CN111230477A - Automatic assembly equipment for hollow rod gasket assembly with controllable gas spring - Google Patents

Abstract

The invention relates to the field of automatic assembly equipment for gas springs, in particular to an automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring, including a piston rod pre-assembly device and a first conveyor; the piston rod pre-assembly device includes There are a first gasket feeding assembly mechanism, a retaining ring feeding assembly mechanism, a first inner sealing ring feeding assembly mechanism, and a second gasket feeding assembly mechanism surrounding the side of the first conveyor. The material assembly mechanism, the retaining ring feeding assembly mechanism, and the second gasket feeding assembly mechanism have the same structure, among which the first gasket feeding assembly mechanism and the retaining ring feeding assembly mechanism, the retaining ring feeding assembly mechanism and the second Between the feeding and assembling mechanism of an inner sealing ring, and after the feeding and assembling mechanism of the second gasket, a correction detection mechanism is arranged on the side of the first conveyor; the technical scheme can automatically assemble the hollow rod gasket assembly.

Description

Automatic assembly equipment for hollow rod gasket assembly with controllable gas spring

technical field

The invention relates to the field of automatic assembling equipment for gas springs, in particular to an automatic assembling equipment for a hollow rod gasket assembly of a controllable gas spring.

Background technique

Gas spring is an industrial accessory that can function as support, buffer, braking, height adjustment and angle adjustment. It consists of the following parts: pressure cylinder, piston rod, piston, sealing guide sleeve, filler (inert gas or oil-air mixture), control element in the cylinder and control element outside the cylinder (referring to the controllable gas spring) and joints. The principle is to fill the closed pressure cylinder with inert gas or oil and gas mixture, so that the pressure in the cavity is several times or tens of times higher than the atmospheric pressure, and the pressure difference generated by the use of the cross-sectional area of the piston rod is smaller than that of the piston. to achieve the movement of the piston rod.

There is a controllable valve on the piston inside the controllable gas spring, which is used to lock the piston rod of the gas spring. The piston rod is a hollow structure, and a control rod is installed inside, which can control the movement of the control rod through the wrench device on the head of the piston rod. Push-pull action, and then the control rod drives the controllable valve on the piston to open and close. When the controllable valve is opened, if no axial external force is applied, the controllable gas spring will be extended and the piston rod will be pushed out. The controllable gas spring is compressed if an external force is applied that is greater than the force generated by its internal pressure.

Chinese patent CN107701639B discloses a double-cylinder controllable gas spring, which includes a piston rod, an outer cylinder, a guide sleeve, a rear head, a joint, an inner cylinder and a buffer sleeve. The inner hole of the buffer sleeve is slidably connected with the piston rod, the outer cylindrical surface is slidingly matched with the inner hole of the outer cylinder, the lower end is inserted between the inner surface of the inner cylinder and the outer surface of the piston rod, and the upper end is also provided with an oil guide hole. A floating piston is arranged between the inner cylinder and the outer cylinder. A valve needle is arranged in the inner hole of the valve body piston. The middle of the valve needle is concave, the upper and lower sides are cylindrical, the lower end is intermittently connected with the lower end of the valve body piston, and the upper end is sealed with the piston rod. The outer diameter of the upper end of the valve body piston is smaller than the inner diameter of the inner cylinder, and a plurality of conducting holes which are concavely communicated with the middle part of the valve needle are arranged. The lower end of the inner cylinder is sealed and connected with the support seat. The support seat is connected with the outer cylinder seal. The upper end of the rear head is provided with a concave portion, the concave portion is provided with an air passage communicating with an external air source, and a sealing steel ball is arranged on the air passage. The support seat is provided with air guide holes.

Similar to the controllable gas spring disclosed in this patent, there is currently no equipment for fully automatic assembly of hollow rod spacer assemblies.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring. The technical solution can fully automatically assemble the hollow rod gasket assembly, and correction and detection are carried out in each step of the process. The qualified rate of automatic assembly of hollow rod gasket components is greatly improved.

In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:

An automatic assembly equipment for a hollow rod gasket assembly with a controllable gas spring, which is used for automatically loading a first gasket, a retaining ring, a first inner sealing ring, and a second gasket into a hollow rod; Dispensing equipment and the first conveyor; the piston rod pre-assembly equipment includes a first gasket feeding assembly mechanism, a retaining ring feeding assembly mechanism, and a first inner sealing ring feeding assembly mechanism surrounding the side of the first conveyor , The second gasket feeding assembly mechanism, the first gasket feeding assembly mechanism, the retaining ring feeding assembly mechanism, the first inner sealing ring feeding assembly mechanism, and the second gasket feeding assembly mechanism are assembled along the piston rod Arranged in order, the structure of the first gasket feeding assembly mechanism, the retaining ring feeding assembly mechanism, and the second gasket feeding assembly mechanism are the same, among which the first gasket feeding assembly mechanism and the retaining ring feeding assembly mechanism are between , Between the retaining ring feeding and assembling mechanism and the first inner sealing ring feeding and assembling mechanism, and after the second gasket feeding and assembling mechanism, a correction detection mechanism located on the side of the first conveyor is arranged.

Preferably, the first conveyor includes a first table, a first fixed disk, a first movable ring, a third rotary driver, a second movable ring, and a tenth linear driver; the third rotary driver and the tenth linear driver are both fixed Installed on the top of the first worktable, the working parts of the third rotary driver and the tenth linear driver are vertically upward, and the output shaft of the third rotary driver is vertically arranged; the first movable ring and the second movable ring are coaxial It is sleeved on the outside of the first fixed disk, the first fixed disk is fixedly installed on the non-working part of the third rotary drive, the first movable ring is fixedly installed on the working part of the third rotary drive, and the second movable ring is fixedly installed on the tenth The working part of the linear drive; the first movable ring is fixedly installed with a plurality of hollow rod upper clamps evenly distributed around the axis of the first movable ring, the hollow rod upper clamp has a first working end for clamping the hollow rod, and the first fixed The plate is fixedly installed with a first clamp shutter which is arranged at the feeding part and the discharging position of the first conveyor, and the first clamp shutter has a second working end for driving the clamp on the hollow rod to open; in the working state, The top surface of the second movable ring is located just below the working end of the clamp on the hollow rod.

Preferably, the top surface of the second movable ring is fixedly installed with a protrusion corresponding to each assembly position of the piston rod, and the diameter of the protrusion is larger than that of the hollow rod.

