealing ring assembly machine that can realize the automated assembly of O-rings for special valve stems, and can also be used for the assembly of ordinary valve stems. It eliminates the need for manual assembly, improves production efficiency, and reduces the production costs of enterprises.

[0005] To achieve the above objectives, the present invention provides a sealing ring assembly machine, comprising: a machine base;

[0006] A first feeding mechanism for automatic O-ring feeding, the first feeding mechanism being fixed to one side of the machine base;

[0007] A second feeding mechanism for feeding valve stems is arranged facing the first feeding mechanism;

[0008] A synchronous assembly conveying mechanism is provided on one side of the first feeding mechanism. The synchronous assembly conveying mechanism includes a first displacement device for longitudinal and lateral movement, a first manipulator connected to the first displacement device, and an assembly device for assembling O-rings and valve stems. The assembly device is provided with an elastic expansion component for pushing and opening / closing O-rings.

[0009] A valve stem conveying mechanism is provided on one side of the second feeding mechanism, and the valve stem conveying mechanism is provided with a third manipulator for gripping and conveying the valve stem;

[0010] An auxiliary working mechanism is provided between the valve stem conveying mechanism and the synchronous assembly conveying mechanism. The auxiliary working mechanism is provided with a worktable for receiving the valve stem. The auxiliary working mechanism transports the valve stem to the bottom of the assembly device for assembly with O-rings.

[0011] The first discharge guide chute is located below the synchronous assembly conveying mechanism.

[0012] Furthermore, the first feeding mechanism includes a vibratory feeder and a misalignment device connected to the vibratory feeder. A first conveying guide rail is provided between the vibratory feeder and the misalignment device. The misalignment device includes a misalignment bracket, a misalignment seat fixed to the misalignment bracket, and a misalignment cylinder. A misalignment groove is formed on the misalignment seat, and a misalignment slider connected to the misalignment cylinder is provided on the misalignment groove. A first receiving groove for receiving O-rings is provided on the misalignment slider. A first connecting hole is opened on the side wing of the misalignment seat, and the first conveying guide rail passes through the first connecting hole and abuts against the first receiving groove. Automatic feeding is achieved by the vibratory feeder, and the misalignment device misaligns the conveyed O-rings so that only one O-ring can be grabbed at a time, avoiding O-ring overlap and assembly failure.

[0013] Furthermore, the second feeding mechanism includes a feeding tray, a second conveying guide rail connected to the feeding tray, and a flipping device disposed at the end of the second conveying guide rail. The flipping device includes a flipping bracket and a first rotary cylinder fixed on the flipping bracket. The first rotary cylinder is connected to a flipping mold, and the flipping mold is provided with a second receiving hole for receiving the valve stem. By flipping the conveyed valve stem through the flipping device, the valve stem can be flipped so that the stepped head is upward, which facilitates the insertion of the O-ring.

[0014] Furthermore, the device includes a first detection mechanism located on one side of the flipping device. This first detection mechanism includes a first detection seat, on which a first detector for detecting the valve stem position and two sets of first detection positioning members are fixed. A first detection column is located on the first detection seat. One end of each first detection positioning member has a V-shaped positioning portion, and the other end is fixed to the first detection seat. The V-shaped positioning portions of the two sets of first detection positioning members abut against each other to form a clamping hole for holding the valve stem. The clamping hole is positioned directly above the first detection column. The first detector is an optical fiber detector. The first detection mechanism also includes a first discharge seat located on one side of the first detection seat. A first discharge cylinder is fixed to the first discharge seat and connected to a second discharge guide groove. The first detection mechanism can detect the direction of the flipped valve stem, determining whether the stepped head of the valve stem is facing upwards. If the orientation is incorrect, the first discharge cylinder, in conjunction with the first discharge guide groove, discharges the valve stem.

[0015] Furthermore, the assembly device includes an assembly base fixedly connected to the first displacement device, and an assembly cylinder and an assembly pin fixedly connected to the assembly base. An assembly movable shaft that can move up and down is provided on the assembly base. The expansion assembly is connected to both the assembly cylinder and the assembly movable shaft, and is arranged around the assembly pin. When the valve stem reaches its position, the assembly cylinder drives the assembly pin to press down, so that the assembly pin can press down on the top of the valve stem to prevent it from wobbling.

[0016] Furthermore, the expansion assembly includes an expansion main seat, on which an expansion connecting seat is fixedly connected. The expansion connecting seat has a first through hole, through which the assembly pin passes. A recessed locking groove is formed on the side edge of the expansion connecting seat. At least four movable grooves communicating with the first through hole are provided in the locking groove. Each movable groove has a movable abutment block. One end of the abutment block forms a recessed arc-shaped abutment portion matching the shape of the assembly pin. The other end of the abutment block, away from the pin, also forms a recessed arc-shaped groove matching the locking groove. An elastic locking element is provided on the recessed arc-shaped groove to ensure tight abutment between the abutment portion and the assembly pin. The assembly cylinder drives the abutment block downwards. During this downward movement, the abutment block also drives the O-ring downwards, inserting it into the valve stem. When the abutment block reaches the stepped portion of the valve stem, it slowly opens to adapt to the shape of the valve stem until the O-ring is inserted into the groove of the valve stem, at which point it resets.

[0017] Furthermore, the first displacement device includes: a first displacement bracket fixed to the base, a first transverse movable cylinder and a first transverse guide rail disposed on the first displacement bracket, a first transverse slider connected to the first transverse movable cylinder disposed on the first transverse guide rail, a first transverse connecting seat fixed to the first transverse slider, a first longitudinal movable cylinder and a first longitudinal slide rail fixed to the first transverse connecting seat, a first longitudinal connecting seat connected to the first longitudinal movable cylinder connected to the first longitudinal slide rail, the first robotic arm and the assembly device both disposed on the first longitudinal connecting seat, and a second robotic arm disposed on the first longitudinal connecting seat, the first robotic arm including a first clamping cylinder fixed to the first longitudinal connecting seat and a first clamping member connected to the first clamping cylinder, the second robotic arm including a second clamping cylinder fixed to the first longitudinal connecting seat and a second clamping member connected to the second clamping cylinder. The first displacement device enables the first robotic arm, the second robotic arm, and the assembly device to perform vertical, horizontal, and vertical displacement operations.

