A gas spring end component assembly and testing production line

Abstract

The present invention discloses a gas spring two-end component assembly and detection production line, which includes a dust seal assembly unit, which includes a first conveying unit, a dust cover assembly mechanism and a dust cover detection mechanism sequentially arranged along the rear side of the first conveying unit, a bullet loading mechanism, a dust cover pre-loading mechanism, a bullet unloading mechanism and a dust cover assembly mechanism sequentially arranged along the front side of the first conveying unit, and a bullet reflux mechanism is arranged between the bullet loading mechanism and the bullet unloading mechanism; a joint assembly unit, which includes a second conveying unit, a joint tightening station and a joint angle adjustment station sequentially arranged along the second conveying unit, a first joint assembly mechanism and a second joint assembly mechanism relatively arranged at the joint tightening station, and a joint angle adjustment mechanism located at the joint angle adjustment station. The present invention can realize the automatic assembly of dust seals at both ends of the cylinder barrel, the automatic assembly and detection of large and small joints at both ends, and greatly improves production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of gas spring production equipment, and in particular relates to an assembly and detection production line for components at both ends of a gas spring. Background Art

[0002] Gas spring is a part that can realize functions such as support, buffer, brake, height and angle adjustment. Gas spring is mainly composed of cylinder rod, piston, sealing guide sleeve, filler, pressure cylinder and joint. The pressure cylinder is a closed cavity filled with inert gas or oil-gas mixture. The pressure in the cavity is several times or dozens of times the atmospheric pressure. When the gas spring is working, the pressure difference on both sides of the piston is used to realize the movement of the cylinder rod.

[0003] At present, there is a gas spring that needs to install dust seals at both ends of the cylinder after the cylinder and the cylinder rod are assembled. It is also necessary to install a large joint and a small joint at one end of the cylinder and one end of the cylinder rod respectively. Patent CN112222832A in the prior art discloses an automatic assembly line for gas springs, which realizes the assembly of the cylinder and the cylinder rod, but does not involve the assembly of the seals at both ends of the cylinder and the assembly of the joints at both ends of the cylinder and the cylinder rod. There is no automated equipment in the prior art to realize the assembly of the above components.

[0004] Therefore, it is necessary to provide a new gas spring end component assembly and detection production line to solve the above technical problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a gas spring end component assembly and testing production line, which can realize the automatic assembly of dustproof seals at both ends of the cylinder barrel, and the automatic assembly and testing of large and small joints at both ends, thereby greatly improving production efficiency.

[0006] The present invention achieves the above-mentioned purpose through the following technical scheme: a gas spring end component assembly and detection production line, which comprises:

[0007] The dustproof seal assembly unit comprises a first conveying unit for conveying a gas spring, a gas spring feeding mechanism arranged at the end of the first conveying unit, a dust cover assembly mechanism, a dust cover detection mechanism and a first glue dispensing mechanism arranged in sequence along the rear side of the first conveying unit, a bullet loading mechanism, a dust cover pre-loading mechanism, a bullet unloading mechanism, a dust cover assembly mechanism and a second glue dispensing mechanism arranged in sequence along the front side of the first conveying unit; a bullet reflux mechanism is arranged between the bullet loading mechanism and the bullet unloading mechanism;

[0008] A joint assembly unit, which includes a second conveying unit docked with the first conveying unit, a joint tightening station and a joint angle adjustment station arranged in sequence along the second conveying unit, a first joint assembly mechanism and a second joint assembly mechanism arranged at the joint tightening station in front and behind, a first large joint feeding mechanism and a first small joint feeding mechanism located on the left and right sides of the first joint assembly mechanism, a second large joint feeding mechanism and a second small joint feeding mechanism located on the left and right sides of the second joint assembly mechanism, a second clamping and fixing mechanism for fixing the end of the clamping cylinder rod, a third clamping and fixing mechanism for fixing the end of the clamping cylinder barrel, a first joint transporting mechanism for clamping and moving the joints output by the first large joint feeding mechanism and the first small joint feeding mechanism to the position of the first joint assembly mechanism, a second joint transporting mechanism for clamping and moving the joints output by the second large joint feeding mechanism and the second small joint feeding mechanism to the position of the second joint assembly mechanism, and a joint angle adjustment mechanism located at the joint angle adjustment station.

[0009] Furthermore, a first station, a second station, a third station, a fourth station, a fifth station, a sixth station and a seventh station are sequentially arranged along the first conveying unit; the bullet loading mechanism is arranged corresponding to the first station, the dust cover pre-installation mechanism is opposite to the dust cover assembly mechanism front and back and corresponds to the second station, the bullet unloading mechanism is arranged corresponding to the third station, the dust cover detection mechanism is arranged corresponding to the fourth station, the dust cover assembly mechanism is arranged corresponding to the fifth station, the second glue dispensing mechanism is opposite to the first glue dispensing mechanism front and back and corresponds to the seventh station; the first clamping and fixing mechanism for fixing the two end positions of the gas spring is arranged on the front and rear sides of the first conveying unit corresponding to the first station, the second station, the third station, the fourth station and the fifth station.

[0010] Furthermore, it also includes a laser marking mechanism; the laser marking mechanism is arranged corresponding to the sixth station and is located above the first conveying unit.

[0011] Furthermore, it also includes a spacing adjustment mechanism, which includes a first motor and a first support plate driven by the first motor to move forward and backward, and the first support plate extends left and right to cover the dustproof seal assembly unit and the joint assembly unit; the bullet loading mechanism, the bullet unloading mechanism, the bullet reflux mechanism and the second clamping and fixing mechanism are all arranged on the first support plate.

[0012] Furthermore, the first conveying unit includes a first conveying member and a second conveying member which are arranged parallel to each other in front and back, and a plurality of supporting members are arranged on the first conveying member and the second conveying member at equal intervals; and the first conveying member is integrally mounted on the first supporting plate.

[0013] Furthermore, the bullet loading mechanism and the bullet unloading mechanism both include a fourth cylinder, a second support plate driven by the fourth cylinder to rotate around a horizontal axis, a fifth cylinder fixed on the second support plate, and a third clamping jaw assembly driven by the fifth cylinder to move up and down or forward and backward; the bullet reflux mechanism includes a second motor and a carrier driven by the second motor to move left and right between the bullet loading mechanism and the bullet unloading mechanism; the carrier is provided with a plurality of bearing grooves for bearing bullets.

[0014] Furthermore, the dust cover assembly mechanism includes a dust cover feeding module, a first material receiving module arranged at the output end of the dust cover feeding module, and a dust cover assembly module which takes out the dust cover on the first material receiving module and installs it on the end of the cylinder; the first material receiving module includes a first material receiving block docked with the dust cover feeding module, a first push rod which lifts the dust cover in the first material receiving block upward, and a sixth cylinder which drives the first push rod to move up and down; the dust cover assembly module includes a seventh cylinder, an eighth cylinder which is driven by the seventh cylinder to rotate around a horizontal axis, and a suction nozzle which is driven by the eighth cylinder to move up and down or horizontally.