Preferably, the protruding block is provided with a chute vertically recessed downward from the top surface of the protruding block, and the width of the chute is smaller than the diameter of the hollow rod.

Preferably, the bottom surface of the second movable ring is fixedly installed with a hollow rod lower clamp corresponding to each bump, and the hollow rod lower clamp includes a finger cylinder and a hollow rod clamping claw for clamping the hollow rod. The finger cylinder is connected to the hollow rod. The second movable ring is fixedly connected, the hollow rod clamping claw is fixedly connected with the working end of the finger cylinder, and the working part of the hollow rod clamping claw extends upward along both sides of the second movable ring to both sides of the top surface of the convex block.

Preferably, the first gasket feeding and assembling mechanism, the retaining ring feeding and assembling mechanism, the first inner sealing ring feeding and assembling mechanism, and the second gasket feeding and assembling mechanism all include a vibration feeder, a distributor, an industrial The discharge end of the robot, the manipulator, and the vibrating feeder is connected with the feed end of the distributor, the discharge end of the distributor is located in the working area of the industrial robot, and the manipulator is fixedly installed on the working end of the industrial robot.

Preferably, the manipulator is a third manipulator, and the third manipulator includes a first fixed block, a first movable block, a first sliding column, a first spring, a sleeve, a first finger cylinder, and a plug claw; the first fixed block is fixedly installed At the working end of the industrial robot, the first sliding column is slidably installed on the first fixed block, the first movable block is fixedly installed on the bottom end of the first sliding column, the first spring is sleeved on the first sliding column, and the first sliding column is mounted on the first sliding column. The two ends of a spring abut on the first fixed block and the first movable block respectively, the sleeve is fixedly connected with the first movable block, the first finger cylinder is fixedly connected with the first fixed block, and the claw is fixedly installed on the first finger The working end of the cylinder and the working end of the piston rod pre-assembly device 7 are arranged through the sleeve from top to bottom.

Preferably, the manipulator is a fourth manipulator, and the fourth manipulator includes a fifth linear drive, a movable block, a plug needle, a guide column, a fixed block, and a plug cylinder, the fifth linear drive is fixedly installed on the working end of the industrial robot, and the fifth linear drive The driver is arranged vertically, the movable block is fixedly installed on the working part of the fifth linear drive, the fixed block is fixedly installed on the non-working part of the fifth linear drive, the fixed block is located just below the movable block, and the bottom end of the movable block is fixedly installed with a through-hole. For the plug needle of the fixed block, the side of the plug needle is provided with a guide column that is fixedly connected with the movable block and penetrates through the fixed block. An inner sealing ring has an interference fit, the outer circumferential surface of the plug barrel is gap-fitted with the inner diameter of the control rod, and the gap between the guide column and the plug barrel is larger than the wall thickness of the hollow rod.

Preferably, the correction detection mechanism includes a second correction detection mechanism, the second correction detection mechanism includes a seventh linear drive, a second elastic connection mechanism, and a second cylindrical pass-stop gauge, and the seventh linear drive is fixedly installed in the work of the industrial robot. The working end of the seventh linear driver is arranged vertically downward, the second cylindrical pass and stop gauge is vertically slidable and installed on the seventh linear drive, and the second cylindrical pass and stop gauge and the working end of the seventh linear drive pass through the The two elastic connecting mechanisms are elastically connected, and the outer circumferential surface of the second cylindrical pass-and-stop gauge is in clearance fit with the inner wall of the hollow rod.

Preferably, the correction detection mechanism includes a first correction detection mechanism, and the first correction detection mechanism includes a first bracket, a sixth linear actuator, a first elastic connection mechanism, and a first cylindrical pass-stop gauge, and the first bracket is fixedly installed on the first bracket. On a fixed plate, the sixth linear actuator is fixedly installed on the first bracket, the working end of the sixth linear actuator is vertically downwardly arranged, the first cylindrical pass-stop gauge is vertically slidable on the first bracket, the first The cylindrical pass-and-stop gauge is elastically connected with the working end of the sixth linear driver through a first elastic connection mechanism, and the outer circumferential surface of the first cylindrical pass-stop gauge is in clearance fit with the inner wall of the hollow rod.

Compared with the prior art, the present invention has the following beneficial effects:

The piston rod pre-assembly equipment includes a first gasket feeding assembly mechanism, a retaining ring feeding assembly mechanism, a first inner sealing ring feeding assembly mechanism, and a second gasket feeding assembly surrounding the side of the first conveyor. Mechanism, the first correction and detection mechanism, the assembly of the first conveyor driving hollow rod and the control rod pass through the first gasket feeding assembly mechanism, the retaining ring feeding assembly mechanism, the first inner sealing ring feeding assembly mechanism, and the first gasket feeding assembly mechanism. The working area of the second gasket feeding assembly mechanism, the first gasket feeding assembly mechanism, the retaining ring feeding assembly mechanism, the first inner sealing ring feeding assembly mechanism, and the second gasket feeding assembly mechanism are respectively used to One end of the inside of the rod is assembled with the first gasket, the retaining ring, the first inner sealing ring, and the second gasket, and the assembly of the hollow rod and the control rod is assembled into a piston rod. The piston rod is tested; the second correction and detection mechanism extends its working end into the hollow rod to pound the flat ring-shaped sheet.

The automatic assembly equipment is corrected and inspected in each step, which greatly improves the qualified rate of automatic assembly of the hollow rod gasket assembly.

Description of drawings

Figure 1 is a cross-sectional view of the hollow rod gasket assembly in an assembled state;

Fig. 2 is the top view of the present invention;

Fig. 3 is the perspective view of the present invention;

4 is a perspective view of the first conveyor of the present invention;

Fig. 5 is a partial enlarged view at A of Fig. 4;

Fig. 6 is a partial enlarged view at B of Fig. 4;

7 is a perspective view of the first gasket feeding and assembling mechanism of the present invention;

Fig. 8 is a partial enlarged view at G of Fig. 7;

9 is a side view of the third manipulator and the second correction detection mechanism of the present invention;

FIG. 10 is a cross-sectional view in the H-H direction of FIG. 9;

11 is a perspective view of the first inner sealing ring feeding and assembling mechanism of the present invention;

Fig. 12 is a partial enlarged view of part I of Fig. 11;

13 is a side view of the fourth manipulator of the present invention;

FIG. 14 is a sectional view taken along the J-J direction of FIG. 13;

15 is a perspective view of the first correction and detection mechanism of the present invention;

16 is a top view of the first correction detection mechanism of the present invention;

