An automatic snap ring installation device

Abstract

This utility model relates to an automatic snap ring installation device, comprising: a vibratory feeder for feeding snap ring parts to be assembled; a first robotic arm; an assembly fixture, wherein the first robotic arm feeds snap ring parts from the vibratory feeder outlet into the assembly fixture; a snap ring feeding device for feeding snap rings one by one; and a second robotic arm for clamping snap rings from the feeding device into the snap ring parts on the assembly fixture. The automatic snap ring installation device of this utility model uses a vibratory feeder for automatic feeding of parts, a snap ring feeding device for automatic feeding of snap rings, a first robotic arm for placing parts onto the assembly fixture, and a second robotic arm for feeding and assembling snap rings, thereby completing the automatic assembly of snap rings and parts. This allows for convenient, fast, and accurate installation of snap rings into the snap ring slots of parts, improving assembly efficiency and ensuring assembly quality, thus enhancing the overall quality of both parts and snap rings.

Description

Technical Field

[0001] This utility model relates to the field of automated production equipment technology, and in particular to an automatic snap ring installation device. Background Technology

[0002] A snap ring, also called a retaining ring or retaining ring, is a type of fastener. Snap rings are generally installed in shaft grooves or hole grooves to prevent axial movement of parts on the shaft or hole.

[0003] Currently, snap ring assembly is mainly done manually using simple tools such as needle-nose pliers and snap ring pliers. Needle-nose pliers are used for assembling loose materials, while snap ring pliers are used for assembling materials that are stacked in cylindrical packages. Manual assembly of snap rings requires the use of snap ring pliers with a bent end. The pin at the end of the pliers is inserted into the insertion hole at the open end of the snap ring to open it and quickly fit it onto the annular retaining groove of the shaft. The pliers are then released, completing the assembly of the snap ring and the shaft. This method is sufficient for small-batch production, but for large-batch production, this assembly method is not only slow but also easily causes hand fatigue for workers, making it difficult to meet large order demands. Furthermore, the high labor costs result in uncompetitive pricing for the finished products. In addition, manual operation requires applying external force to bend the snap ring to smoothly insert it into the mounting groove, which can easily cause the snap ring to break or be damaged, making fully automated installation and positioning impossible. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to overcome the fact that the installation of snap rings in the prior art is done manually one by one by pressing them with tools. This is not only labor-intensive and inefficient, but also prone to damage to the snap rings during the installation process, which cannot meet the needs of efficient production operations.

[0005] To solve the above-mentioned technical problems, this utility model provides an automatic snap ring installation device, comprising: a vibratory feeder containing a plurality of snap ring parts to be assembled, and the vibratory feeder being used for feeding the snap ring parts to be assembled; a first robotic arm; an assembly fixture for placing the snap ring parts to be assembled, the first robotic arm being used for feeding the snap ring parts to be assembled from the outlet of the vibratory feeder into the assembly fixture; a snap ring feeding device containing a plurality of snap rings, and the snap ring feeding device being used for feeding the snap rings one by one; and a second robotic arm for clamping the snap rings on the snap ring feeding device into the snap ring parts to be assembled on the assembly fixture, and the second robotic arm being used for unloading the assembled snap ring parts.

[0006] In one embodiment of this utility model, the feeding conveyor belt and the unloading conveyor belt are connected at the starting end of the feeding conveyor belt to the discharge end of the vibratory feeder. The parts of the snap rings to be assembled in the vibratory feeder are fed one by one onto the feeding conveyor belt. The feeding conveyor belt is used to transport the parts of the snap rings to be assembled, and the unloading conveyor belt is used to unload the parts of the assembled snap rings.

[0007] In one embodiment of the present invention, a limiting baffle is provided at the end of the feeding conveyor belt, and a groove is provided on the side of the limiting baffle facing the starting end of the feeding conveyor belt. The cross-section of the groove is an isosceles trapezoid, and the groove is used to limit the parts of the snap ring to be assembled conveyed on the feeding conveyor belt.