[0018] Furthermore, the valve stem conveying mechanism includes a second displacement bracket fixed to the base. The second displacement bracket is equipped with a second transverse movable cylinder and a second transverse guide rail. A second transverse slider connected to the second transverse movable cylinder is mounted on the second transverse guide rail. A second transverse connecting seat is fixed to the second transverse slider. A second longitudinal movable cylinder and a second longitudinal slide rail are fixed to the second transverse connecting seat. A second longitudinal connecting seat connected to the second longitudinal movable cylinder is connected to the second longitudinal slide rail. A fourth robotic arm is also mounted on the second longitudinal connecting seat. The third robotic arm includes a third clamping cylinder fixed to the second longitudinal connecting seat and a third clamping component connected to the third clamping cylinder. The fourth robotic arm includes a fourth clamping cylinder fixed to the second longitudinal connecting seat and a fourth clamping component connected to the fourth clamping cylinder. The valve stem conveying mechanism enables the third and fourth robotic arms to perform vertical, horizontal, and vertical displacement operations.

[0019] Furthermore, the auxiliary working mechanism includes an auxiliary working seat disposed between the first displacement device and the valve stem conveying mechanism. A second rotary cylinder is disposed on the auxiliary working seat, and a worktable is connected to the second rotary cylinder. Supporting members for supporting valve stems are fixedly connected to both ends of the worktable. The supporting members are provided with supporting holes for placing valve stems, and the two sides of the supporting members are provided with fixed through grooves communicating with the supporting holes. The valve stem can be moved to the bottom of the assembly device for assembly by the second rotary cylinder.

[0020] The upper end of the support member extends upward to form an outward protrusion. The fixing through groove is provided on the outward protrusion, forming a stepped structure inside the support member. A top connector is inserted into the stepped structure. An annular retaining plate is provided at the lower end of the top connector. The other end of the top connector is inserted into the support hole to abut the valve stem. A buffer spring is provided on the annular retaining plate to provide a certain buffer during the assembly process.

[0021] A clamping device is also provided on one side of the auxiliary work seat. The clamping device includes a clamping seat and a clamping cylinder fixed on the clamping seat. The clamping cylinder is connected to a clamping member that can extend into the fixed through slot. The clamping valve rod prevents shaking during assembly and affects the assembly quality.

[0022] It also includes a lifting device disposed below the support member adjacent to the first displacement device. The lifting device includes a lifting cylinder fixed on the base, and the lifting cylinder is connected to a lifting pin for lifting the valve stem. The lifting pin abuts against the annular retaining plate of the top connector. This enables the valve stem to be ejected after assembly.

[0023] Furthermore, the second detection mechanism includes a second detection feeding device disposed below the first displacement device and a second detection seat disposed opposite to the second detection feeding device. The second detection seat is provided with a second detector, which is a CCD vision detector; it is capable of detecting the quality of the assembled valve stem.

[0024] The second detection feeding device includes a second feeding seat located below the first displacement device. A second feeding cylinder and a second movable slide rail are fixedly mounted on the second feeding seat. A second slider is movably connected to the second movable slide rail. A second feeding block connected to the second feeding cylinder is fixedly mounted on the second slider. The end of the second feeding block is provided with a receiving groove for accommodating the valve stem. This assists in feeding the assembled valve stem to the second detector for detection.

[0025] The second detection and feeding device also includes a second discharge seat disposed on one side of the second detection seat. A second discharge cylinder is fixedly connected to the second discharge seat, and the second discharge cylinder is connected to a third discharge guide groove. Products that fail the inspection are classified and sent out.

[0026] Compared with existing technologies, the present invention has the following advantages: The present invention adopts a bidirectional feeding method to separately feed the valve stem and O-ring. The materials are conveyed separately by a synchronously moving robotic arm, and then the O-ring is fitted by a unique expandable elastic expansion component. The elastic expansion component can expand and adapt to the shape of the valve stem steps, so that the O-ring can be fitted smoothly. After the O-ring is fully fitted, it can be automatically unloaded by the robotic arm. The whole process is automated and does not require manual intervention. The high degree of automation can effectively improve production efficiency and reduce production costs. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the valve stem and the seal in the background art, as well as their assembly.

[0029] Figure 2 This is a schematic diagram of the structure of a sealing ring assembly machine according to the present invention;

[0030] Figure 3 yes Figure 1 A schematic diagram of the structure for removing the protective window;

[0031] Figure 4 yes Figure 3 Another structural diagram from another perspective;

[0032] Figure 5 This is a schematic diagram of the structure of the first feeding mechanism of the present invention;

[0033] Figure 6 This is a schematic diagram of the misalignment device of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the second feeding mechanism of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the flipping device of the present invention;

[0036] Figure 9 This is a schematic diagram of the structure of the first detection mechanism of the present invention;

[0037] Figure 10 This is a schematic diagram of the valve stem delivery mechanism of this invention;

[0038] Figure 11This is a schematic diagram of the synchronous assembly and conveying mechanism of the present invention;

[0039] Figure 12 This is a schematic diagram of the assembly device of the present invention;

[0040] Figure 13 This is an exploded view of the expansion component of the present invention;

[0041] Figure 14 This is an assembly diagram of the top contact block and the locking component of the present invention;

[0042] Figure 15 This is a schematic diagram of the auxiliary working mechanism of the present invention;

[0043] Figure 16 This is a structural schematic diagram of the carrier component of the present invention;

[0044] Figure 17 yes Figure 16 A schematic diagram of the cross section along line AA;

[0045] Figure 18 This is a schematic diagram of the second testing facility.

[0046] The diagram includes:

[0047] 1. Valve stem; 11. Outwardly protruding step; 12. O-ring; 111. Groove; 2. Machine base; 21. Protective window; 211. Funnel; 22. Controller; 3. First feeding mechanism; 31. Vibratory feeder; 32. Misalignment device; 33. First conveying guide rail; 331. First inductive switch; 321. Misalignment bracket; 322. Misalignment seat; 3221. Misalignment slide; 3222. First connecting hole; 3223. Second inductive switch; 3224. Misalignment cover plate; 323. Misalignment cylinder; 324. Misalignment slider; 3241. First loading slot; 4. Second feeding mechanism; 41. Feeding tray; 411. Feeding through groove; 412. Feeding inclined surface; 413. Baffle; 42. Second conveying guide rail; 421. Third inductive switch ; 422, First opening; 43, Tilting device; 431, Tilting bracket; 432, First rotary cylinder; 433, Tilting mold; 4331, Second loading hole; 5, First detection mechanism; 51, First detection seat; 511, First detection column; 52, First detector; 53, First detection positioning component; 531, V-shaped positioning part; 54, Clamping hole; 55, First discharge seat; 56, First discharge cylinder; 57, Second discharge guide groove; 6, Valve stem conveying mechanism; 61, Third robot arm; 611, Third clamping cylinder; 612, Third clamping component; 62, Second displacement bracket; 621, Second transverse movable cylinder; 622, Second transverse guide rail; 623, Second transverse slider; 63, Second transverse connecting seat; 6 31. Second longitudinal movable cylinder; 632. Second longitudinal slide rail; 633. Second longitudinal connecting seat; 64. Fourth robotic arm; 641. Fourth clamping cylinder; 642. Fourth clamping component; 7. Synchronous assembly conveying mechanism; 71. First displacement device; 711. First displacement bracket; 712. First transverse movable cylinder; 713. First transverse guide rail; 714. First transverse slider; 715. First transverse connecting seat; 716. First longitudinal movable cylinder; 717. First longitudinal slide rail; 718. First longitudinal connecting seat; 72. First robotic arm; 721. First clamping cylinder; 722. First clamping component; 73. Assembly device; 731. Assembly fixing seat; 732. Assembly cylinder; 733. Assembly ejector pin; 734. 74. Second robotic arm; 741. Second clamping cylinder; 742. Second clamping component; 75. Expansion assembly; 751. Expansion main seat; 7511. First through hole; 7512. Expansion connecting hole; 7513. Expansion connecting post; 752. Expansion connecting seat; 7521. Snap-fit ​​through groove; 7522. Locking groove; 7523. Movable groove; 7524. Top connecting block; 75241. Abutment part; 75242. Guide surface; 75243. Concave arc-shaped groove; 7525. Locking component; 8. Auxiliary working mechanism; 81. Auxiliary working seat; 82. Second rotary cylinder; 83. Worktable; 84. Bearing component; 841. Bearing hole; 842. Fixed through groove; 843. Outer protrusion; 844. Top connecting component;8441, Annular clamping table; 845, Buffer spring; 85, Lifting device; 851, Lifting cylinder; 852, Lifting pin; 86, Clamping device; 861, Clamping seat; 862, Clamping cylinder; 863, Clamping component; 9, Second detection mechanism; 91, Second detection feeding device; 911, Second feeding seat; 912, Second feeding cylinder; 913, Second movable slide rail; 914, Second slider; 915, Second feeding block; 916, Second discharge seat; 917, Second discharge cylinder; 918, Third discharge guide groove; 92, Second detection seat; 93, Second detector; 9151, Receiving groove; 10, First discharge guide groove. Detailed Implementation

[0048] The technical solution of this embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiment is one embodiment of the present invention, and not all embodiments thereof. Based on this embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0050] Furthermore, if the embodiments of the present invention involve descriptions such as "first" or "second", such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated.

[0051] Please see Figures 2 to 7 An embodiment of the present invention provides a sealing ring assembly machine, including: a base 2, the base 2 being provided with a protective window 21 and a controller 22 for user control of the opening and closing of various mechanisms;

[0052] The first feeding mechanism 3 for automatic feeding of O-rings 12 is fixed to one side of the machine base 2. Specifically, as shown in the figure... Figures 2 to 5As shown, the first feeding mechanism 3 includes a vibratory feeder 31 and a separating device 32 connected to the vibratory feeder 31. A first conveying guide rail 33 is provided between the vibratory feeder 31 and the separating device 32. The first conveying guide rail 33 is driven by a motor. A first inductive switch 331 can be provided at the connection position between the first conveying guide rail 33 and the vibratory feeder 31 to facilitate the activation of the first conveying guide rail 33 and deliver the O-rings 12 to the separating device 32. To facilitate feeding the vibratory feeder 31, a funnel 211 connected to the vibratory feeder 31 can be provided on the protective window 21 to pour the O-rings 12 into the vibratory feeder 31. Figure 6 As shown, the aforementioned misalignment device 32 includes a misalignment bracket 321, a misalignment seat 322 fixed to the misalignment bracket 321, and a misalignment cylinder 323. A misalignment groove 3221 is formed on the misalignment seat 3221, and a misalignment slider 324 connected to the misalignment cylinder 323 is provided on the misalignment groove 3221. The misalignment slider 324 is provided with a first receiving groove 3241 for receiving the O-ring 12. A first connecting hole 3222 is opened on the side of the misalignment seat 322, and a first conveying guide rail 33 passes through the first connecting hole 322. 2. It abuts against the first mounting slot 3241. To facilitate the start of the misalignment cylinder 323, a through-slot is provided on the misalignment slider 324. A second inductive switch 3223 is provided on the misalignment seat 322 for sensing, so as to facilitate the opening and closing of the misalignment cylinder 323. Of course, in order to protect the misalignment slide 3221, a misalignment cover plate 3224 is also provided on the misalignment seat 322. The misalignment cover plate 3224 can prevent dust and other debris from entering the misalignment slide 3221. 221 affects the normal operation of the equipment; the principle of the misalignment device 32 in this embodiment is that the O-ring 12 is fed into the first loading groove 3241 by the first conveying guide rail 33. When the O-ring 12 enters the first loading groove 3241, the second induction switch 3223 senses the entry of the O-ring 12 and will activate the misalignment cylinder 323. The misalignment cylinder 323 pushes the misalignment slider 324 forward, so that the first loading groove 3241 is separated from the first conveying guide rail 33, and at the same time the side wall of the misalignment slider 324 will be blocked. The first conveying guide rail 33 prevents subsequent O-rings 12 from moving forward, thus ensuring that only one O-ring 12 is input into the next mechanism at a time in the first loading slot 3241. When the O-ring 12 is taken away by the next mechanism, the first loading slot 3241 is empty, the second induction switch 3223 is activated to reset the misalignment cylinder 323, and the first loading slot 3241 returns to its original position and connects with the first conveying guide rail 33. The next O-ring 12 will then be sent into the first loading slot 3241, and so on.