FIG. 17 is a cross-sectional view along the K-K direction of FIG. 16;

The symbols in the figure are:

A-piston rod; A1-hollow rod; A2-control rod; A3-first gasket; A4-retaining ring; A5-first inner sealing ring; A6-second gasket;

D-piston rod pre-assembly equipment;

D1-Hollow Rod Feeding Mechanism; D1a-First Chain Conveyor; D1b-Hollow Rod Lifter; D1b1-First Linear Drive; D1b2-Lifting Rod; D1c-First Industrial Robot; D1d-First Robot ;

D2-control rod feeding assembly mechanism; D2a-control rod feeding table; D2a1-storage chute; D2a2-rotating shaft; D2a3-bearing; D2b-control rod distributor; D2b1-baffle plate; D2b2-lifting plate; D2b3-Second Linear Drive; D2b4-Feed Guide Plate; D2c-Control Rod Conveyor; D2c1-Slide Table; D2c2-Third Linear Drive; D2c3-Fourth Linear Drive; D2d-Second Industrial Robot; D2e-Second manipulator;

D3-the first gasket feeding assembly mechanism; D3a-the first vibration feeder; D3b-the first distributor; D3c-the third industrial robot; D3d-the third manipulator; D3d1-the first fixed block; D3d2- The first movable block; D3d3 - the first sliding column; D3d4 - the first spring; D3d5 - the sleeve; D3d6 - the first finger cylinder; D3d7 - the plug claw;

D4-retaining ring feeding assembly mechanism;

D5-the first inner sealing ring feeding assembly mechanism; D5a-the second vibration feeder; D5b-the second distributor; D5c-the fourth industrial robot; D5d-the fourth manipulator; D5d1-the fifth linear drive; D5d2 - movable block; D5d3-plug needle; D5d4-guide column; D5d5-fixed block; D5d6-plug cylinder;

D6-The second gasket feeding assembly mechanism;

D7-the first correction detection mechanism; D7a-the first bracket; D7b-the sixth linear actuator; D7c-the first elastic connection mechanism; D7d-the first cylindrical pass-and-stop gauge;

D8- the second correction detection mechanism; D8a- the seventh linear drive; D8b- the second elastic connection mechanism; D8c- the second cylindrical pass-stop gauge;

G - the first conveyor;

G1 - the first workbench;

G2 - the first fixed disk;

G3 - the first activity ring;

G4 - third rotary drive;

G5-Second movable ring; G5a-Bump; G5b-Chute;

G6 - tenth linear drive;

G7-Hollow rod upper clamp; G7a-First working end; G7b-First clamp fixed block; G7c-First clamp movable block; G7d-First clamp sliding column; G7e-First clamp guide block; G7f-Second spring;

G8- the first clamp switch; G8a- the second working end; G8b- the tenth linear driver; G8c- the first pusher block;

G9-hollow rod lower clamp; G9a-finger cylinder; G9b-hollow rod clamping jaw.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", The orientation or positional relationship indicated by "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have The particular orientation, construction and operation in the particular orientation are therefore not to be construed as limitations of the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

An automatic assembly equipment for a hollow rod gasket assembly with a controllable gas spring, which is used to automatically load a first gasket A3, a retaining ring A4, a first inner sealing ring A5, and a second gasket A6 into the hollow rod A1; such as As shown in Figure 1, the control rod A2 has been pre-assembled into the hollow rod A1. At this time, the first gasket A3, the retaining ring A4, the first inner sealing ring A5, and the second gasket A6 are sequentially assembled in the hollow rod from the inside to the outside. The inner end of the rod A1 can complete the pre-assembly of the piston rod A; it includes a piston rod pre-assembly device D and a first conveyor G; the piston rod pre-assembly device D includes a device surrounding the first conveyor G The first gasket feeding and assembling mechanism D3, the retaining ring feeding and assembling mechanism D4, the first inner sealing ring feeding and assembling mechanism D5, the second gasket feeding and assembling mechanism D6, the first gasket feeding and assembling mechanism D3 , The retaining ring feeding assembly mechanism D4, the first inner sealing ring feeding assembly mechanism D5, the second gasket feeding assembly mechanism D6 are arranged in sequence along the assembly sequence of the piston rod A, the first gasket feeding assembly mechanism D3, The retaining ring feeding assembly mechanism D4 and the second gasket feeding assembly mechanism D6 have the same structure, among which the first gasket feeding assembly mechanism D3 and the retaining ring feeding assembly mechanism D4, the retaining ring feeding assembly mechanism D4 and Between the first inner sealing ring feeding and assembling mechanism D5, and after the second gasket feeding and assembling mechanism D6, a correction detection mechanism located on the side of the first conveyor G is provided.

As shown in Figures 2 and 3, the piston rod pre-assembly equipment D includes a hollow rod feeding mechanism D1 surrounding the side of the first conveyor G, a control rod feeding and assembling mechanism D2, and a first gasket feeding and assembling mechanism D3, retaining ring feeding assembly mechanism D4, first inner sealing ring feeding assembly mechanism D5, second gasket feeding assembly mechanism D6, hollow rod feeding mechanism D1 is used to put the hollow rod A1 into the first conveyor G At the feeding end, the first conveyor G drives the hollow rod A1 to move to the working area of the control rod feeding assembly mechanism D2, and the control rod feeding assembly mechanism D2 inserts the control rod A2 into the hollow rod A1, and the first conveyor G The assembly of the driving hollow rod A1 and the control rod A2 sequentially passes through the first gasket feeding and assembling mechanism D3, the retaining ring feeding and assembling mechanism D4, the first inner sealing ring feeding and assembling mechanism D5, and the second gasket feeding and assembling mechanism In the working area of D6, the first gasket feeding and assembling mechanism D3, the retaining ring feeding and assembling mechanism D4, the first inner sealing ring feeding and assembling mechanism D5, and the second gasket feeding and assembling mechanism D6 are respectively used for feeding the hollow rod A1 One end of the interior is assembled with the first gasket A3, the retaining ring A4, the first inner sealing ring A5, and the second gasket A6, and the assembly of the hollow rod A1 and the control rod A2 is assembled into the piston rod A, and the first gasket is installed each time. After the sheet A3, the retaining ring A4, and the second gasket A6 are corrected and detected by the correction detection mechanism; since the first gasket A3, the retaining ring A4, and the second gasket A6 are flat ring-shaped sheets, However, the depth of its installation into the hollow rod A1 is relatively deep. When the automatic robots and manipulators in the prior art put the flat ring-shaped sheet into the deep hole, the flat ring-shaped sheet is prone to skew, so it is necessary to correct the detection. The mechanism extends its working end into the hollow rod A1 to pound the flat ring-shaped sheet. At the same time, check the stroke of the working part of the correction detection mechanism to determine whether the flat ring-shaped sheet is installed correctly. .