[0008] In one embodiment of this utility model, the robotic arm includes a support base, a dual-axis moving module, and a part loading nozzle. The dual-axis moving module is mounted on the support base, and the part loading nozzle is connected to the dual-axis moving module. The dual-axis moving module drives the part loading nozzle to pick up the parts of the snap ring to be assembled into the assembly fixture.

[0009] In one embodiment of the present invention, the assembly fixture includes a fixture base and a part positioning block. The part positioning block is mounted on the fixture base, and the upper end face of the part positioning block is provided with a second groove for accommodating parts.

[0010] In one embodiment of this utility model, the snap ring feeding device includes a snap ring feeding column, a snap ring locking assembly, a snap ring dispensing and conveying assembly, and a snap ring conveying assembly. A plurality of snap rings are sleeved on the snap ring feeding column. The snap ring locking assembly is used to clamp the snap rings on the snap ring feeding column. The snap ring dispensing and conveying assembly is used to receive and convey the snap rings at the bottom of the snap ring feeding column to the snap ring conveying assembly. The snap ring conveying assembly is used to convey the snap rings one by one.

[0011] In one embodiment of the present invention, the snap ring locking assembly includes a first clamping cylinder and two symmetrically arranged clamping plates. The two symmetrically arranged clamping plates correspond one-to-one with the two clamping claws of the first clamping cylinder. One end of each clamping plate is fixedly connected to the clamping claws. The first clamping cylinder drives the two symmetrically arranged clamping plates to clamp the snap ring.

[0012] In one embodiment of this utility model, the snap ring feeding and conveying assembly includes a rodless cylinder, a lifting cylinder, and a snap ring receiving plate. The lifting cylinder and the output end of the rodless cylinder are connected, and the snap ring receiving plate is connected to the output end of the lifting cylinder. The snap ring receiving plate is a rectangular flat plate, and the snap ring receiving plate contacts the snap ring upper column to receive the snap ring at the bottom of the snap ring upper column.

[0013] In one embodiment of this utility model, the snap ring conveying assembly includes a conveying support base, a rodless cylinder II, and two symmetrically arranged snap ring conveying plates. The two symmetrically arranged snap ring conveying plates are rectangular flat plates and are mounted on the conveying support base. The rodless cylinder II is mounted on one of the snap ring conveying plates. The output end of the rodless cylinder II is connected to a bracket, and a plurality of material-pulling cylinders are mounted on the bracket. The plurality of material-pulling cylinders are arranged in a row along the length direction of the snap ring conveying plate. The output end of the material-pulling cylinder is connected to a material-pulling head. The material-pulling cylinder drives the material-pulling head to insert into the circumference of the snap ring. When the rodless cylinder II drives the bracket to move linearly, the material-pulling head drives the snap ring to move on the snap ring conveying plate.

[0014] In one embodiment of this utility model, the second robotic arm includes a second support base, a three-axis moving module, a gripper cylinder, and a second suction nozzle. The three-axis moving module is mounted on the second support base. The gripper cylinder and the second suction nozzle are both connected to the three-axis moving module. The second suction nozzle is used to pick up the assembled snap ring parts. The gripper cylinder is connected to two symmetrical grippers. The gripper cylinder drives the two symmetrical grippers to clamp the snap rings and feed them to the assembly fixture.

[0015] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects:

[0016] The automatic snap ring installation equipment of this utility model uses a vibratory feeder for automatic part feeding, a snap ring feeding device for automatic snap ring feeding, a robotic arm one to place the part onto the assembly fixture, and a robotic arm two to feed and assemble the snap ring, thereby completing the automatic assembly of the snap ring and the part. It can conveniently, quickly and accurately install the snap ring into the snap ring slot of the part, which not only improves the assembly efficiency of the snap ring, but also ensures the assembly quality of the snap ring and improves the overall quality of the part and the snap ring. Attached Figure Description

[0017] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0018] Figure 1 This is a schematic diagram of the overall structure of the automatic snap ring installation device in a preferred embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the automatic snap ring installation device in a preferred embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the robotic arm, assembly fixture, and feeding conveyor belt in a preferred embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the assembly fixture in a preferred embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the robotic arm 2 and the unloading conveyor belt in a preferred embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the circlip feeding device in a preferred embodiment of the present invention. Figure 1 ;

[0024] Figure 7 This is a schematic diagram of the circlip feeding device in a preferred embodiment of the present invention. Figure 2 ;

[0025] Figure 8 This is a partial structural schematic diagram of the snap ring feeding device in a preferred embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the gripper structure in a preferred embodiment of the present invention.