[0053] A second feeding mechanism 4 is used for feeding valve stem 1, and the second feeding mechanism 4 is arranged facing the first feeding mechanism 3. For example... Figure 7As shown, the second feeding mechanism 4 includes a feeding tray 41, a second conveying guide rail 42 connected to the feeding tray 41, and a flipping device 43 disposed at the end of the second conveying guide rail 42. In this embodiment, a third inductive switch 421 for controlling the second conveying guide rail 42 is also provided. Two sets of second conveying guide rails 42 are also provided, and their number can be adjusted according to actual needs. A feeding channel 411 communicating with the second conveying guide rail 42 is formed on the feeding tray 41. Inclined feed surfaces 412 slope downwards on both sides of the feeding channel 411. The inclined feed surfaces 412 are designed to allow the valve rod 1 to directly enter the feeding channel 411 when poured in. A baffle 413 is provided along the front edge of the inclined feed surfaces 412 to prevent the valve rod 1 from overflowing. Figure 8 As shown, the flipping device 43 includes a flipping bracket 431 and a first rotary cylinder 432 fixed on the flipping bracket 431. The first rotary cylinder 432 is connected to a flipping mold 433. The flipping mold 433 is provided with a second loading hole 4331 for loading the valve stem 1. Due to the special structure of the valve stem 1, it is necessary to manually guide the valve stem 1 into the feeding tray 41. The valve stem 1 will enter the feeding channel 411 in a horizontal state and be conveyed to the second loading hole 4331 of the flipping device 43 through the second conveying guide rail 42. A first opening 422 is provided at the end of the second conveying guide rail 42 that is close to the second loading hole 4331. When the valve stem 1 is fully inserted into the second loading hole 4331, the remaining part of the valve stem 1 will be completely placed on the first opening 422. At this time, the flipping cylinder is started to drive the flipping mold 433 to rotate 90°, so that the valve stem 1 is placed vertically on the flipping mold 433.

[0054] Since the O-ring 12 needs to be fitted into the groove 111 of the valve stem 1, it is necessary to ensure that the outer protruding step 11 end of the valve stem 1 faces upward. Therefore, in this embodiment, a first detection mechanism 5 is provided on one side of the flipping device 43, such as... Figure 9As shown, the first detection mechanism 5 includes a first detection seat 51. A first detector 52 for detecting the position of the valve stem 1 and two sets of first detection positioning members 53 are fixed on the first detection seat 51. A first detection column 511 is provided on the first detection seat 51. One end of the first detection positioning member 53 is provided with a V-shaped positioning part 531. The other end of the first detection positioning member 53 is fixed to the first detection seat 51. The V-shaped positioning parts 531 of the two sets of first detection positioning members 53 abut against each other to form a clamping hole 54 for clamping the valve stem 1. The clamping hole is located directly above the first detection column 511. The first detector 52 is an optical fiber detector. The first detection mechanism 5 also includes a first discharge seat 55 provided on one side of the first detection seat 51. A first discharge cylinder 56 is fixed on the first discharge seat 55. The first discharge cylinder 56 is connected to a second discharge guide groove 57. When the valve stem 1 is flipped and moved into the clamping hole, the first detection column 511 supports the valve stem 1 from left to right, and the V-shaped positioning part 531 stabilizes the valve stem 1 to prevent it from swaying from left to right. The path of the first detector 52 is between the clamping hole 54 and the first detection column 511. In this way, after the valve stem 1 is put in, this part of the position can be detected. If an outward protruding step is detected, it means that the direction of the valve stem 1 is wrong. At this time, the first discharge cylinder 56 pushes out the second discharge guide groove 57, and the second feeding mechanism 4 will move the valve stem 1 to the second discharge guide groove 57 to remove and collect the valve stem 1 with the wrong direction for re-feeding.

[0055] The valve stem conveying mechanism 6 is located on one side of the second feeding mechanism 4. The valve stem conveying mechanism 6 is equipped with a third robotic arm 61 for gripping and conveying the valve stem 1; specifically, as shown... Figure 9As shown, the valve stem conveying mechanism 6 includes a second displacement bracket 62 fixed to the base 2. A second transverse movable cylinder 621 and a second transverse guide rail 622 are mounted on the second displacement bracket 62. A second transverse slider 623 connected to the second transverse movable cylinder 621 is mounted on the second transverse guide rail 622. A second transverse connecting seat 63 is fixed to the second transverse slider 623. A second longitudinal movable cylinder 631 and a second longitudinal slide rail 632 are fixed to the second transverse connecting seat 63. A second longitudinal connecting seat 633, connected to a second longitudinal movable cylinder 631, is connected to a rail 632. A fourth robotic arm 64 is also provided on the second longitudinal connecting seat 633. The third robotic arm 61 includes a third clamping cylinder 611 fixed to the second longitudinal connecting seat 633 and a third clamping member 612 connected to the third clamping cylinder 611. The fourth robotic arm 64 includes a fourth clamping cylinder 641 fixed to the second longitudinal connecting seat 633 and a fourth clamping member 642 connected to the fourth clamping cylinder 641. In order to achieve synchronous operation of each component, the spacing between each pair of the flipping mold 433, the first detection seat 51, and the second discharge guide 57 is the same as the spacing between the third robotic arm 61 and the fourth robotic arm 64. The valve rod conveying mechanism 6 realizes the up, down, left, and right displacement of the third robotic arm 61 and the fourth robotic arm 64, and the transfer of the valve rod 1 between the devices is realized by the third robotic arm 61 and the fourth robotic arm 64.

[0056] The synchronous assembly conveyor 7 is located on one side of the first feeding mechanism 3, such as Figure 10 As shown, the synchronous assembly conveying mechanism 7 includes a first displacement device 71 for longitudinal and lateral movement, a first manipulator 72 connected to the first displacement device 71, and an assembly device 73 for assembling the O-ring 12 and the valve stem 1. The first displacement device 71 includes a first displacement bracket 711 fixed to the base 2. A first lateral movable cylinder 712 and a first lateral guide rail 713 are provided on the first displacement bracket 711. A first lateral slider 714 connected to the first lateral movable cylinder 712 is provided on the first lateral guide rail 713. A first lateral connecting seat 715 is fixed to the first lateral slider 714. A first longitudinal... The system includes a movable cylinder 716 and a first longitudinal slide rail 717. A first longitudinal connecting seat 718 connected to the first longitudinal movable cylinder 716 is connected to the first longitudinal slide rail 717. The first robot arm 72 and the assembly device 73 are both located on the first longitudinal connecting seat 718. A second robot arm 74 is also located on the first longitudinal connecting seat 718. The first robot arm 72 includes a first clamping cylinder 721 fixed to the first longitudinal connecting seat 718 and a first clamping member 722 connected to the first clamping cylinder 721. The second robot arm 74 includes a second clamping cylinder 741 fixed to the first longitudinal connecting seat 718 and a second clamping member 742 connected to the second clamping cylinder 741.