As shown in FIGS. 4 to 5 , the first conveyor G includes a first table G1, a first fixed disk G2, a first movable ring G3, a third rotary driver G4, a second movable ring G5, and a tenth linear driver G6 ; The third rotary driver G4 and the tenth linear driver G6 are fixedly installed on the top of the first worktable G1, and the working parts of the third rotary driver G4 and the tenth linear driver G6 are vertically upwardly arranged, and the third rotary driver G4 The output shaft is arranged vertically; the first movable ring G3 and the second movable ring G5 are coaxially sleeved on the outer side of the first fixed disk G2, the first fixed disk G2 is fixedly installed on the non-working part of the third rotary driver G4, A movable ring G3 is fixedly installed on the working part of the third rotary driver G4, and the second movable ring G5 is fixedly installed on the working part of the tenth linear driver G6; A plurality of upper clamps G7 on the hollow rods of the cloth, the upper clamps G7 on the hollow rods have a first working end G7a for clamping the hollow rods A1, and the first fixed plate G2 is fixedly installed on the first conveyor G. The first clamp shutter G8 at the discharge part, the first clamp shutter G8 has a second working end G8a for driving the clamp G7 on the hollow rod to open; in the working state, the top surface of the second movable ring G5 is located in the hollow Just below the working end of the grip G7 on the rod.

The first movable ring G3 and the third rotary driver G4 are combined into a common indexing plate, the third rotary driver G4 is a servo motor with a reducer installed, and the tenth linear driver G6 is a plurality of manual ball screws linked by chain drive. Manual lifting table composed of sliding table;

The upper clamp G7 on the hollow rod includes a first clamp fixed block G7b, a first clamp movable block G7c, a first clamp sliding column G7d, a first clamp guide block G7e, a second spring G7f, and the first clamp fixed block G7b and the first movable The ring G3 is fixedly connected, the first clamp movable block G7c, the first clamp sliding column G7d, and the first clamp guide block G7e are sequentially fixed and connected by bolts, and the first clamp movable block G7c and the first clamp guide block G7e are respectively arranged on the first clamp. On both sides of the fixed block G7b, the first clamp sliding column G7d is slidably installed inside the first clamp fixed block G7b, and the first clamp movable block G7c and the first clamp guide block G7e are respectively located on the outer side of the first movable ring G3 and the first clamp guide block G7e. Inside, the second spring G7f is sleeved on the first clamp sliding column G7d, the two ends of the second spring G7f are respectively abutted on the first clamp fixing block G7b and the first clamp guide block G7e, and the first working end G7a includes a The two semi-circular notches are respectively arranged on the first fixture fixed block G7b and the first fixture movable block G7c. In the working state, the two semicircular notches merge into a circle under the action of the resilience of the second spring G7f. hole and clamp the hollow rod A1 in the middle;

The first clamp shutter G8 includes a tenth linear drive G8b and a first pushing block G8c, the eleventh linear drive G8b is a double-axis double-rod cylinder, and the eleventh linear drive G8b and the first fixed plate G2 is fixedly connected, the first pushing block G8c is fixedly connected with the working end of the tenth linear driver G8b, and the side of the first pushing block G8c facing the first clamp guide block G7e is the second working end G8a. In the working state , the eleventh linear driver G8b drives the first pushing block G8c to move toward the direction of the first clamp guide block G7e, and the first clamp guide block G7e overcomes the resilience of the second spring G7f to drive the first clamp sliding column G7d to drive the first clamp guide block G7e. The clamp movable block G7c moves in the direction away from the first clamp fixed block G7b, the first clamp fixed block G7b is separated from the first clamp movable block G7c, and the first working end G7a is separated into two semicircular gaps for the hollow rod A1 inserted into or extracted from it;

The first working end G7a is used to clamp the outer cylindrical surface of the hollow rod A1, and the second movable ring G5 is used to support the bottom surface of the hollow rod A1; the staff can adjust the height of the second movable ring G5 through the tenth linear actuator G6. The distance between the working end of the clamp G7 on the hollow rod and the top surface of the second movable ring G5, so that it can adapt to the hollow rod A1 of different lengths;

The third rotary driver G4 drives the first movable ring G3 to drive the upper clamp G7 on the hollow rod to rotate together, so that the first conveyor G can hold a plurality of hollow rods A1 to make a circular motion around the output shaft of the third rotary driver G4, thereby starting to the role of the transmission hollow rod A1.

As shown in FIG. 6 , the top surface of the second movable ring G5 is fixedly installed with bumps G5a corresponding to each assembly station of the piston rod A one-to-one. The diameter of the bumps G5a is larger than that of the hollow rod A1.

When the hollow rod A1 is assembled, the bump G5a is used to support the bottom surface of the hollow rod A1. When the hollow rod A1 moves, the hollow rod A1 does not contact the second movable ring G5, so that the hollow rod A1 is clamped by the hollow rod on the clamp G7. During the clamping movement, the hollow rod A1 only rubs against the top surface of the convex block G5a near each station, thereby reducing the friction between the hollow rod A1 and the second movable ring G5.

The protruding block G5a is provided with a chute G5b which is vertically recessed downward from the top surface of the protruding block G5a, and the width of the chute G5b is smaller than the diameter of the hollow rod A1.

The chute G5b is used to convert the surface-to-surface friction between the hollow rod A1 and the bump G5a into the line friction between the hollow rod A1 and the chute G5b, thereby further reducing the friction between the hollow rod A1 and the second movable ring G5. friction between.

The bottom surface of the second movable ring G5 is fixedly installed with a hollow rod lower clamp G9 corresponding to each bump G5a one-to-one. The hollow rod lower clamp G9 includes a finger cylinder G9a and a hollow rod clamping jaw G9b for clamping the hollow rod A1. , the finger cylinder G9a is fixedly connected with the second movable ring G5, the hollow rod gripper G9b is fixedly connected with the working end of the finger cylinder G9a, and the working part of the hollow rod gripper G9b extends upward along the two sides of the second movable ring G5 to the convex Both sides of the top surface of block G5a.