[0015] Furthermore, the dust sleeve pre-installation mechanism includes a dust sleeve feeding module, a second material receiving module arranged at the output end of the dust sleeve feeding module, a dust sleeve picking module for taking out the dust sleeve in the second material receiving module and rotating it to a horizontal state, and a dust sleeve pre-installation module for pulling down the dust sleeve on the dust sleeve picking module and pre-installing it to a set position of the cylinder rod; the second material receiving module includes a second material receiving block, a second push rod located below the second material receiving block, and a ninth cylinder driving the second push rod to lift the dust sleeve in the second material receiving block upward; the dust sleeve picking module includes an eleventh cylinder and a picking rod driven by the eleventh cylinder to rotate and switch between a horizontal state and a vertical state; the dust sleeve pre-installation module includes a third motor, a third support plate driven by the third motor to move back and forth above the first conveying unit, and a clamp fixed on the third support plate.

[0016] Furthermore, a storage groove for carrying the dust cover is formed on the clamping support, and an avoidance opening is provided at the bottom of the storage groove for the material picking rod to swing into the interior of the storage groove with the dust cover, the side of the storage groove facing the pre-installation direction of the dust cover is an open structure and is formed with an outlet, and a resistance limit surface that resists the end of the dust cover is provided on the side of the storage groove opposite to the outlet; a second sensor for detecting whether there is a dust cover in the storage groove is provided on the third support plate.

[0017] Furthermore, the dust cover detection mechanism includes a twelfth cylinder, a fourth support plate driven by the twelfth cylinder to move forward and backward, a third sensor fixed on the fourth support plate, and a detection block arranged at the movable end of the third sensor and in contact with the dust cover.

[0018] Furthermore, the dust cover assembly mechanism includes a fourth motor, a fifth support plate driven by the fourth motor to move back and forth above the first conveying unit, a fourth sensor fixed on the fifth support plate, a sixth support plate arranged at the sensing end of the fourth sensor, and a first push block fixed at the bottom of the sixth support plate; the fourth sensor is a pressure sensor; a limiting blocking surface that abuts against the end of the dust cover is formed on one side of the first push block, and an avoidance groove that avoids the cylinder rod body is formed at the bottom of the first push block.

[0019] Furthermore, the second conveying unit includes a sixth motor and a plurality of lifting and clamping modules driven by the sixth motor to move left and right, and two adjacent lifting and clamping modules are connected together by a connecting rod; the lifting and clamping module includes an eighth support plate slidably arranged on a slide rail, a fifteenth cylinder fixed on the eighth support plate, and a fourth clamping jaw assembly driven by the fifteenth cylinder to move up and down.

[0020] Furthermore, the first joint assembly mechanism and the second joint assembly mechanism both include an eighth motor, a tenth support plate driven by the eighth motor to move forward and backward, an eleventh support plate arranged to slide forward and backward and move with the tenth support plate, a screwing rod rotatably arranged on the tenth support plate and capable of moving forward and backward relative to the tenth support plate, a first joint bearing seat fixedly arranged at the end of the screwing rod, a screw gun fixed on the eleventh support plate and driving the screwing rod to rotate to tighten the joint, and a ninth motor fixed on the eleventh support plate and driving the screwing rod to rotate to return to the origin.

[0021] Furthermore, the joint angle adjustment mechanism includes a first angle adjustment module for adjusting the joint angle at the cylinder rod end and a second angle adjustment module for adjusting the joint angle at the cylinder barrel end; the first angle adjustment module and the second angle adjustment module both include an eighteenth cylinder, a twelfth support plate driven by the eighteenth cylinder to move back and forth, a first rotating rod rotatably set on the twelfth support plate, a second joint supporting seat fixed on the end of the first rotating rod, and a tenth motor fixed on the twelfth support plate and driving the first rotating rod to rotate; the first angle adjustment module is set on the first support plate.

[0022] Furthermore, it also includes a coding engraving unit and a force measuring and detecting material discharging unit, and the coding engraving unit and the force measuring and detecting material discharging unit are sequentially arranged along the second conveying unit;

[0023] The coding engraving unit includes a plasma cleaning mechanism, a first coding mechanism, a second coding mechanism and a laser marking engraving mechanism which are sequentially arranged along the second conveying unit, and a first support rotation mechanism arranged at each mechanism; the first support rotation mechanism includes a first support rotation module at the end of the support cylinder rod and a second support rotation module at the end of the support cylinder barrel; the second support rotation module includes a nineteenth cylinder, a thirteenth support plate driven by the nineteenth cylinder to move forward and backward, a second rotating rod rotatably arranged on the thirteenth support plate, a third joint bearing seat arranged at the end of the second rotating rod, and an eleventh motor fixed on the thirteenth support plate and driving the second rotating rod to rotate; the first support rotation module includes a twentieth cylinder, a fourteenth support plate driven by the twenty-th cylinder to move forward and backward, a third rotating rod rotatably arranged on the fourteenth support plate, a fourth joint bearing seat arranged at the end of the third rotating rod, a twenty-first cylinder fixed on the fourteenth support plate, and a locking plate driven by the twenty-first cylinder to move forward and backward and lock the third rotating rod to prevent it from rotating, and one end of the third rotating rod is provided with a locking groove for inserting the locking plate;

[0024] The force measuring and detecting unloading unit includes a force measuring station, a waste discharge station, a wax coating station and an unloading station in sequence along the second conveying unit. The force measuring station is provided with a force measuring mechanism, the waste discharge station is provided with a waste discharge and conveying mechanism, the wax coating station is provided with a wax coating mechanism, and the unloading station is provided with a unloading mechanism; the waste discharge station and the wax coating station are both provided with a second support rotating mechanism that supports both ends of a gas spring and drives the gas spring to rotate according to demand; the structure of the second support rotating mechanism is the same as that of the first support rotating mechanism; the force measuring mechanism includes a support module that supports the gas spring, a force measuring module that resists the cylinder end, and a pushing module that resists the cylinder rod end.

[0025] Compared with the prior art, the beneficial effect of the assembly and testing production line of the components at both ends of the gas spring of the present invention is that it can realize the automatic assembly of the dustproof seals at both ends of the cylinder, the automatic assembly and testing of the large and small joints at both ends, and greatly improve the production efficiency.