[0057] like Figure 11 As shown, the assembly device 73 includes an assembly fixing base 731 fixedly connected to the first displacement device 71, an assembly cylinder 732 and an assembly ejector pin 733 fixedly connected to the assembly fixing base 731. An assembly movable shaft 734 that can move up and down is provided on the assembly fixing base 731. An elastic expansion component 75 for pushing and opening / closing the O-ring 12 is provided on the assembly fixing base 731. The expansion component 75 is connected to the assembly cylinder 732 and the assembly movable shaft 734 respectively. The expansion component 75 surrounds the assembly ejector pin 733. Specifically, as shown... Figure 12 As shown, the expansion assembly 75 includes an expansion main seat 751 connected to the assembly cylinder 732 and the assembly movable shaft 734. An expansion connecting seat 752 is fixedly connected to the expansion main seat 751. A first through hole 7511 is formed in the expansion connecting seat 752. An expansion connecting hole 7512 and an expansion connecting post 7513 communicating with the first through hole 7511 are provided on the expansion main seat 751. A recessed snap-fit ​​groove 7521 is provided on the side edge of the expansion connecting seat 752. The expansion connecting post 7513 is inserted into the expansion connecting hole 7512, and the middle position of the expansion connecting post 7513 is snapped into the snap-fit ​​groove 7521. The assembly ejector pin 733 passes through the first through hole 751. 1. A recessed locking groove 7522 is provided on the side edge of the expansion connector 752. At least four movable grooves 7523 communicating with the first through hole 7511 are provided on the locking groove 7522. A movable top block 7524 is provided on each movable groove 7523. One end of the top block 7524 forms a recessed arc-shaped abutment portion 75241 that matches the shape of the assembly pin 733. The abutment portion 75241 is provided with an arc-shaped guide surface 75242. The other end of the top block 7524 away from the pin also forms a recessed arc-shaped groove 75243 that matches the locking groove 7522. An elastic locking member 7525 is provided on the recessed arc-shaped groove 75243 to make the abutment portion 75241 tightly abut against the assembly pin 733. The assembly cylinder 732 drives the top block 7524 to press down. During the pressing process, the top block 7524 also drives the O-ring 12 to press down and fit into the valve stem 1. When it reaches the outer protruding step 11 of the valve stem 1, the outer protruding step 11 will resist the top block 7524. Since the outer protruding step 11 of the valve stem 1 is a gradually increasing conical ring-shaped structure, under the thrust of the assembly cylinder 732, the top block 7524 will slowly open along the shape of the outer protruding step 11. At the same time, the other end of the top block 7524 will be subjected to the elastic action of the elastic locking member 7525, so that the abutting part 75241 of the top block 7524 will keep tightly abutting against the outer wall of the valve stem 1, so as to ensure that the top block 7524 can push the O-ring 12 while opening. This continues until the O-ring 12 is fitted into the groove 111 of the valve stem 1 and then reset.

[0058] An auxiliary working mechanism 8 is disposed between the valve stem conveying mechanism 6 and the synchronous assembly conveying mechanism 7. The auxiliary working mechanism 8 is equipped with a worktable 83 for receiving the valve stem 1. The auxiliary working mechanism 8 transports the valve stem 1 to the lower part of the assembly device 73 for assembly with the O-ring 12. The aforementioned auxiliary working mechanism 8 includes:

[0059] An auxiliary workbench 81 is located between the first displacement device 71 and the valve stem conveying mechanism 6. A second rotary cylinder 82 is installed on the auxiliary workbench 81, and a worktable 83 is connected to the second rotary cylinder 82. Support members 84 for supporting valve stem 1 are fixedly connected to both ends of the worktable 83. The support members 84 are provided with support holes 841 for placing valve stem 1, and the two sides of the support members 84 are provided with fixed through grooves 842 communicating with the support holes 841. The valve stem 1 can be moved to the bottom of the assembly device 73 for assembly by the second rotary cylinder 82.

[0060] To enhance the positioning and stability of the valve stem 1 by the bearing member 84, an outward protrusion 843 extends upward from the upper end of the bearing member 84. A fixing groove 842 is provided on the outward protrusion 843, forming a stepped structure within the bearing member 84. A top connector 844 is inserted into the stepped structure, and an annular locking platform 8441 is provided at the lower end of the top connector 844. The other end of the top connector 844 is inserted into the bearing hole 841 to support the valve stem 1. A buffer spring 845 is provided on the annular locking platform 8441 to provide a certain buffer during assembly. A clamping device 86 is also provided on one side of the auxiliary work seat 81. The clamping device 86 includes a clamping seat 861 and a clamping cylinder 862 fixed on the clamping seat (861). The clamping cylinder 862 is connected to a clamping member 863 that can extend into the fixing groove 842. The clamping member 863 can clamp the valve stem 1 to prevent shaking during assembly and affect the assembly quality.

[0061] Preferably, after assembly, the valve stem 1 needs to be removed. To prevent the valve stem 1 from getting stuck in the bearing hole 841, this embodiment also provides a lifting device 85 located below the bearing member 84 adjacent to the first displacement device 71. The lifting device 85 includes a lifting cylinder 851 fixed on the base 2. The lifting cylinder 851 is connected to a lifting pin 852 that lifts the valve stem 1. The lifting pin 852 abuts against the annular retaining platform 8441 of the top connector 844. This allows the valve stem 1 to be ejected after assembly.

[0062] In this embodiment, to further improve the control of the assembly quality of valve stem 1 and O-ring 12, a second detection mechanism 9 is also provided, including a second detection feeding device 91 disposed below the first displacement device 71 and a second detection seat 92 disposed opposite to the second detection feeding device 91. A second detector 93 is disposed on the second detection seat 92, and the second detector 93 is a CCD vision detector; it can realize the detection of the quality of the assembled valve stem 1.

[0063] The aforementioned second detection feeding device 91 includes a second feeding seat 911 located below the first displacement device 71. A second feeding cylinder 912 and a second movable slide rail 913 are fixedly mounted on the second feeding seat 911. A second slider 914 is movably connected to the second movable slide rail 913. A second feeding block 915 connected to the second feeding cylinder 912 is fixedly mounted on the second slider 914. The end of the second feeding block 915 is provided with a receiving groove 9151 for accommodating the valve stem 1. This assists in feeding the assembled valve stem 1 to the second detector 93 for detection.

[0064] The second inspection and feeding device 91 also includes a second discharge seat 916 disposed on one side of the second inspection seat 92. A second discharge cylinder 917 is fixedly connected to the second discharge seat 916, and the second discharge cylinder 917 is connected to a third discharge guide groove 918. Products that fail the inspection are classified and sent out.