Since the support between the hollow rod A1 and the chute G5b is unstable, it is easy to cause the hollow rod A1 to tilt during the assembly process. Therefore, before each process starts, when the hollow rod A1 is located on the chute G5b, the finger cylinder G9a drives the hollow rod The clamping jaws G9b clamp and fix the bottom end of the hollow rod A1 from both sides, so that the hollow rod A1 can be assembled in a vertical state.

The first gasket feeding assembly mechanism D3, the retaining ring feeding assembly mechanism D4, the first inner sealing ring feeding assembly mechanism D5, and the second gasket feeding assembly mechanism D6 all include a vibrating feeder, a distributor, The discharge end of the industrial robot, the manipulator, and the vibrating feeder is connected with the feed end of the distributor, the discharge end of the distributor is located in the working area of the industrial robot, and the manipulator is fixedly installed on the working end of the industrial robot.

As shown in Figures 7 to 10, the first gasket feeding assembly mechanism D3 includes a first vibration feeder D3a, a first distributor D3b, a third industrial robot D3c, and a third manipulator D3d. The discharge end of the device D3a is communicated with the feed end of the first distributor D3b, the discharge end of the first distributor D3b is located in the working area of the third industrial robot D3c, and the third manipulator D3d is fixedly installed on the third industrial robot. The working end of D3c; the first vibrating feeder D3a continuously transports the first gasket A3 to the inside of the first distributor D3b, and the first distributor D3b separates one first gasket A3 at a time to the third industry In the working area of the robot D3c, the third industrial robot D3c drives the third manipulator D3d to grab the first gasket A3 and install it inside one end of the hollow rod A1;

The first vibrating feeder D3a includes a vibrating plate, a guide rail, and a vibrating motor for continuously conveying materials to the first distributor D3b; the first distributor D3b includes a groove that can only accommodate one material, and Drive the slide table with the groove to move, so as to transport the materials one by one to the working area of the third industrial robot D3c; the third industrial robot D3c is commonly a two-degree-of-freedom XY-axis robot (Cartesian coordinate robot), It is used to move the third manipulator D3d; the first vibration feeder D3a, the first distributor D3b, and the third industrial robot D3c are commonplace in the field of automatic assembly, and their specific structures and working principles will not be described here; The first gasket feeding and assembling mechanism D3, the retaining ring feeding and assembling mechanism D4, and the second gasket feeding and assembling mechanism D6 have the same structure.

As shown in Figures 11 to 12, the difference between the first inner sealing ring feeding and assembling mechanism D5 and the first gasket feeding and assembling mechanism D3 lies in the structure of the manipulator. The first inner sealing ring feeding and assembling mechanism D5 includes: There are a second vibration feeder D5a, a second distributor D5b, a fourth industrial robot D5c, and a fourth manipulator D5d. The discharge end of the second vibration feeder D5a is communicated with the feed end of the second distributor D5b. , the discharge end of the second distributor D5b is located in the working area of the fourth industrial robot D5c, and the fourth manipulator D5d is fixedly installed at the working end of the fourth industrial robot D5c. Its specific working principle is the same as that of the first gasket feeding assembly Mechanism D3 works similarly, only the manipulator works differently.

The manipulator is a third manipulator D3d, which includes a first fixed block D3d1, a first movable block D3d2, a first spool D3d3, a first spring D3d4, a sleeve D3d5, a first finger cylinder D3d6, and a plug claw D3d7; The first fixed block D3d1 is fixedly installed on the working end of the industrial robot, the first sliding column D3d3 is slidably installed on the first fixed block D3d1, the first movable block D3d2 is fixedly installed on the bottom end of the first sliding column D3d3, the first The spring D3d4 is sleeved on the first sliding column D3d3, the two ends of the first spring D3d4 are respectively abutted on the first fixed block D3d1 and the first movable block D3d2, the sleeve D3d5 is fixedly connected with the first movable block D3d2, the first The finger cylinder D3d6 is fixedly connected with the first fixing block D3d1, the claw D3d7 is fixedly installed on the working end of the first finger cylinder D3d6, and the working end of the piston rod pre-assembly device D7 is set through the sleeve D3d5 from top to bottom.

When taking the material, the third industrial robot D3c drives the first fixed block D3d1 to drive the first finger cylinder D3d6 to move towards the first distributor D3b. First, the first movable block D3d2 and the sleeve D3d5 abut on the first distributor. The stopper D3b stops moving, the claw D3d7 overcomes the resilience of the first spring D3d4 and continues to move downward, the claw D3d7 is inserted vertically downward into the inner ring of the first washer A3, and then the first finger cylinder D3d6 drives the claw D3d7 Separate to both sides, so that the first gasket A3 is firmly stuck on the claw D3d7. After the third industrial robot D3c is reset, the sleeve D3d5 abuts on the top surface of the first gasket A3 and cannot move downward;

During assembly, the third industrial robot D3c drives the first fixed block D3d1 to drive the first finger cylinder D3d6 to move toward the hollow rod A1. The first movable block D3d2 and the sleeve D3d5 abut on the hollow rod A1 and stop moving. The claw D3d7 carries the first washer A3 and is inserted into the hollow rod A1, then the first finger cylinder D3d6 drives the claw D3d7 to close to the middle, and the first movable block D3d2 pushes the first cushion under the action of the rebound force of the first spring D3d4 The piece A3 moves downward, at this time the inner ring of the first washer A3 has lost the tensioning force of the claw D3d7, and the first washer A3 falls off the claw D3d7 and then falls toward the interior of the hollow rod A1.

As shown in Figures 13 to 14, the manipulator is the fourth manipulator D5d. The fourth manipulator D5d includes a fifth linear driver D5d1, a movable block D5d2, a plug needle D5d3, a guide post D5d4, a fixed block D5d5, a plug cylinder D5d6, and a fifth straight line. The driver D5d1 is fixedly installed at the working end of the industrial robot, the fifth linear drive D5d1 is vertically arranged, the movable block D5d2 is fixedly installed at the working part of the fifth linear drive D5d1, and the fixed block D5d5 is fixedly installed at the non-working part of the fifth linear drive D5d1 , the fixed block D5d5 is located just below the movable block D5d2, the bottom end of the movable block D5d2 is fixedly installed with a plug D5d3 that penetrates through the fixed block D5d5, and the side of the plug D5d3 is provided with a fixed connection with the movable block D5d2 and through the fixed block D5d5. The guide column D5d4, the bottom of the fixing block D5d5 is equipped with a plug cylinder D5d6 sleeved on the outside of the plug needle D5d3, the outer circumference of the plug needle D5d3 is in an interference fit with the first inner sealing ring A5, and the outer circumference of the plug cylinder D5d6 is connected to the control The inner diameter of the rod A2 is clearance fit, and the clearance between the guide post D5d4 and the plug cylinder D5d6 is larger than the wall thickness of the hollow rod A1.