[0026] (1) The gas spring is moved between various workstations by setting up a first conveying unit, a dust cover assembly and detection mechanism for the free end of the cylinder is set on the front side of the first conveying unit, and a dust cover assembly mechanism for the end of the cylinder where the cylinder rod extends is set on the rear side of the first conveying unit, thereby realizing the automatic assembly of the dust seals at both ends of the gas spring cylinder, greatly improving the production efficiency;

[0027] (2) In the dust seal assembly unit, a support member is configured on the conveying member to support both ends of the gas spring to achieve automatic conveying, thereby meeting the conveying requirements in the dust seal assembly unit; and in the joint assembly unit, a lifting clamping mechanism is used in conjunction with horizontal transfer to achieve automatic transfer of the gas spring between various workstations, thereby balancing the conveying of workpieces with different spacings between two adjacent workstations in the two assembly units;

[0028] (3) When assembling the dust cover of the cylinder with the extended end of the cylinder rod, use a bullet head to assist in the installation of the dust cover. Before installing the dust cover, install a bullet head at the end of the cylinder rod to eliminate the obstruction of the threaded step at the end of the cylinder rod to the sliding of the dust cover, so that the end of the cylinder rod is in a state of flush outer circumference, ensuring that the dust cover can be smoothly inserted from the end of the cylinder rod to the cylinder rod body. After the dust cover is pre-installed, remove the bullet head, and then use the pressure sensor to monitor the assembly pressure of the dust cover in real time to assemble the dust cover in place, thereby realizing the installation of the dust cover at the extended end of the cylinder rod of the cylinder;

[0029] (4) In the joint assembly unit, a large joint feeding mechanism, a small joint feeding mechanism, a joint assembly mechanism and a joint transporting mechanism are respectively arranged at the cylinder end and the cylinder rod end. The large joint assembly and the small joint assembly at the same end share the same joint assembly mechanism. The large joint feeding mechanism and the small joint feeding mechanism are arranged on the left and right sides of the structural assembly mechanism. The large joint and the small joint are respectively transported from the large joint feeding mechanism and the small joint feeding mechanism to the joint assembly mechanism by the joint transporting mechanism. The automatic assembly of the large and small joints at both ends of the gas spring is realized by using the smallest space, which greatly improves the production efficiency.

[0030] (5) When assembling the joint, a screw gun is used to automatically tighten the joint. At the same time, the encoder built into the motor is used to record the rotation angle of the screw rod in real time, and the screw rod is driven to rotate back to zero after the joint is tightened. On the one hand, it ensures that the next joint material can be smoothly placed in the joint bearing seat at the end of the screw rod; on the other hand, it can record the angle when the screw rod stops rotating, that is, the angle at which the joint stays on the two ends of the gas spring, providing angle information for the subsequent angle adjustment of the joints at both ends, so as to ensure that the joints at both ends of the gas spring can be kept in a tightened state and assembled to the designed angle state;

[0031] (6) After the joint is assembled, a coding engraving unit and a force measurement and detection unloading unit are also arranged along the second conveying unit to detect the supporting force of the cylinder rod when it is extended to a set length, thereby determining whether the seal at the end of the gas spring cylinder is qualified and whether the internal pressure of the cylinder meets the requirements, thereby realizing automatic unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of a top view of the structure of an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of a gas spring in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the top view of the dustproof seal assembly unit in an embodiment of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the first conveying unit and the spacing adjustment mechanism in an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of a partial structure of a first conveying unit in an embodiment of the present invention;

[0037] Figure 6 It is a schematic diagram of the structure of multiple mechanisms arranged along the first conveying unit in an embodiment of the present invention;

[0038] Figure 7 It is a structural schematic diagram of a first clamping and fixing mechanism in an embodiment of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the installation, disassembly and reflux transportation of the bullet head in an embodiment of the present invention;

[0040] Fig. 9 It is a structural schematic diagram of the dust cover and the dust cover assembly station in an embodiment of the present invention;

[0041] Fig.10 It is a structural schematic diagram of a dust cover assembly mechanism in an embodiment of the present invention;

[0042] Fig.11 It is a structural schematic diagram of the dust cover pre-installation mechanism in an embodiment of the present invention;

[0043] Fig.12 It is a schematic diagram of the structure of the clamping support in an embodiment of the present invention;

[0044] Fig.13 It is a structural schematic diagram of a dust cover detection mechanism in an embodiment of the present invention;

[0045] Fig.14 It is a structural schematic diagram of the dust cover assembly mechanism in an embodiment of the present invention;

[0046] Fig.15 This is a schematic diagram of the structure of the laser marking mechanism in an embodiment of the present invention;

[0047] Fig.16 It is a structural schematic diagram of the first dispensing mechanism in an embodiment of the present invention;

[0048] Fig.17 Schematic diagram of the top view of the joint assembly unit in an embodiment of the present invention;

[0049] Fig.18 It is a partial structural schematic diagram of the second conveying unit in an embodiment of the present invention;

[0050] Fig.19 This is a structural schematic diagram of a joint tightening station in an embodiment of the present invention;

[0051] Fig. 20 This is a schematic structural diagram of a first joint bearing seat in an embodiment of the present invention;

[0052] Fig.21 It is a schematic diagram of the structure of the second and third clamping and fixing mechanisms and the joint angle adjustment mechanism in an embodiment of the present invention;

[0053] Fig. 22 It is a structural schematic diagram of a coding and marking unit in an embodiment of the present invention;

[0054] Fig.23 It is a structural schematic diagram of the first support rotating mechanism in an embodiment of the present invention;

[0055] Fig.24 It is a structural schematic diagram of a force measurement and unloading unit in an embodiment of the present invention;

[0056] Fig.25 It is a schematic diagram of the side structure of the force measuring mechanism in an embodiment of the present invention;

[0057] The numbers in the figure represent:

[0058] 100- Assembly and testing production line for components at both ends of gas springs;

[0059] 200-gas spring, 201-cylinder barrel, 202-cylinder rod, 203-dust cover, 204-dust cover, 205-connector, 300-bullet head;

[0060] 10-Dust seal assembly unit:

[0061] 11-first conveying unit, 111-first conveying member, 112-second conveying member, 113-supporting member, 114-guide and correcting plate; 12-gas spring feeding mechanism, 121-gas spring feeding module, 122-handling robot; 13-dust cover assembly mechanism, 131-dust cover feeding module, 132-first receiving module, 1321-first receiving block, 1322-first push rod, 1323-sixth cylinder, 133-dust cover assembly module, 1331-seventh cylinder, 1332-eighth cylinder, 1333-sucking nozzle; 14-dust cover detection mechanism, 141-twelfth cylinder, 142-fourth support plate, 143-third sensor, 144-detection block; 15 - first dispensing mechanism, 151- the fourteenth cylinder, 152- the seventh support plate, 153- the bracket, 154- the limit push rod, 155- the dispensing head; 16- the bullet head loading mechanism, 161- the fourth cylinder, 162- the second support plate, 163- the fifth cylinder, 164- the third clamping jaw assembly; 17- the dust cover pre-installation mechanism, 171- the dust cover feeding module, 172- the second receiving module, 1721- the second receiving block, 1722- the supporting bottom plate, 1723- the second push rod, 1724- the ninth cylinder, 1725- the first waste box, 1726- the tenth cylinder, 1727- the first sensor, 173- the dust cover taking module, 1731- the eleventh cylinder, 1732- the taking Material rod, 174-dust cover pre-installed module, 1741-third motor, 1742-third support plate, 1743-clamping support, 17431-storage slot, 17432-avoidance opening, 17433-export, 17434-contact limit surface, 17435-connecting part, 1744-second sensor; 18-bullet unloading mechanism; 19-dust cover assembly mechanism, 191-fourth motor, 192-fifth support plate, 193-fourth sensor, 194-sixth support plate, 195-first push block; 110-second dispensing mechanism; 120-bullet reflux mechanism, 1201-second motor, 1202-carrier; 130-laser marking mechanism, 1301-fifth motor , 1302-the fifteenth support plate, 1303-the thirteenth cylinder, 1304-the lifting and lowering adjustment module, 1305-the camera, 1306-the laser marking module; 140-the first clamping and fixing mechanism, 1401-the first clamping and fixing module, 14011-the first support block, 14012-the first cylinder, 14013-the elastic pressure block, 1402-the second clamping and fixing module, 14021-the second support block, 14022-the second cylinder, 14023-the first clamping jaw assembly, 14024-the third cylinder, 14025-the second clamping jaw assembly, 14026-the third support block, 14027-the twenty-fourth cylinder, 14028-the fixed clamping block, 14029-the support seat;

[0062] 20-Joint Assembly Unit:

[0063] 21-second conveying unit, 211-sixth motor, 212-lifting clamping module, 2121-eighth support plate, 2122-fifteenth cylinder, 2123-fourth clamping jaw assembly, 213-connecting rod, 214-left and right driving cylinders, 215-slide rail; 22-first joint assembly mechanism, 221-eighth motor, 222-tenth support plate, 223-eleventh support plate, 224-screwing rod, 225-first joint bearing seat, 2251-accommodating groove, 226-screw gun, 227-ninth motor, 228-tension spring, 229-mounting seat; 23-second joint assembly mechanism; 24-first large joint feeding mechanism, 241-joint feeding module, 242-third material receiving block, 243-fifth sensor, 244-second waste box; 25-first small joint feeding mechanism; 26-second large joint feeding mechanism; 27-second small joint feeding mechanism; 28-second clamping and fixing mechanism , 281-the seventeenth cylinder, 282-the sixth clamping jaw assembly; 29-the third clamping and fixing mechanism; 210-the first joint transporting mechanism, 2101-the seventh motor, 2102-the ninth support plate, 2103-the sixteenth cylinder, 2104-the fifth clamping jaw assembly; 220-the second joint transporting mechanism; 230-the joint angle adjustment mechanism, 2301-the first angle adjustment module, 23011-the eighteenth cylinder, 23012-the twelfth support plate, 23013-the first rotating rod, 23014-the second joint bearing seat, 23015-the tenth motor, 2302-the second angle adjustment module;

[0064] 30-Inkjet Printing Unit:

[0065] 301-plasma cleaning mechanism, 302-first coding mechanism, 303-second coding mechanism, 304-laser marking mechanism, 305-first support rotating mechanism, 3051-first support rotating module, 30511-twentieth cylinder, 30512-fourteenth support plate, 30513-third rotating rod, 30514-fourth joint bearing seat, 30515-twenty-first cylinder, 30516-locking groove, 3052-second support rotating module, 30521-nineteenth cylinder, 30522-thirteenth support plate, 30523-second rotating rod, 30524-third joint bearing seat, 30525-eleventh motor;

[0066] 40- spacing adjustment mechanism: 41- first motor, 42- first support plate;

[0067] 50-Force measurement detection unloading unit: 501-force measuring mechanism, 5011-support module, 50111-twenty-second cylinder, 50112-pallet, 5012-force measuring module, 50121-double-stroke cylinder, 50122-pressure sensor, 5013-pushing module, 50131-twenty-third cylinder, 50132-second push block, 5014-support slide bar, 502-waste discharge and transportation mechanism, 5021-two-dimensional driving module, 5022-seventh clamping jaw assembly, 5023-third waste box, 503-waxing mechanism, 5031-first waxing module, 5032-second waxing module, 50321-twelfth motor, 50322-waxing gun, 504-unloading mechanism, 505-second support rotating mechanism. DETAILED DESCRIPTION

[0068] Embodiment 1:

[0069] Please refer to Figure 1-Figure 25 The present embodiment is a gas spring end component assembly and testing production line 100, which includes a dustproof seal assembly unit 10, a joint assembly unit 20, a coding engraving unit 30 and a force measurement and testing feeding unit 50 which are arranged in sequence.

[0070] The dustproof seal assembly unit 10 is mainly used to realize the automatic assembly, detection and glue-dispensing sealing of the dustproof seals at both ends of the gas spring. The joint assembly unit 20 is mainly used to install a large joint and a small joint at both ends of the gas spring. The coding engraving unit 30 is mainly used to perform coding and logo engraving at the set position of the gas spring; the force measurement detection and feeding unit 50 is mainly used to detect the supporting force of the gas spring cylinder rod when it is extended to a set length and to feed. In this embodiment, the gas spring 200 includes a cylinder barrel 201 and a cylinder rod 202 assembled together. According to the process requirements, it is necessary to install a dust cover 203 at the free end of the cylinder barrel 201, and install a dust cover 204 at one end of the cylinder barrel 201 close to the cylinder rod 202, and then install two joints 205 at the free end of the cylinder barrel 201, and also install two joints 205 at the free end of the cylinder rod 202.

[0071] The dust seal assembly unit 10 includes a first conveying unit 11 for conveying a gas spring, a gas spring feeding mechanism 12 arranged at the end of the first conveying unit 11, a dust cover assembly mechanism 13, a dust cover detection mechanism 14 and a first glue dispensing mechanism 15 arranged in sequence along the rear side of the first conveying unit 11, a bullet loading mechanism 16, a dust cover pre-loading mechanism 17, a bullet unloading mechanism 18, a dust cover assembly mechanism 19 and a second glue dispensing mechanism 110 arranged in sequence along the front side of the first conveying unit 11; a bullet reflux mechanism 120 is arranged between the bullet loading mechanism 16 and the bullet unloading mechanism 18; the dust cover pre-loading mechanism 17 and the dust cover assembly mechanism 13 are arranged front and back oppositely, and the second glue dispensing mechanism 110 and the first glue dispensing mechanism 15 are arranged front and back oppositely; a laser marking mechanism 130 is also arranged upstream of the first glue dispensing mechanism 15 and the second glue dispensing mechanism 110. The front side of the first conveying unit 11 corresponds to the cylinder rod end of the gas spring 200, and the rear side corresponds to the cylinder barrel end of the gas spring 200.