[0027] Explanation of reference numerals in the accompanying drawings: Vibratory feeder 1, Robotic arm 1, Support base 1, Dual-axis moving module 22, Parts feeding nozzle 23, Assembly fixture 3, Fixture base 31, Part positioning block 32, Groove 2 321, Avoidance groove 322, Snap spring feeding device 4, Snap spring feeding column 41, Snap spring locking assembly 42, Gripper cylinder 1 421, Clamping plate 422, Arc-shaped groove 1 423, Snap spring material conveying assembly 43, Rodless cylinder 1 431. Lifting cylinder 1 432, snap ring receiving plate 433, snap ring conveying assembly 44, conveying support base 441, rodless cylinder 2 442, snap ring conveying plate 443, bracket 444, material feeding cylinder 445, material feeding head 446, robotic arm 2 5, support base 2 51, three-axis moving module 52, gripper cylinder 53, suction nozzle 2 54, gripper 55, arc-shaped groove 2 551, feeding conveyor belt 6, limit baffle 61, groove 1 611, unloading conveyor belt 7. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0029] Reference Figure 1 , 2As shown, the automatic snap ring installation device of this utility model includes: a vibratory feeder 1, a first robotic arm 2, an assembly fixture 3, a snap ring feeding device 4, a second robotic arm 5, a feeding conveyor belt 6, and a discharging conveyor belt 7; the vibratory feeder 1 contains several snap ring parts to be assembled, and the vibratory feeder 1 is used for feeding the snap ring parts to be assembled; the first robotic arm 2 is used for feeding the snap ring parts to be assembled; the assembly fixture 3 is used to place the snap ring parts to be assembled, and the first robotic arm 2 is used to feed the snap ring parts to be assembled from the outlet of the vibratory feeder 1 into the assembly fixture 3; snap rings The feeding device 4 is equipped with several snap rings and is used to feed snap rings one by one; the second robot arm 5 is used to clamp the snap rings on the feeding device 4 and place them into the snap ring parts to be assembled on the assembly fixture 3, and the second robot arm 5 is used to unload the assembled snap ring parts; the starting end of the feeding conveyor belt 6 is connected to the discharge end of the vibrating plate 1, and the snap ring parts to be assembled in the vibrating plate 1 are fed one by one onto the feeding conveyor belt 6, the feeding conveyor belt 6 is used to transport the snap ring parts to be assembled, and the unloading conveyor belt 7 is used to unload the assembled snap ring parts.

[0030] Reference Figure 3 As shown, the end of the feeding conveyor belt 6 is provided with a limiting baffle 61. The limiting baffle 61 has a groove 611 on the side facing the starting end of the feeding conveyor belt 6. The cross section of the groove 611 is an isosceles trapezoid. The groove 611 is used to limit the parts of the snap ring to be assembled conveyed on the feeding conveyor belt 6.

[0031] Reference Figure 3 As shown, the robotic arm 2 includes a support base 21, a dual-axis moving module 22, and a part loading nozzle 23. The dual-axis moving module 22 is mounted on the support base 21. The part loading nozzle 23 is connected to the dual-axis moving module 22. The dual-axis moving module 22 drives the part loading nozzle 23 to pick up the parts to be assembled from the snap rings and place them into the assembly fixture 3.

[0032] Reference Figure 4 As shown, the assembly fixture 3 includes a fixture base 31 and a part positioning block 32. The part positioning block 32 is mounted on the fixture base 31. The upper end face of the part positioning block 32 is provided with a second groove 321, which is used to accommodate the part. Preferably, in this utility model, the part to be assembled with the snap ring is a circular cap, and the snap ring is a circular ring with an opening. The snap ring needs to be assembled into the slot in the inner wall of this circular cap. Therefore, the second groove 321 is a circular groove. Two symmetrically arranged avoidance grooves 322 are provided on the side wall where the second groove 321 is located. The two symmetrically arranged avoidance grooves 322 are on the same diameter of the circular groove. The avoidance grooves 322 are used to avoid the second robot arm 5.