When the material is taken out, the fifth linear driver D5d1 drives the movable block D5d2 to move vertically downward, the movable block D5d2 drives the plug needle D5d3 and the guide column D5d4 to move down together, and the plug needle D5d3 is inserted into the inner ring of the first inner sealing ring A5, The first inner sealing ring A5 is stretched over the plug needle D5d3;

During assembly, the fourth industrial robot D5c drives the fourth manipulator D5d to move directly above the hollow rod A1, and the fourth industrial robot D5c drives the fourth manipulator D5d to move vertically downward, so that the plug needle D5d3 and the plug cylinder D5d6 are inserted into the hollow rod. Inside A1, at the same time, the guide column D5d4 and the plug cylinder D5d6 clamp the wall of the hollow rod A1, and then the fifth linear driver D5d1 drives the movable block D5d2 to move vertically upward, and the movable block D5d2 drives the plug needle D5d3 and the guide column D5d4 to move upward together, The plug needle D5d3 is retracted into the plug cylinder D5d6, and the first inner sealing ring A5 is pushed by the plug cylinder D5d6 to separate from the plug needle D5d3 and stay inside the hollow rod A1. Then the fourth industrial robot D5c drives the fourth manipulator D5d to reset. Thus, the assembly process is completed.

As shown in Figures 7 to 10, the correction detection mechanism includes a second correction detection mechanism D8, and the second correction detection mechanism D8 includes a seventh linear actuator D8a, a second elastic connection mechanism D8b, a second cylindrical pass-and-stop gauge D8c, and a second correction detection mechanism D8c. The seventh linear driver D8a is fixedly installed on the working end of the industrial robot, the working end of the seventh linear driver D8a is arranged vertically downward, the second cylindrical pass-stop gauge D8c can be vertically slidably installed on the seventh linear driver D8a, the second The cylindrical stop gauge D8c is elastically connected with the working end of the seventh linear actuator D8a through the second elastic connection mechanism D8b, and the outer circumferential surface of the second cylindrical stop gauge D8c is clearance fit with the inner wall of the hollow rod A1.

Correspondingly, the working end of the retaining ring feeding assembly mechanism D4 and the second gasket feeding assembly mechanism D6 are also installed with a second correction detection mechanism D8; the seventh linear actuator D8a is a cylinder with a guide rod, and the second elastic connection The mechanism D8b is an elastic member such as a spring-mounted spool or a rubber sleeve; when working, the third manipulator D3d first installs the first gasket A3 in the hollow rod A1, and then the third industrial robot D3c drives the third manipulator D3d to reset , at this time, the second cylindrical stop gauge D8c is located just above the hollow rod A1 loaded with the first washer A3, and the seventh linear driver D8a drives the second cylindrical stop gauge D8c vertically through the second elastic connecting mechanism D8b Moving down, the second cylindrical pass-and-stop gauge D8c protrudes into the hollow rod A1 and comes into contact with the first washer A3, and the second cylindrical pass-and-stop gauge D8c stops after the first washer A3 that may be inclined is rammed. Move, the working end of the seventh linear drive D8a overcomes the resilience of the second elastic connecting mechanism D8b and continues to drop to the end of the stroke and then resets itself. By measuring the stroke of the second cylinder stop gauge D8c, it can be judged whether the piston rod A is qualified or not. , if the stroke of the second cylindrical pass-and-stop gauge D8c is less than the threshold value, it means that the first gasket A3 is skewed, and if the stroke of the second cylindrical pass-and-stop gauge D8c is greater than the threshold value, it means that the first gasket A3 is missing; The stroke measurement of the second cylindrical on-off gauge D8c can be accurately measured by a displacement sensor fixedly connected to the second cylindrical on-off gauge D8c, or a rough measurement of the approach of the second cylindrical on-off gauge D8c can be performed by a sensor set near the threshold value , and then judge whether the first gasket A3 is qualified through the comparison of the sensor signals by the industrial computer. Its specific technical solution has become commonplace in the field of automatic assembly, and will not be described here.

As shown in Figures 15 to 17, the correction detection mechanism includes a first correction detection mechanism D7, and the first correction detection mechanism D7 includes a first bracket D7a, a sixth linear actuator D7b, a first elastic connection mechanism D7c, a first cylindrical The stop gauge D7d, the first bracket D7a is fixedly installed on the first fixed plate G2, the sixth linear driver D7b is fixedly installed on the first bracket D7a, the working end of the sixth linear driver D7b is arranged vertically downward, and the first cylindrical The stop gauge D7d is slidably mounted on the first bracket D7a, the first cylindrical pass-stop gauge D7d is elastically connected with the working end of the sixth linear actuator D7b through the first elastic connecting mechanism D7c, and the first cylindrical pass-stop gauge D7d is The outer circumferential surface is in clearance fit with the inner wall of the hollow rod A1.

The working principles of the first correction detection mechanism D7 and the second correction detection mechanism D8 are exactly the same. The working end of the gasket feeding assembly mechanism D6, and the first correction detection mechanism D7 is fixedly installed on the first fixed plate G2. The first correction detection mechanism D7 works stably and has a low failure rate, while the second correction detection mechanism D8 No additional workstations are required, allowing for a more compact design.

The working principle of the present invention:

The third rotary driver G4 drives the first movable ring G3 to drive the upper clamp G7 on the hollow rod to rotate together, so that the first conveyor G can hold a plurality of hollow rods A1 to make a circular motion around the output shaft of the third rotary driver G4, thereby driving The hollow rod A1 pre-assembled with the control rod A2 sequentially passes through the first gasket feeding assembly mechanism D3, the retaining ring feeding assembly mechanism D4, the first inner sealing ring feeding assembly mechanism D5, and the second gasket feeding assembly mechanism D6, the working area of the first correction detection mechanism D7;

The first vibration feeder D3a continuously transports the first gasket A3 to the inside of the first distributor D3b, and the first distributor D3b separates one first gasket A3 to the working area of the third industrial robot D3c at a time , the third industrial robot D3c drives the third manipulator D3d to grab the first gasket A3 and install it inside one end of the hollow rod A1;