[0072] A first station, a second station, a third station, a fourth station, a fifth station, a sixth station and a seventh station are sequentially arranged along the first conveying unit 11; a bullet loading mechanism 16 is arranged corresponding to the first station, a dust cover assembly mechanism 13 and a dust cover pre-installation mechanism 17 are arranged corresponding to the second station, a bullet unloading mechanism 18 is arranged corresponding to the third station, a dust cover detection mechanism 14 is arranged corresponding to the fourth station, a dust cover assembly mechanism 19 is arranged corresponding to the fifth station, a laser marking mechanism 130 is arranged corresponding to the sixth station and is located above the first conveying unit 11, and a first glue dispensing mechanism 15 and a second glue dispensing mechanism 110 are arranged corresponding to the seventh station.

[0073] First clamping and fixing mechanisms 140 for fixing the two ends of the gas spring are provided at the front and rear sides of the first conveying unit 11 corresponding to the first station, the second station, the third station, the fourth station and the fifth station.

[0074] The gas spring feeding mechanism 12 places the gas springs 200 one by one onto the first conveying unit 11; when moving to the first station, the bullet head installation mechanism 16 installs a bullet head at the end of the cylinder rod. Since the cylinder rod end of the gas spring has a threaded rod section with a smaller diameter, it is used for threaded connection of the joint assembly. However, due to the existence of the threaded rod section structure, when installing the dust cover, the dust cover is easily stuck at the stepped end face where the screw rod section and the cylinder rod body intersect, and cannot smoothly reach the cylinder rod body section. Therefore, in this embodiment, before the dust cover is installed, a bullet head 300 is first installed at the end of the cylinder rod. The bullet head 300 is a pointed cone guide structure, which is sleeved on the outside of the threaded rod, completely covering the threaded rod section, and flush with the outer periphery of the cylinder rod body. The end of the bullet head 300 has a pointed tip to facilitate the insertion of the dust cover; after the bullet head is installed, the gas spring moves to the second station again, and the dust cover is assembled Mechanism 13 completes the dust cover assembly at the cylinder end, and at the same time, the dust sleeve pre-installation mechanism 17 completes the dust sleeve pre-installation at the cylinder rod end; then it moves to the third station, the bullet head unloading mechanism 18 removes the bullet head 300 at the cylinder rod end and places it on the bullet head reflux mechanism 120, and returns to the first station through the bullet head reflux mechanism 120 for recycling; the gas spring moves to the fourth station again, and the dust cover detection mechanism 14 detects whether the dust cover at the cylinder end is installed in place; then it moves to the fifth station, and the dust sleeve assembly mechanism 19 assembles the dust sleeve on the cylinder rod to the end of the cylinder; then it moves to the sixth station, and the laser marking mechanism 130 sets the position on the cylinder or cylinder rod for laser marking; then it moves to the seventh station, the first glue dispensing mechanism 15 dispenses glue at the threaded structure at the cylinder end, and the second glue dispensing mechanism 110 dispenses glue at the threaded structure at the cylinder rod end, so as to facilitate the subsequent assembly of the joint.

[0075] The first conveying unit 11 includes a first conveying member 111 and a second conveying member 112 which are arranged parallel to each other in the front and rear directions, and a plurality of support members 113 are arranged on the first conveying member 111 and the second conveying member 112 at equal intervals. Both ends of the gas spring 200 are placed on the support members 113, and are moved to the above-mentioned respective stations under the conveyance of the first conveying member 111 and the second conveying member 112. The first conveying member 111 and the second conveying member 112 are selected from one or two of the conveying belt body structures such as chains, conveyor belts, and belts. In the present embodiment, the first conveying member 111 and the second conveying member 112 are both chains. The support member 113 is a V-shaped structure to ensure the position stability of the gas spring on the support member 113.

[0076] In order to improve the versatility of this embodiment, this embodiment is also provided with a spacing adjustment mechanism 40, which includes a first motor 41 and a first support plate 42 driven by the first motor 41 to move forward and backward, the first support plate 42 extends left and right to cover the dust seal assembly unit 10, the joint assembly unit 20, the inkjet coding unit 30 and the force measurement detection feeding unit 50; the first conveying member 111 is integrally installed on the first support plate 42, and moves with the first support plate 42 to adjust the spacing between the first conveying member 111 and the second conveying member 112 to match various gas spring support conveying specifications of different lengths.

[0077] A number of guide alignment plates 114 are provided on the front and rear sides of the first conveying unit 11 for guiding the positions of the two ends of the gas spring 200. On the one hand, the positions of the two ends of the gas spring will not deviate when the gas spring is conveyed on the first conveying unit 11, which is convenient for subsequent operations at each workstation; on the other hand, the position of the end of the gas spring is limited when the dust sleeve or dust cover is assembled and tested.

[0078] The first clamping and fixing mechanism 140 includes a first clamping and fixing module 1401 for fixing the end position of the cylinder barrel and a second clamping and fixing module 1402 for fixing the end position of the cylinder rod. The first clamping and fixing modules 1401 at the first to fifth stations have the same structure and all include a first support block 14011, a first cylinder 14012 for driving the first support block 14011 to move up and down, and an elastic pressure block 14013 located above the first support block 14011. The first support block 14011 is provided with a V-shaped groove on the surface facing the elastic pressure block 14013 to improve the stability of the circular cylinder barrel clamping. The elastic pressure block 14013 is pressed downward by the elastic member, and the elastic pressure is used to press the end of the cylinder barrel, ensuring sufficient pressure while preventing the cylinder barrel end from being deformed due to excessive pressure. The second clamping and fixing module 1402 at the first station includes a second support block 14021 supporting the end of the cylinder rod, a second cylinder 14022 driving the second support block 14021 to move up and down, and a first clamping jaw assembly 14023 located above the second support block 14021 and used to clamp the end of the cylinder rod. The second clamping and fixing modules 1402 at the second station and the third station have the same structure and both include a third cylinder 14024 and a second clamping jaw assembly 14025 driven by the third cylinder 14024 to move up and down and clamp the end of the cylinder rod. The second clamping and fixing modules 1402 at the fourth and fifth workstations have the same structure and both include a third support block 14026, a twenty-fourth cylinder 14027 for driving the third support block 14026 to move up and down, a fixed clamp block 14028 fixedly arranged above the third support block 14026, and a support seat 14029 for supporting the twenty-fourth cylinder 14027 and the fixed clamp block 14028. V-shaped grooves are arranged on the opposite side surfaces of the third support block 14026 and the fixed clamp block 14028 to improve the stability of clamping the cylinder rod.