[0065] The first discharge guide trough 10 is located below the synchronous assembly conveying mechanism 7.

[0066] It should be noted that the third discharge guide 918 is positioned above the first discharge guide 10, with their projections overlapping. The first discharge guide 10, the second feeding block 915, and the worktable 83 are all placed within the working range of the first robot 72 and the second robot 74 to ensure the normal delivery of the valve stem 1.

[0067] Brief description of the working principle of this invention: The O-ring 12 is automatically fed by the vibratory plate 31 in conjunction with the first conveying guide rail 33, and the O-ring 12 is conveyed to the misalignment device 32. When the O-ring 12 enters the first loading slot 3241 of the misalignment slider 324, the second induction switch 3223 will control the misalignment cylinder 323 to start, pushing the misalignment slider 324 forward so that the O-ring 12 is placed below the assembly device 73. At this time, the first longitudinal movable cylinder 716 starts, driving the first longitudinal connecting seat 718 to move down, and then driving the assembly device 73 to move down. During the downward movement, the assembly pin 733 can be inserted into the inner hole of the O-ring 12 on the first loading slot 3241, so that the O-ring 12 is fitted onto the assembly pin 733. After completion, the first longitudinal movable cylinder 716 resets the assembly pin 733 and lifts the O-ring 12. At the same time, the misalignment cylinder 323 resets, driving the misalignment slider 324 back to the initial position to perform the next misalignment action of the O-ring 12.

[0068] The valve stem 1, in conjunction with the feeding tray 41 and the second conveying guide rail 42, is transported horizontally to the flipping device 43. The flipping device 43 rotates the valve stem 1 by 90°. Since the flipping device 43 is located below the third robot arm 61, after the valve stem 1 completes its 90° flip, the second longitudinal moving cylinder 631 is activated, driving the second longitudinal connecting seat 633 to move downward. During the downward movement, the third robot arm 61 opens. When the third clamping member 612 of the third robot arm 61 is level with the valve stem 1, the third clamping cylinder 611 controls the third clamping member 612 to reset and clamp the valve stem 1, thus achieving the clamping of the valve stem 1. During the first operation, there is no valve stem 1 on the first detection mechanism 5, so the fourth robot arm 64 does not operate. Then, the second longitudinal moving cylinder 631 resets, and the second transverse moving cylinder 621 is activated, bringing the third robot arm 61 to the first detection mechanism 5 via the second transverse connecting seat 63. Above the measuring mechanism 5, the second longitudinal moving cylinder 631 is activated, driving the second longitudinal connecting seat 633 to move downward. After the valve rod 1 on the third robot arm 61 moves downward, it can be inserted into the clamping hole 54. After completion, the second longitudinal moving cylinder 631 drives the second longitudinal connecting seat 633 to reset. Then, the second transverse moving cylinder 621 is activated, driving the second transverse connecting seat 63 to reset, so that the third robot arm 61 is placed in the initial position, that is, above the flipping device 43. At this time, the fourth robot arm 64 is placed above the first detection device. When the valve rod 1 is screwed into the clamping hole 54, the first detection column 511 supports the valve rod 1, the V-shaped positioning part 531 positions the valve rod 1 left and right, and the first detector 52 detects the end of the valve rod 1 placed in the clamping hole 54 to determine whether it is the flat end of the valve rod 1, and thus know whether the outer protruding step 11 of the valve rod 1 is facing upward.After the inspection is completed, the second longitudinal movable cylinder 631 is activated, causing the second longitudinal connecting seat 633 to move downward. The third robotic arm 61 repeats the above operation. The fourth robotic arm 64 opens and clamps the valve stem 1 on the first inspection mechanism 5. After completion, the second longitudinal movable cylinder 631 drives the second longitudinal connecting seat 633 to reset. Then, the second transverse movable cylinder 621 is activated, and the fourth robotic arm 64 is brought above the support member 84 of the auxiliary working mechanism 8 through the second transverse connecting seat 63. Then, the second longitudinal movable cylinder 631 is activated, causing the second longitudinal connecting seat 633 to move downward. The valve stem 1 clamped by the fourth robotic arm 64 will be inserted into the support hole 841 of the support member 84. Then the... The two longitudinal moving cylinders 631 and the second transverse moving cylinder 621 reset sequentially to perform the next round of feeding operations. It should be noted that the second discharge guide 57 is adjacent to the auxiliary working mechanism 8 and is positioned between the robot arm and the carrier 84. If the first detector 52 detects that the valve rod 1 is in the wrong position, before the fourth robot arm 64 moves down, the first discharge cylinder 56 pushes out the second discharge guide 57. Then, the fourth robot arm 64 moves down to place the incorrectly positioned valve rod 1 into the second discharge guide 57 and remove it to the outside of the equipment. A loading box can be provided to collect the incorrectly positioned valve rod 1 and then put it back into the feeding tray 41.