When taking the material, the third industrial robot D3c drives the first fixed block D3d1 to drive the first finger cylinder D3d6 to move towards the first distributor D3b. First, the first movable block D3d2 and the sleeve D3d5 abut on the first distributor. The stopper D3b stops moving, the claw D3d7 overcomes the resilience of the first spring D3d4 and continues to move downward, the claw D3d7 is inserted vertically downward into the inner ring of the first washer A3, and then the first finger cylinder D3d6 drives the claw D3d7 Separate to both sides, so that the first gasket A3 is firmly stuck on the claw D3d7. After the third industrial robot D3c is reset, the sleeve D3d5 abuts on the top surface of the first gasket A3 and cannot move downward;

During assembly, the third industrial robot D3c drives the first fixed block D3d1 to drive the first finger cylinder D3d6 to move toward the hollow rod A1. The first movable block D3d2 and the sleeve D3d5 abut on the hollow rod A1 and stop moving. The claw D3d7 carries the first washer A3 and is inserted into the hollow rod A1, then the first finger cylinder D3d6 drives the claw D3d7 to close to the middle, and the first movable block D3d2 pushes the first cushion under the action of the rebound force of the first spring D3d4 The piece A3 moves downward, at this time the inner ring of the first washer A3 has lost the tensioning force of the claw D3d7, and the first washer A3 falls off the claw D3d7 and then falls toward the interior of the hollow rod A1.

The second vibrating feeder D5a continuously transports the first inner sealing ring A5 to the inside of the second distributor D5b, and the second distributor D5b separates one first inner sealing ring A5 to the fourth industrial robot D5c at a time. In the working area, the fourth industrial robot D5c drives the fourth manipulator D5d to grab the first inner sealing ring A5 and install it inside one end of the hollow rod A1;

When the material is taken out, the fifth linear driver D5d1 drives the movable block D5d2 to move vertically downward, the movable block D5d2 drives the plug needle D5d3 and the guide column D5d4 to move down together, and the plug needle D5d3 is inserted into the inner ring of the first inner sealing ring A5, The first inner sealing ring A5 is stretched over the plug needle D5d3;

During assembly, the fourth industrial robot D5c drives the fourth manipulator D5d to move directly above the hollow rod A1, and the fourth industrial robot D5c drives the fourth manipulator D5d to move vertically downward, so that the plug needle D5d3 and the plug cylinder D5d6 are inserted into the hollow rod. Inside A1, at the same time, the guide column D5d4 and the plug cylinder D5d6 clamp the wall of the hollow rod A1, and then the fifth linear driver D5d1 drives the movable block D5d2 to move vertically upward, and the movable block D5d2 drives the plug needle D5d3 and the guide column D5d4 to move upward together, The plug needle D5d3 is retracted into the plug cylinder D5d6, and the first inner sealing ring A5 is pushed by the plug cylinder D5d6 to separate from the plug needle D5d3 and stay inside the hollow rod A1. Then the fourth industrial robot D5c drives the fourth manipulator D5d to reset. Thus, the assembly process is completed.

When tamping is detected, the seventh linear driver D8a drives the second cylindrical pass-stop gauge D8c to move vertically downward through the second elastic connection mechanism D8b, and the second cylindrical pass-stop gauge D8c extends into the hollow rod A1 and is connected with the first pad. The sheet A3 comes into contact, and after the first washer A3 that may be inclined is rammed, the second cylinder stop gauge D8c stops moving, and the working end of the seventh linear actuator D8a overcomes the resilience of the second elastic connecting mechanism D8b and continues to drop to Reset after the end of the stroke. By measuring the stroke of the second cylindrical pass and stop gauge D8c, it can be judged whether the piston rod A is assembled or not. If the stroke of the second cylindrical pass and stop gauge D8c is less than the threshold, it means that the first gasket A3 is skewed , if the stroke of the second cylinder stop gauge D8c is greater than the threshold value, it means that the first gasket A3 is missing;

The first gasket feeding and assembling mechanism D3, the retaining ring feeding and assembling mechanism D4, and the second gasket feeding and assembling mechanism D6 have the same structure and working principle, and the structures of the first correction detection mechanism D7 and the second correction detection mechanism D8 are the same as Works the same.

Claims (10)