[0033] Reference Figure 6-8As shown, the snap ring feeding device 4 includes a snap ring feeding column 41, a snap ring locking assembly 42, a snap ring dispensing and conveying assembly 43, and a snap ring conveying assembly 44. A plurality of snap rings are sleeved on the snap ring feeding column 41. The snap ring locking assembly 42 is used to clamp the snap rings on the snap ring feeding column 41. The snap ring dispensing and conveying assembly 43 is used to receive and convey the snap rings at the lowest end of the snap ring feeding column 41 to the snap ring conveying assembly 44. The snap ring conveying assembly 44 is used to convey snap rings one by one. The spring clip feeding post 41 is cylindrical, and its diameter is smaller than the inner diameter of the spring clip, allowing the spring clip to fit neatly onto it. The upper end of the spring clip feeding post 41 is tapered, with its diameter gradually decreasing from bottom to top, facilitating the insertion of the spring clip. The spring clip feeding post 41 is fixed to the machine platform by a fixed support, and its lower end is suspended above the machine platform. The spring clip material conveying assembly 43 is configured... The spring clip feeding post 41 is located at the lower end of the spring clip feeding post 41 and is in contact with the lower end of the spring clip feeding post 41. Thus, the spring clip feeding conveying assembly 43 can support the spring clips on the spring clip feeding post 41 so that they do not fall off. When the spring clip feeding conveying assembly 43 receives the spring clip at the bottom of the spring clip feeding post 41 and feeds it, the spring clip feeding conveying assembly 43 leaves the lower end of the spring clip feeding post 41 and locks the second spring clip from the bottom of the spring clip feeding post 41 by the spring clip locking assembly 42 to ensure that the spring clip does not fall off.

[0034] In the above structure, the snap ring locking assembly 42 includes a gripper cylinder 421 and two symmetrically arranged clamping plates 422. The two symmetrically arranged clamping plates 422 correspond one-to-one with the two grippers of the gripper cylinder 421. One end of each clamping plate 422 is fixedly connected to a gripper. The gripper cylinder 421 drives the two symmetrically arranged clamping plates 422 to clamp the snap ring. The plane of the two symmetrically arranged clamping plates 422 is on the same plane as the second snap ring from the bottom on the snap ring feeding post 41. Thus, when the gripper cylinder 421 drives the two symmetrically arranged clamping plates 422 to close, the two symmetrically arranged clamping plates 422 just clamp the second snap ring from the bottom on the snap ring feeding post 41, thereby preventing the snap ring on the snap ring feeding post 41 from falling off. To facilitate clamping the snap ring, the opposite surfaces of the two symmetrically arranged clamping plates 422 are provided with arc-shaped grooves 423. When the snap ring is clamped by the clamping plates 422, it is located in the arc-shaped grooves 423.

[0035] In the above structure, the snap ring feeding and conveying assembly 43 includes a rodless cylinder 431, a lifting cylinder 432, and a snap ring receiving plate 433. The lifting cylinder 432 is connected to the output end of the rodless cylinder 431, and the snap ring receiving plate 433 is connected to the output end of the lifting cylinder 432. The snap ring receiving plate 433 is a rectangular flat plate, and the snap ring receiving plate 433 contacts the snap ring upper column 41 to receive the snap ring at the lowermost end of the snap ring upper column 41. The rodless cylinder 431 and the lifting cylinder 432 work together to drive the snap ring receiving plate 433 to be located below the snap ring upper column 41. The snap ring at the bottom of the snap ring upper column 41 falls on the snap ring receiving plate 433. When the gripper cylinder 421 drives the two symmetrically arranged clamping plates 422 to clamp the second snap ring from the bottom of the snap ring upper column 41, the lifting cylinder 432 drives the snap ring receiving plate 433 to descend. At this time, the snap ring receiving plate 433 receives a snap ring. Then the rodless cylinder 431 drives the snap ring receiving plate 433 to move to the snap ring conveying assembly 44 and convey the snap ring to the snap ring conveying assembly 44.