[0079] The gas spring feeding mechanism 12 includes a gas spring feeding module 121 and a handling robot 122 that grabs the gas spring from the gas spring feeding module 121 and then places it on the first conveying unit 11. The gas spring feeding module 121 can adopt a rod body or tube body feeding mechanism in the prior art.

[0080] The bullet loading mechanism 16 has the same structure as the bullet unloading mechanism 18, and both include a fourth cylinder 161, a second support plate 162 driven by the fourth cylinder 161 to rotate around a horizontal axis, a fifth cylinder 163 fixed on the second support plate 162, and a third clamping jaw assembly 164 driven by the fifth cylinder 163 to move up and down or forward and backward. The third clamping jaw assembly 164 grabs the bullet 300 on the bullet return mechanism 120 in a vertical state, and then rotates to a horizontal state under the rotation of the fourth cylinder 161, and then installs the bullet 300 to the end of the cylinder rod under the action of the fifth cylinder 163; conversely, the third clamping jaw assembly 164 removes the bullet 300 from the end of the cylinder rod in a horizontal state, and then rotates to a vertical state to place the bullet 300 in the bullet return mechanism 120. When installing the bullet head 300, the first clamping and fixing module 1401 presses the end of the cylinder barrel, the second support block 14021 lifts the cylinder rod end upward to separate from the first conveying unit 11, and then clamps and fixes it through the first clamping claw assembly 14023. When disassembling the bullet head 300, the first clamping and fixing module 1401 presses the end of the cylinder barrel, and the second clamping claw assembly 14025 clamps and fixes the end of the cylinder rod.

[0081] The bullet return mechanism 120 includes a second motor 1201 and a carrier 1202 driven by the second motor 1201 to move left and right between the bullet loading mechanism 16 and the bullet unloading mechanism 18. The carrier 1202 is provided with a plurality of bearing slots for loading the bullets 300.

[0082] The bullet loading mechanism 16, the bullet unloading mechanism 18 and the bullet return mechanism 120 are all arranged on the first support plate 42 of the spacing adjustment mechanism 40, and are moved with the first support plate 42 to achieve position adjustment to match gas springs of various length specifications.

[0083] The dust cover assembly mechanism 13 includes a dust cover feeding module 131, a first receiving module 132 arranged at the output end of the dust cover feeding module 131, and a dust cover assembly module 133 for taking out the dust cover on the first receiving module 132 and installing it on the end of the cylinder. The dust cover feeding module 131 adopts an automatic feeding mechanism in the prior art, such as a vibration plate. The first receiving module 132 includes a first receiving block 1321 docked with the dust cover feeding module 131, a first push rod 1322 that pushes the dust cover 203 in the first receiving block 1321 upward, and a sixth cylinder 1323 that drives the first push rod 1322 to move up and down. The dust cover assembly module 133 includes a seventh cylinder 1331, an eighth cylinder 1332 driven by the seventh cylinder 1331 to rotate around a horizontal axis, and a suction nozzle 1333 driven by the eighth cylinder 1332 to move up and down or horizontally. The dust cover feeding module 131 outputs a number of dust covers 203 in an orderly manner, and the last dust cover 203 moves to the first receiving block 1321, and the suction nozzle 1333 moves vertically to above the first receiving block 1321, and the first push rod 1322 pushes it upward, and the suction nozzle 1333 absorbs the dust cover 203 and then rotates to a horizontal state, and under the driving action of the eighth cylinder 1332, the dust cover 203 is assembled to the end of the cylinder barrel.

[0084] The dust cover pre-installation mechanism 17 includes a dust cover feeding module 171, a second receiving module 172 arranged at the output end of the dust cover feeding module 171, a dust cover taking module 173 that takes out the dust cover 204 in the second receiving module 172 and rotates it to a horizontal state, and a dust cover pre-installation module 174 that pulls off the dust cover 204 on the dust cover taking module 173 and pre-installs it to the set position of the cylinder rod. The dust cover feeding module 171 adopts an automatic feeding mechanism in the prior art, such as a vibration plate. The second material receiving module 172 includes a second material receiving block 1721, a supporting base plate 1722 arranged below the second material receiving block 1721, a second push rod 1723 located below the second material receiving block 1721, a ninth cylinder 1724 driving the second push rod 1723 to lift up the dust cover 204 in the second material receiving block 1721, a first waste box 1725 located next to the second material receiving block 1721, a tenth cylinder 1726 driving the second material receiving block 1721 to move horizontally to above the first waste box 1725, and a first sensor 1727 for detecting whether the model of the dust cover 204 output by the dust cover feeding module 171 is correct. The first sensor 1727 is a laser displacement sensor, which can determine whether the dust cover model is correct by detecting the height of the dust cover 204. If the incoming material is incorrect, the tenth cylinder 1726 drives the second receiving block 1721 to move above the first waste box 1725, and the dust cover moved to the second receiving block 1721 automatically falls into the first waste box 1725; if the incoming material is correct, the second push rod 1723 extends into the second receiving block 1721 and pushes the dust cover 204 upward to achieve material receiving and material separation. The dust cover material taking module 173 includes the eleventh cylinder 1731 and the material taking rod 1732 driven by the eleventh cylinder 1731 to rotate and switch between the horizontal state and the vertical state. The free end of the material picking rod 1732 is a pointed cone structure. In the vertical state, the material picking rod 1732 is aligned with the second push rod 1723. The second push rod 1723 moves upward to lift the dust cover 204. The material picking rod 1732 extends into the dust cover and is tightly clamped on the material picking rod 1732 by using the interference fit of the small hole at one end of the dust cover. The material picking rod 1732 rotates to a horizontal state to complete the material picking. The dust cover pre-installation module 174 includes a third motor 1741, a third support plate 1742 which is driven by the third motor 1741 to move back and forth above the first conveying unit 11, and a clamping support 1743 fixed on the third support plate 1742. A storage groove 17431 for carrying the dust cover is formed on the clamping support 1743. An avoidance opening 17432 is provided at the bottom of the storage groove 17431 for the material rod 1732 to swing with the dust cover into the storage groove 17431. The side of the storage groove 17431 facing the dust cover pre-installation direction is an open structure and is formed with an outlet 17433. The side of the storage groove 17431 opposite to the outlet 17433 is provided with a resistance limit surface 17434 that resists the end of the dust cover.The clamping support 1743 is also provided with a connecting portion 17435, which is used to be fixedly connected to the third support plate 1742. The avoidance opening 17432 extends forward through the connecting portion 17435 to avoid the material taking rod 1732. The third support plate 1742 is also provided with a second sensor 1744 for detecting whether there is a dust cover in the receiving groove 17431.