1. An automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring, which is used to automatically load a first gasket (A3), a retaining ring (A4), a first inner sealing ring ( A5), the second gasket (A6); it is characterized in that it includes: Piston rod pre-assembly equipment (D) and first conveyor (G); The piston rod pre-assembly device (D) includes a first gasket feeding and assembling mechanism (D3), a retaining ring feeding and assembling mechanism (D4), and a first inner sealing ring surrounding the side of the first conveyor (G). Feeding assembly mechanism (D5), second gasket feeding assembly mechanism (D6), first gasket feeding assembly mechanism (D3), retaining ring feeding assembly mechanism (D4), first inner sealing ring feeding assembly The mechanism (D5), the second gasket feeding assembly mechanism (D6) are arranged in sequence along the assembly sequence of the piston rod (A), the first gasket feeding assembly mechanism (D3), the retaining ring feeding assembly mechanism (D4) , The structure of the second gasket feeding assembly mechanism (D6) is the same, wherein between the first gasket feeding assembly mechanism (D3) and the retaining ring feeding assembly mechanism (D4), the retaining ring feeding assembly mechanism (D4) Between the first inner sealing ring feeding and assembling mechanism (D5), and after the second gasket feeding and assembling mechanism (D6), a correction detection mechanism located on the side of the first conveyor (G) is provided. 2. The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 1, wherein the first conveyor (G) comprises a first worktable (G1), a first fixed plate (G2), the first movable ring (G3), the third rotary drive (G4), the second movable ring (G5), the tenth linear drive (G6); the third rotary drive (G4) and the tenth linear drive (G6) ) are fixedly installed on the top of the first worktable (G1), the working parts of the third rotary drive (G4) and the tenth linear drive (G6) are set vertically upward, and the output shaft of the third rotary drive (G4) is vertical The first movable ring (G3) and the second movable ring (G5) are coaxially sleeved on the outer side of the first fixed disk (G2), and the first fixed disk (G2) is fixedly installed on the third rotary drive (G4). ), the first movable ring (G3) is fixedly installed on the working part of the third rotary drive (G4), and the second movable ring (G5) is fixedly installed on the working part of the tenth linear drive (G6); the first A plurality of hollow rod upper clamps (G7) evenly distributed around the axis of the first movable ring (G3) are fixedly installed on the movable ring (G3), and the hollow rod upper clamp (G7) has a first clamp for clamping the hollow rod (A1). A working end (G7a), the first fixed plate (G2) is fixedly installed with a first clamp shutter (G8) disposed at the feeding part and the discharging part of the first conveyor (G), the first clamp is opened and closed The device (G8) has a second working end (G8a) for driving the clamp (G7) on the hollow rod to open; in the working state, the top surface of the second movable ring (G5) is located at the positive side of the working end of the clamp (G7) on the hollow rod. below. 3. The automatic assembling equipment for the hollow rod gasket assembly of a controllable gas spring according to claim 2, wherein the top surface of the second movable ring (G5) is fixedly installed with each of the piston rods (A). The bumps (G5a) corresponding to each assembly station one-to-one, the diameter of the bumps (G5a) is larger than the diameter of the hollow rod (A1). 4 . The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 3 , wherein the convex block (G5a) is provided with a top surface of the self convex block (G5a) vertically downward. 5 . Recessed chute (G5b), the width of the chute (G5b) is smaller than the diameter of the hollow rod (A1). 5. The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 4, characterized in that the bottom surface of the second movable ring (G5) is fixedly installed with a joint with each bump (G5a). A corresponding hollow rod lower clamp (G9), the hollow rod lower clamp (G9) includes a finger cylinder (G9a) and a hollow rod clamping jaw (G9b) for clamping the hollow rod (A1). Finger cylinder (G9a) and The second movable ring (G5) is fixedly connected, the hollow rod clamping claw (G9b) is fixedly connected with the working end of the finger cylinder (G9a), and the working part of the hollow rod clamping claw (G9b) is along the two sides of the second movable ring (G5). The sides extend up to both sides of the top surface of the bump (G5a). 6. The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 1, wherein the first gasket feeding assembly mechanism (D3) and the retaining ring feeding assembly mechanism (D4) , The first inner sealing ring feeding assembly mechanism (D5) and the second gasket feeding assembly mechanism (D6) include a vibrating feeder, a distributor, an industrial robot, a manipulator, and the discharge end of the vibrating feeder It is connected with the feeding end of the distributor, the discharging end of the distributor is located in the working area of the industrial robot, and the manipulator is fixedly installed on the working end of the industrial robot. 7 . The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 6 , wherein the manipulator is a third manipulator (D3d), and the third manipulator (D3d) includes a first fixing block. 8 . (D3d1), the first movable block (D3d2), the first spool (D3d3), the first spring (D3d4), the sleeve (D3d5), the first finger cylinder (D3d6), the claw (D3d7); the first fixed The block (D3d1) is fixedly installed on the working end of the industrial robot, the first sliding column (D3d3) is slidably installed on the first fixed block (D3d1), and the first movable block (D3d2) is fixedly installed on the first sliding column (D3d3) ), the first spring (D3d4) is sleeved on the first sliding column (D3d3), and the two ends of the first spring (D3d4) abut on the first fixed block (D3d1) and the first movable block (D3d2) respectively ), the sleeve (D3d5) is fixedly connected with the first movable block (D3d2), the first finger cylinder (D3d6) is fixedly connected with the first fixed block (D3d1), and the claw (D3d7) is fixedly installed on the first finger cylinder ( The working end of D3d6), the working end of the piston rod pre-assembly device (D)7 is arranged through the sleeve (D3d5) from top to bottom. 8 . The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 6 , wherein the manipulator is a fourth manipulator (D5d), and the fourth manipulator (D5d) includes a fifth linear drive. 9 . (D5d1), movable block (D5d2), plug needle (D5d3), guide column (D5d4), fixed block (D5d5), plug cylinder (D5d6), and the fifth linear drive (D5d1) is fixedly installed on the working end of the industrial robot, The fifth linear actuator (D5d1) is arranged vertically, the movable block (D5d2) is fixedly mounted on the working part of the fifth linear actuator (D5d1), and the fixed block (D5d5) is fixedly mounted on the non-working part of the fifth linear actuator (D5d1), The fixed block (D5d5) is located directly below the movable block (D5d2), the bottom end of the movable block (D5d2) is fixedly installed with a plug (D5d3) that penetrates through the fixed block (D5d5), and the side of the plug (D5d3) is provided with a The movable block (D5d2) is fixedly connected and penetrates the guide column (D5d4) of the fixed block (D5d5). The bottom of the fixed block (D5d5) is equipped with a plug cylinder (D5d6) sleeved on the outside of the plug needle (D5d3), and the plug needle (D5d3) ) and the first inner sealing ring (A5) with interference fit, the outer circumferential surface of the plug barrel (D5d6) and the inner diameter of the control rod (A2) with clearance fit, the guide post (D5d4) and the plug barrel (D5d6) The gap between them is larger than the wall thickness of the hollow rod (A1). 9. The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 6, wherein the correction detection mechanism comprises a second correction detection mechanism (D8), and the second correction detection mechanism (D8) ) includes a seventh linear drive (D8a), a second elastic connecting mechanism (D8b), a second cylindrical pass and stop gauge (D8c), the seventh linear drive (D8a) is fixedly installed on the working end of the industrial robot, and the seventh linear drive The working end of (D8a) is arranged vertically downward, the second cylindrical pass and stop gauge (D8c) can be vertically slid on the seventh linear driver (D8a), and the second cylindrical pass and stop gauge (D8c) is connected to the seventh straight line The working end of the driver (D8a) is elastically connected by the second elastic connecting mechanism (D8b), and the outer circumferential surface of the second cylindrical pass-and-stop gauge (D8c) is in clearance fit with the inner wall of the hollow rod (A1). 10. The automatic assembly equipment for a hollow rod gasket assembly of a controllable gas spring according to claim 2, wherein the correction detection mechanism comprises a first correction detection mechanism (D7), a first correction detection mechanism (D7) ) includes a first bracket (D7a), a sixth linear driver (D7b), a first elastic connecting mechanism (D7c), a first cylindrical pass-stop gauge (D7d), and the first bracket (D7a) is fixedly installed on the first fixed plate On (G2), the sixth linear actuator (D7b) is fixedly installed on the first bracket (D7a), the working end of the sixth linear actuator (D7b) is arranged vertically downward, and the first cylindrical pass-stop gauge (D7d) can be vertically It is installed on the first bracket (D7a) in a straight-sliding manner. The first cylindrical pass and stop gauge (D7d) is elastically connected with the working end of the sixth linear driver (D7b) through the first elastic connection mechanism (D7c), and the first cylindrical pass and stop The outer circumference of the gauge (D7d) is clearance fit with the inner wall of the hollow rod (A1).

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