[0069] When valve stem 1 enters the bearing hole 841, the second rotary cylinder 82 is activated to rotate the worktable 83 180°. Simultaneously, the first transverse movable cylinder 712 is activated to move the assembly device 73 above the worktable 83, allowing the bearing member 84 with valve stem 1 to be positioned below the assembly device 73. Then, the clamping cylinder 862 is activated, causing the clamping member 863 to insert into the fixing slot 842 to clamp and fix valve stem 1. Next, the first longitudinal movable cylinder 716 moves the first longitudinal connecting seat 718 downwards, and the assembly device 73, mounted on the first longitudinal connecting seat 718, also moves downwards. The assembly pin 733 directly abuts against the top of valve stem 1, applying downward pressure to hold valve stem 1 in place during the first assembly. When there is no material at the corresponding workstation of the first robotic arm 72 and the second robotic arm 74, they do not operate. Then, the assembly cylinder 732 drives the expansion main seat 751 to move down, and the top contact block 7524 also moves down with the expansion main seat 751. During the downward movement of the top contact block 7524, the O-ring 12 on the assembly pin 733 is pushed down into the valve stem 1. The O-ring 12 is completely fitted into the groove 111 of the valve stem 1, and the assembly cylinder 732 can then reset. Then, the first longitudinal moving cylinder 716 resets to separate the assembly pin 733 from the valve stem 1. Then, the first transverse moving cylinder 712 resets to move the assembly device 73 above the misalignment device 32. At this time, the first robotic arm 72 is placed above the carrier 84, and then the first longitudinal moving cylinder 716 continues to move. The work causes the first longitudinal connecting seat 718 to move downwards, and the assembly device 73 continues to repeat the above-mentioned O-ring 12 feeding operation. At the same time, the clamping cylinder 862 causes the clamping member 863 to loosen, and the lifting cylinder 851 causes the lifting pin 852 to lift the valve stem from the carrier 84. The first robot arm 72 will clamp the valve stem 1 after the O-ring 12 assembly is completed. The first longitudinal moving cylinder 716 resets, and the first robot arm 72 causes the valve stem 1 to leave the carrier 84. The first transverse moving cylinder 712 starts and causes the first transverse moving seat to move, so that the first robot arm 72 moves above the second feeding seat 911. Then the first longitudinal moving cylinder 716 starts, and the first robot arm 72 moves downwards to place the valve stem 1 in the receiving groove 9151. Then the first longitudinal moving cylinder 712 starts and causes the first robot arm 72 to move downwards to place the valve stem 1 in the receiving groove 9151. The first robotic arm 72 is raised when the cylinder 716 resets, and the second feeding cylinder 912 is activated to move the second feeding block 915 along the second movable slide rail 913 to the area below the second detector 93 for a second inspection. This inspection mainly checks whether the O-ring 12 is properly fitted or damaged. After the inspection is completed, the second feeding cylinder 912 resets, and the first transverse moving cylinder 712 also resets. At this point, the second robotic arm 74 is positioned above the second feeding seat 911, and the first robotic arm 72 returns to the worktable 83 to repeat the valve stem 1 conveying operation. In the next step, the first longitudinal moving cylinder 716 is activated again, driving the second robotic arm 74 to move down and clamp the valve stem 1. Then, the first longitudinal moving cylinder 716 resets.The first lateral movement cylinder 712 is activated, bringing the second robotic arm 74 above the first discharge guide trough 10. If the second detection mechanism 9 detects no quality issues with the O-ring 12 fitted onto the valve stem 1, the second robotic arm 74 directly releases the valve stem 1, causing it to fall into the first discharge guide trough 10 for discharge. If the second detection mechanism 9 detects a quality problem with either the valve stem 1 or the O-ring 12, the second discharge cylinder 917 is activated, placing the third discharge guide 918 above the first discharge guide trough 10. The second robotic arm 74 then releases, causing the faulty valve stem 1 to fall into the third discharge guide 918 for external collection. A collection box can be set up for collection.

[0070] Compared with the prior art, the present invention has the following advantages: The present invention adopts a bidirectional feeding method to feed the valve stem 1 and O-ring 12 separately. The materials are transported separately by a synchronously moving robot. Then, the O-ring 12 is put into place by a unique expandable elastic expansion component 75. The elastic expansion component 75 can expand and adapt to the shape of the stepped valve stem 1, so that the O-ring 12 can be put in smoothly. After the O-ring 12 is fully put in, it can be automatically unloaded by the robot. The whole process is automated and does not require manual intervention. The degree of automation is high, which can effectively improve production efficiency and reduce production costs.

[0071] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sealing ring assembly machine, comprising a base (2), characterized in that, Also includes: A first feeding mechanism (3) for automatic feeding of O-rings (12) is fixed to one side of the machine base (2); A second feeding mechanism (4) for feeding the valve stem (1) is provided opposite to the first feeding mechanism (3); The second feeding mechanism (4) includes a feeding tray (41), a second conveying guide rail (42) connected to the feeding tray (41), and a flipping device (43) disposed at the end of the second conveying guide rail (42). The flipping device (43) includes a flipping bracket (431) and a first rotary cylinder (432) fixed on the flipping bracket (431). The first rotary cylinder (432) is connected to a flipping mold (433). The flipping mold (433) is provided with a second loading hole (4331) for loading the valve stem (1). It also includes a first detection mechanism (5) disposed on one side of the flipping device (43). The first detection mechanism (5) includes a first detection seat (51). The first detection seat (51) is fixedly provided with a first detector (52) for detecting the position of the valve stem (1) and two sets of first detection positioning members (53). The first detection seat (51) is provided with a first detection column (511). One end of the first detection positioning member (53) is provided with a V-shaped positioning part (531). The other end of the first detection positioning member (53) is fixed to the first detection seat. On 51), the V-shaped positioning parts (531) of the two sets of first detection positioning parts (53) abut against each other to form a clamping hole (54) for clamping the valve stem (1). The clamping hole (54) is located directly above the first detection column (511). The first detector (52) is an optical fiber detector. The first detection mechanism (5) also includes a first discharge seat (55) disposed on one side of the first detection seat (51). A first discharge cylinder (56) is fixedly connected to the first discharge seat (55). The first discharge cylinder (56) is connected to a second discharge guide groove (57). A synchronous assembly conveying mechanism (7) is provided on one side of the first feeding mechanism (3). The synchronous assembly conveying mechanism (7) includes a first displacement device (71) for longitudinal and lateral movement, a first manipulator (72) connected to the first displacement device (71), and an assembly device (73) for assembling the O-ring (12) and the valve stem (1). The assembly device (73) is provided with an elastic expansion component (75) for pushing the O-ring (12) and being openable and closable. The valve stem conveying mechanism (6) is located on one side of the second feeding mechanism (4). The valve stem conveying mechanism (6) is equipped with a third manipulator (61) for gripping and conveying the valve stem (1). An auxiliary working mechanism (8) is provided between the valve stem conveying mechanism (6) and the synchronous assembly conveying mechanism (7). The auxiliary working mechanism (8) is provided with a worktable (83) for holding the valve stem (1). The auxiliary working mechanism (8) transports the valve stem (1) to the bottom of the assembly device (73) to cooperate with the assembly of the O-ring (12). The first discharge guide chute (10) is located below the synchronous assembly conveying mechanism (7).

2. The sealing ring assembly machine according to claim 1, characterized in that, The first feeding mechanism (3) includes a vibratory feeder (31) and a misalignment device (32) connected to the vibratory feeder (31). A first conveying guide rail (33) is provided between the vibratory feeder (31) and the misalignment device (32). The misalignment device (32) includes a misalignment bracket (321), a misalignment seat (322) fixed to the misalignment bracket (321), and a misalignment cylinder (323). A misalignment groove (32) is formed on the misalignment seat (322). 21) The misaligned slide groove (3221) is provided with a misaligned slider (324) connected to the misaligned cylinder (323). The misaligned slider (324) is provided with a first mounting groove (3241) for mounting the O-ring (12). The misaligned seat (322) has a first connecting hole (3222) on its side. The first conveying guide rail (33) passes through the first connecting hole (3222) and abuts against the first mounting groove (3241).