[0085] The working process of the dust cover pre-installation mechanism 17 is as follows: the dust cover feeding module 171 outputs the dust cover 204 in an orderly manner, the dust cover at the end enters the second receiving block 1721, the picking rod 1732 moves to the top of the second receiving block 1721, and the second push rod 1723 moves upward to push the dust cover onto the picking rod 1732; the second push rod 1732 descends, and the picking rod 1732 carries the dust cover and swings from a vertical state to a horizontal state. When swinging to the horizontal state, the picking rod 1732 swings the dust cover from a vertical state to a horizontal state. The material rod 1732 passes through the avoidance opening 17432 and enters the storage groove 17431. At the same time, the dust cover also enters the storage groove 17431 from the avoidance opening 17432 under the drive of the material picking rod 1732. At this time, the tip of the material picking rod 1732 docks with the end of the cylinder rod. Under the drive of the third motor 1741, the clamping support 1743 uses the resistance limit surface 17434 to push the dust cover, so that the dust cover is pulled off the material picking rod 1732 and pushed to the pre-installation position.

[0086] The dust cover detection mechanism 14 includes a twelfth cylinder 141, a fourth support plate 142 driven by the twelfth cylinder 141 to move forward and backward, a third sensor 143 fixed on the fourth support plate 142, and a detection block 144 disposed at the movable end of the third sensor 143 and in contact with the dust cover. The third sensor 143 can be a pressure sensor or a displacement sensor. If the pressure value or displacement value detected by the third sensor 143 exceeds a set range, it is considered that the dust cover is missing or incorrectly assembled. Otherwise, the dust cover is correctly installed.

[0087] The dust cover assembly mechanism 19 includes a fourth motor 191, a fifth support plate 192 driven by the fourth motor 191 to move forward and backward above the first conveying unit 11, a fourth sensor 193 fixed on the fifth support plate 192, a sixth support plate 194 arranged at the sensing end of the fourth sensor 193, and a first push block 195 fixed at the bottom of the sixth support plate 194. The fourth sensor 193 is a pressure sensor, which determines whether the dust cover is installed in place by sensing the pressure on the first push block 195. A limit blocking surface that abuts against the end of the dust sleeve is formed on one side of the first push block 195, and an avoidance groove that avoids the cylinder rod body is formed on the bottom of the first push block 195. When the dust sleeve is assembled in place, the first clamping and fixing mechanism 140 is first used to lift the gas spring to a set height. At this time, the cylinder rod body rises and is stuck in the avoidance groove, and then the fourth motor 191 drives the first push block 195 to move backward, and the limit blocking surface is used to push the dust sleeve to move along the axial direction of the cylinder rod until the dust sleeve is installed on the end of the cylinder barrel near one end of the cylinder rod, and the fourth sensor 193 is used to monitor the installation depth of the dust sleeve to ensure that the dust sleeve is assembled in place and to avoid excessive squeezing of the dust sleeve to damage the dust sleeve or the cylinder barrel.

[0088] The laser marking mechanism 130 includes a fifth motor 1301, a fifteenth support plate 1302 driven by the fifth motor 1301 to move forward and backward, a thirteenth cylinder 1303 and a lifting and adjusting module 1304 fixed on the fifteenth support plate 1302, a camera 1305 driven by the thirteenth cylinder 1303 to move left and right or forward and backward, and a laser marking module 1306 arranged at the movable end of the lifting and adjusting module 1304. During laser marking, the camera 1305 is first used to take a picture of the gas spring position to obtain the laser marking position information, and then the laser marking module 1306 is used to mark the set position section.

[0089] The first dispensing mechanism 15 has the same structure as the second dispensing mechanism 110, and both include a fourteenth cylinder 151, a seventh support plate 152 driven by the fourteenth cylinder 151 to move forward and backward, a bracket 153 elastically floatingly arranged on the seventh support plate 152, a limiting push rod 154 fixed on the bracket 153 and limiting the end of the gas spring, and a dispensing head 155 whose position can be adjusted and arranged on the bracket 153. The first dispensing mechanism 15 and the second dispensing mechanism 110 are used to dispense glue to the threaded structure at the cylinder end and the threaded structure at the cylinder rod end, respectively. When dispensing glue, the two limiting push rods 154 extend out, and use elastic pressure to clamp the two ends of the gas spring to keep the position of the gas spring stable, while ensuring that the dispensing position is accurate, and then the dispensing head 155 dispenses glue to complete the dispensing.

[0090] The joint assembly unit 20 includes a second conveying unit 21 docked with the first conveying unit 11, a joint tightening station and a joint angle adjustment station arranged in sequence along the second conveying unit 21, a first joint assembly mechanism 22 and a second joint assembly mechanism 23 arranged relatively front and back at the joint tightening station, a first large joint feeding mechanism 24 and a first small joint feeding mechanism 25 located on the left and right sides of the first joint assembly mechanism 22, a second large joint feeding mechanism 26 and a second small joint feeding mechanism 27 located on the left and right sides of the second joint assembly mechanism 23, a second clamping and fixing mechanism 28 for fixing the end of the clamping cylinder rod, a third clamping and fixing mechanism 29 for fixing the end of the clamping cylinder barrel, a first joint transporting mechanism 210 for clamping and moving the joints output by the first large joint feeding mechanism 24 and the first small joint feeding mechanism 25 to the position of the first joint assembly mechanism 22, a second joint transporting mechanism 220 for clamping and moving the joints output by the second large joint feeding mechanism 26 and the second small joint feeding mechanism 27 to the position of the second joint assembly mechanism 23, and a joint angle adjustment mechanism 230 located at the joint angle adjustment station.

[0091] The first joint assembly mechanism 22 installs the joint at the cylinder rod end; the second joint assembly mechanism 23 installs the joint at the cylinder barrel end.

[0092] The second conveying unit 21 integrally covers the joint assembly unit 20, the coding and marking unit 30, and the force measurement and detection blanking unit 50, and includes a sixth motor 211 and a plurality of lifting and clamping modules 212 driven by the sixth motor 211 to move left and right. Two adjacent lifting and clamping modules 212 are connected together by a connecting rod 213, and synchronously move left and right under the driving action of the sixth motor 211. Preferably, each lifting and clamping module 212 is arranged at equal intervals, and all lifting and clamping modules 212 can also be divided into two integral modules according to different requirements. For example, one integral module is used for the movement of the gas spring in the joint assembly unit 20 between various stations, and the other integral module is used for the movement of the gas spring in the coding and marking unit 30 and the force measurement and detection blanking unit 50 between various stations. When the spacing between each workstation in the joint assembly unit 20 is different from the spacing between each workstation in the inkjet coding unit 30, a left and right driving cylinder 214 can be set on one of the integral modules, and the other integral module is connected to the movable end of the left and right driving cylinder 214 to achieve the spacing adjustment between the two integral modules to meet the adjustment of different spacings between the two modules.