[0036] In the above structure, the snap ring conveying assembly 44 includes a conveying support base 441, a rodless cylinder 442, and two symmetrically arranged snap ring conveying plates 443. The two symmetrically arranged snap ring conveying plates 443 are rectangular flat plates and are mounted on the conveying support base 441. The rodless cylinder 442 is mounted on one of the snap ring conveying plates 443. The output end of the rodless cylinder 442 is connected to a bracket 444. Several material-feeding cylinders 445 are mounted on the bracket 444. The material-feeding cylinders 445 are arranged in a row along the length of the snap ring conveying plate 443. The output end of the material-feeding cylinder 445 is connected to a material-feeding head 446. The material-feeding cylinder 445 drives the material-feeding head 446 to insert into the circumference of the snap ring. When the rodless cylinder 442 drives the bracket 444 to move linearly, the material-feeding head 446 drives the snap ring to move on the snap ring conveying plate 443. A gap is left between the two symmetrically arranged snap ring conveying plates 443. A U-shaped groove 434 is provided on the snap ring receiving plate 433. The U-shaped groove 434 and the gap between the two symmetrically arranged snap ring conveying plates 443 are on the same straight line to avoid the part of the material feeding cylinder 445 driving the material feeding head 446 to insert into the snap ring. Its specific working principle is as follows: the rodless cylinder 431 drives the snap ring receiving plate 433 to dock with the two symmetrically arranged snap ring conveying plates 443, and the lifting cylinder 432 drives the snap ring receiving plate 433 and the two symmetrically arranged snap ring conveying plates 443 to be on the same plane. Thus, after the snap ring receiving plate 433 receives a snap ring and docks with the two symmetrically arranged snap ring conveying plates 443, the rodless cylinder 442 drives the bracket 444 to one end close to the snap ring receiving plate 433. At this time, a column... One end of the feeding head 446 is located above the snap ring on the snap ring receiving plate 433. After the feeding cylinder 445 drives the feeding head 446 to insert into the inner ring of the snap ring, when the rodless cylinder 442 drives the bracket 444, the feeding head 446 can move the snap ring from the snap ring receiving plate 433 to the two symmetrically arranged snap ring conveying plates 443. At the same time, the remaining feeding head 446 is also inserted into the inner ring of the snap ring on the snap ring conveying plate 443. The movement of the rodless cylinder 442 can drive the snap ring to move.

[0037] Reference Figure 5 , 9As shown, the robotic arm 2 5 includes a support base 2 51, a three-axis moving module 52, a gripper cylinder 53, and a suction nozzle 2 54. The three-axis moving module 52 is mounted on the support base 2 51. The gripper cylinder 53 and the suction nozzle 2 54 are both connected to the three-axis moving module 52. The suction nozzle 2 54 is used to pick up the assembled snap ring parts. The gripper cylinder 53 is connected to two symmetrical grippers 55. The gripper cylinder 53 drives the two symmetrical grippers 55 to clamp the snap ring and feed it to the assembly fixture 3. The inner walls of the grippers 55 are provided with arc-shaped grooves 2 551. When the grippers 55 clamp the snap ring, the snap ring is located in the arc-shaped grooves 2 551, thereby forming a stable clamping of the snap ring. At the same time, when the snap ring is installed on the parts to be assembled on the assembly fixture 3, it can also prevent the snap ring from falling off.

[0038] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A clasp spring automatic mounting apparatus characterized by comprising: include: A vibratory feeder contains several parts for circlip assembly, and the vibratory feeder is used to feed the parts for circlip assembly. Robotic arm one; An assembly fixture is used to place the parts of the snap rings to be assembled. The robotic arm is used to feed the parts of the snap rings to be assembled from the outlet of the vibratory feeder into the assembly fixture. A snap ring feeding device is provided with several snap rings, and the snap ring feeding device is used to feed the snap rings one by one; Robotic arm 2 is used to clamp the snap rings on the snap ring feeding device into the snap ring parts to be assembled on the assembly fixture, and robotic arm 2 is used to unload the assembled snap ring parts.