3. The sealing ring assembly machine according to claim 1, characterized in that, The assembly device (73) includes an assembly fixing seat (731) fixedly connected to the first displacement device (71), an assembly cylinder (732) and an assembly ejector pin (733) fixedly connected to the assembly fixing seat (731). An assembly movable shaft (734) that can move up and down is provided on the assembly fixing seat (731). The expansion component (75) is connected to the assembly cylinder (732) and the assembly movable shaft (734) respectively. The expansion component (75) is arranged around the assembly ejector pin (733).

4. The sealing ring assembly machine according to claim 3, characterized in that, The expansion assembly (75) includes an expansion main seat (751), on which an expansion connecting seat (752) is fixedly connected. A first through hole (7511) is formed in the expansion connecting seat (752), through which the assembly pin (733) passes. A recessed locking groove (7522) is formed on the side edge of the expansion connecting seat (752), and at least four movable grooves (7523) communicating with the first through hole (7511) are provided in the locking groove (7522). Each of the movable slots (7523) is provided with a movable top block (7524). One end of the top block (7524) forms a concave arc-shaped abutment portion (75241) that matches the shape of the assembled ejector pin (733). The other end of the top block (7524) away from the ejector pin also forms a concave arc-shaped groove (75243) that matches the locking slot (7522). An elastic locking member (7525) is provided on the concave arc-shaped groove (75243) to make the abutment portion (75241) tightly abut against the assembled ejector pin (733).

5. The sealing ring assembly machine according to claim 1, characterized in that, The first displacement device (71) includes: a first displacement bracket (711) fixedly connected to the base (2), a first transverse movable cylinder (712) and a first transverse guide rail (713) provided on the first displacement bracket (711), a first transverse slider (714) connected to the first transverse movable cylinder (712) provided on the first transverse guide rail (713), a first transverse connecting seat (715) fixedly connected to the first transverse slider (714), a first longitudinal movable cylinder (716) and a first longitudinal slide rail (717) fixedly provided on the first transverse connecting seat (715), and a first longitudinal movable cylinder (716) and a first longitudinal slide rail (717) connected to the first longitudinal movable cylinder (716). The cylinder (716) is connected to the first longitudinal connecting seat (718). The first manipulator (72) and the assembly device (73) are both located on the first longitudinal connecting seat (718). The first longitudinal connecting seat (718) is also provided with a second manipulator (74). The first manipulator (72) includes a first clamping cylinder (721) fixed to the first longitudinal connecting seat (718) and a first clamping member (722) connected to the first clamping cylinder (721). The second manipulator (74) includes a second clamping cylinder (741) fixed to the first longitudinal connecting seat (718) and a second clamping member (742) connected to the second clamping cylinder (741).

6. The sealing ring assembly machine according to claim 1, characterized in that, The valve stem conveying mechanism (6) includes a second displacement bracket (62) fixedly connected to the base (2). A second transverse movable cylinder (621) and a second transverse guide rail (622) are mounted on the second displacement bracket (62). A second transverse slider (623) connected to the second transverse movable cylinder (621) is mounted on the second transverse guide rail (622). A second transverse connecting seat (63) is fixedly connected to the second transverse slider (623). A second longitudinal movable cylinder (631) and a second longitudinal slide rail (632) are fixedly mounted on the second transverse connecting seat (63). 32) A second longitudinal connecting seat (633) is connected to the second longitudinal movable cylinder (631). A fourth manipulator (64) is also provided on the second longitudinal connecting seat (633). The third manipulator (61) includes a third clamping cylinder (611) fixed to the second longitudinal connecting seat (633) and a third clamping member (612) connected to the third clamping cylinder (611). The fourth manipulator (64) includes a fourth clamping cylinder (641) fixed to the second longitudinal connecting seat (633) and a fourth clamping member (642) connected to the fourth clamping cylinder (641).

7. The sealing ring assembly machine according to claim 1, characterized in that, The auxiliary working mechanism (8) includes an auxiliary working seat (81) disposed between the first displacement device (71) and the valve stem conveying mechanism (6). A second rotary cylinder (82) is disposed on the auxiliary working seat (81), and a worktable (83) is connected to the second rotary cylinder (82). The two ends of the worktable (83) are fixedly connected to a support member (84) for supporting the valve stem (1). The support member (84) is provided with a support hole (841) for placing the valve stem (1). The two sides of the support member (84) are provided with a fixed through groove (842) communicating with the support hole (841). The upper end of the support member (84) extends upward to form an outward protrusion (843), and the fixing through groove (842) is provided on the outward protrusion (843). A stepped structure is formed in the support member (84), and a top connector (844) is inserted into the stepped structure. An annular locking platform (8441) is provided at the lower end of the top connector (844), and the other end of the top connector (844) is inserted into the support hole (841) to support the valve stem (1). A buffer spring (845) is provided on the annular locking platform (8441). A clamping device (86) is also provided on one side of the auxiliary work seat (81). The clamping device (86) includes a clamping seat (861) and a clamping cylinder (862) fixed on the clamping seat (861). The clamping cylinder (862) is connected to a clamping member (863) that can extend into the fixed through groove (842). It also includes a lifting device (85) disposed below the support member (84) adjacent to the first displacement device (71), the lifting device (85) including a lifting cylinder (851) fixed on the base (2), the lifting cylinder (851) being connected to a lifting pin (852) of the lifting valve rod (1), the lifting pin (852) abutting against the annular locking platform (8441) of the top connector (844).

8. The sealing ring assembly machine according to claim 1, characterized in that, It also includes a second detection mechanism (9), which includes a second detection feeding device (91) disposed below the first displacement device (71) and a second detection seat (92) disposed opposite to the second detection feeding device (91). A second detector (93) is disposed on the second detection seat (92), and the second detector (93) is a CCD vision detector. The second detection feeding device (91) includes a second feeding seat (911) located below the first displacement device (71). The second feeding seat (911) is fixedly provided with a second feeding cylinder (912) and a second movable slide rail (913). The second movable slide rail (913) is movably connected with a second slider (914). The second slider (914) is fixedly provided with a second feeding block (915) connected to the second feeding cylinder (912). The end of the second feeding block (915) is provided with a receiving groove (9151) for accommodating the valve stem (1). The second detection feeding device (91) further includes a second discharge seat (916) disposed on one side of the second detection seat (92), a second discharge cylinder (917) is fixedly connected to the second discharge seat (916), and the second discharge cylinder (917) is connected to a third discharge guide groove (918).

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