2. The clasp automatic mounting apparatus according to claim 1, characterized by: The feeding conveyor belt and the unloading conveyor belt are configured such that the starting end of the feeding conveyor belt is connected to the discharge end of the vibratory feeder. The parts of the snap rings to be assembled in the vibratory feeder are fed one by one onto the feeding conveyor belt. The feeding conveyor belt is used to transport the parts of the snap rings to be assembled, and the unloading conveyor belt is used to unload the parts of the assembled snap rings.

3. The clasp automatic mounting apparatus according to claim 2, characterized by: The end of the feeding conveyor belt is provided with a limiting baffle. The limiting baffle has a groove on the side facing the starting end of the feeding conveyor belt. The cross-section of the groove is an isosceles trapezoid. The groove is used to limit the parts of the snap ring to be assembled conveyed on the feeding conveyor belt.

4. The clasp automatic mounting apparatus according to claim 1, characterized by: The robotic arm includes a support base, a dual-axis moving module, and a part loading nozzle. The dual-axis moving module is mounted on the support base, and the part loading nozzle is connected to the dual-axis moving module. The dual-axis moving module drives the part loading nozzle to pick up the parts to be assembled (such as snap rings) into the assembly fixture.

5. The clasp automatic mounting apparatus according to claim 1, characterized by: The assembly fixture includes a fixture base and a part positioning block. The part positioning block is mounted on the fixture base, and the upper end face of the part positioning block is provided with a second groove for accommodating the part.

6. The clasp automatic mounting apparatus according to claim 1, characterized by: The snap ring feeding device includes a snap ring feeding column, a snap ring locking assembly, a snap ring dispensing and conveying assembly, and a snap ring conveying assembly. Several snap rings are sleeved on the snap ring feeding column. The snap ring locking assembly is used to clamp the snap rings on the snap ring feeding column. The snap ring dispensing and conveying assembly is used to receive and convey the snap rings at the bottom of the snap ring feeding column to the snap ring conveying assembly. The snap ring conveying assembly is used to convey the snap rings one by one.

7. The automatic snap ring installation device according to claim 6, characterized in that: The snap ring locking assembly includes a clamping cylinder and two symmetrically arranged clamping plates. The two symmetrically arranged clamping plates correspond one-to-one with the two clamping claws of the clamping cylinder. One end of each clamping plate is fixedly connected to the clamping claws. The clamping cylinder drives the two symmetrically arranged clamping plates to clamp the snap ring.

8. The clasp automatic mounting apparatus according to claim 7, characterized by: The snap ring feeding and conveying assembly includes a rodless cylinder, a lifting cylinder, and a snap ring receiving plate. The lifting cylinder and the output end of the rodless cylinder are connected. The snap ring receiving plate is connected to the output end of the lifting cylinder. The snap ring receiving plate is a rectangular flat plate, and it contacts the snap ring upper column to receive the snap ring at the bottom of the upper column.

9. The clasp automatic mounting apparatus according to claim 8, characterized by: The snap ring conveying assembly includes a conveying support base, a rodless cylinder II, and two symmetrically arranged snap ring conveying plates. The two symmetrically arranged snap ring conveying plates are rectangular flat plates and are mounted on the conveying support base. The rodless cylinder II is mounted on one of the snap ring conveying plates. The output end of the rodless cylinder II is connected to a bracket, and several material-pulling cylinders are mounted on the bracket. The material-pulling cylinders are arranged in a row along the length of the snap ring conveying plate. The output end of each material-pulling cylinder is connected to a material-pulling head. The material-pulling cylinder drives the material-pulling head to insert into the circumference of the snap ring. When the rodless cylinder II drives the bracket to move linearly, the material-pulling head drives the snap ring to move on the snap ring conveying plate.

10. The clasp automatic mounting apparatus according to claim 1, characterized by: The second robotic arm includes a second support base, a three-axis moving module, a gripper cylinder, and a second suction nozzle. The three-axis moving module is mounted on the second support base. The gripper cylinder and the second suction nozzle are both connected to the three-axis moving module. The second suction nozzle is used to pick up the assembled snap ring parts. The gripper cylinder is connected to two symmetrical grippers. The gripper cylinder drives the two symmetrical grippers to hold the snap rings and feed them to the assembly fixture.

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