[0093] The lifting clamping module 212 includes an eighth support plate 2121 slidably disposed on the slide rail 215, a fifteenth cylinder 2122 fixed on the eighth support plate 2121, and a fourth clamping jaw assembly 2123 driven by the fifteenth cylinder 2122 to move up and down. The lifting clamping module 212 takes out the gas spring 200 from the first conveying unit 11, then moves horizontally to the joint assembly unit 20 section, then descends to place it on the corresponding station, and the lifting clamping module 212 returns to the previous station, repeating the above actions, thereby realizing the position transfer of the gas spring between various stations.

[0094] The first large joint feeding mechanism 24 and the first small joint feeding mechanism 25 are arranged at the front side of the first conveying unit 11 conveying extension line, respectively providing a large joint and a small joint for the cylinder rod end. The second large joint feeding mechanism 26 and the second small joint feeding mechanism 27 are arranged at the rear side of the first conveying unit 11 conveying extension line, respectively providing a large joint and a small joint for the cylinder barrel end.

[0095] The first large joint feeding mechanism 24, the first small joint feeding mechanism 25, the second large joint feeding mechanism 26 and the second small joint feeding mechanism 27 have the same structure and all include a joint feeding module 241 and a third material receiving block 242 arranged at the output end of the joint feeding module 241. The joint feeding module 241 can adopt a feeding mechanism in the prior art, such as a vibrating plate. A fifth sensor 243 and a second waste box 244 are arranged below the transfer range of the first joint transport mechanism 210 and the second joint transport mechanism 220 to detect whether the direction of the joint taken out from the third material receiving block 242 is correct or whether the model is correct. The fifth sensor 243 can be a visual camera. After the first joint transport mechanism 210 or the second joint transport mechanism 220 takes out the joint from the third material receiving block 242, it moves to the top of the fifth sensor 243 for detection. If the detection is correct, it moves to the joint tightening station. If the detection is incorrect, it is thrown into the second waste box 244.

[0096] The first joint transport mechanism 210 and the second joint transport mechanism 220 have the same structure, and both include a seventh motor 2101, a ninth support plate 2102 driven by the seventh motor 2101 to move left and right, and at least one joint material taking module fixed on the ninth support plate 2102, wherein the joint material taking module includes a sixteenth cylinder 2103 fixed on the ninth support plate 2102 and a fifth clamping jaw assembly 2104 driven by the sixteenth cylinder 2103 to move up and down. In this embodiment, two joint material taking modules are arranged on the ninth support plate 2102, one of which is used for taking and placing large joints, and the other is used for taking and placing small joints.

[0097] The direction of the joints output from the joint feeding mechanism is uniform. During the tightening process of the joint, the engagement depth between the screw hole in the joint and the threaded rod at the end of the gas spring will gradually increase. Therefore, during the tightening process, the joint will move slightly along the axial direction of the gas spring. In order to ensure that the joint has sufficient rotational tightening force while achieving slight axial movement, the joint assembly mechanism is optimized in this embodiment. Specifically, the first joint assembly mechanism 22 and the second joint assembly mechanism 23 have the same structure and both include an eighth motor 221, a tenth support plate 222 driven by the eighth motor 221 to move forward and backward, an eleventh support plate 223 slidably arranged forward and backward and following the tenth support plate 222, a screw rod 224 rotatably arranged on the tenth support plate 222 and capable of moving forward and backward relative to the tenth support plate 222, a first joint bearing seat 225 fixedly arranged at the end of the screw rod 224, a screw gun 226 fixed on the eleventh support plate 223 and driving the screw rod 224 to rotate to tighten the joint, and a ninth motor 227 fixed on the eleventh support plate 223 and driving the screw rod 224 to rotate to return the origin. The first joint bearing seat 225 is provided with a receiving groove 2251 that conforms to the outer peripheral contour of the joint section, and the receiving groove 2251 has an opening arranged horizontally outward, and the joint 205 extends into the receiving groove 2251 from the opening. The tenth support plate 222 and the eleventh support plate 223 are connected together by a tension spring 228 to achieve follow-up. The tenth support plate 222 is provided with a mounting seat 229, and the screw rod 224 is rotatably arranged on the mounting seat 229 and can move axially relative to the mounting seat 229. The screw rod 224 is provided with axial movement limit blocks (not marked in the figure) on both sides of the front and rear of the mounting seat 229 to limit the axial movement range of the screw rod 224 relative to the mounting seat 229. The output end of the screw gun 226 is provided with a connecting rod (not marked in the figure) connected to the screw rod 224, and the connecting rod and the screw rod 224 are connected together by a coupling to achieve synchronous rotation, and a driven pulley is provided on the connecting rod. The rotating end of the ninth motor 227 is provided with a driving pulley, and the driving pulley and the driven pulley are connected together by a synchronous belt to achieve synchronous rotation.The first joint transporting mechanism 210 or the second joint transporting mechanism 220 transports the joint 205 to the front of the opening, and the eighth motor 221 drives the tenth support plate 222 to move a set distance, so that a partial section of the joint 205 extends into the accommodating groove 2251, and then the first joint transporting mechanism 210 or the second joint transporting mechanism 220 withdraws; the eighth motor 221 drives the joint 205 to move to the starting position of screwing, and under the action of the tension spring 228, the eleventh support plate 223 moves together with the tenth support plate 222 close to the end of the gas spring; at this time, the screw gun 226 starts, driving the screwing rod 224 to rotate, and at the same time applies axial pressure on the screwing rod 224, and the first joint bearing seat 225 rotates with the screwing rod 224 with the joint 205, and the axial The pressure is conducive to the initial engagement of the joint with the end thread of the gas spring, and the rotational driving force is used to realize the rotational tightening of the joint; after the screw gun 226 tightens the joint to the set torque, the eighth motor 221 drives the screw rod 224 to withdraw axially, and the first joint support seat 225 is separated from the joint 205; because the screw gun 226 does not have a return function, and the incoming direction of the joint 205 is consistent each time, it is necessary to perform an initial return to the rotation angle of the first joint support seat 225. In this embodiment, the ninth motor 227 is set to drive the screw rod 224 to return to zero point. The ninth motor 227 has its own encoder, so it can record the rotation angle of the screw rod 224 when tightening the joint. Therefore, the initial angle can be restored by rotation to ensure the effective insertion of the new joint next time.

[0098] In order to improve the versatility of the assembly and inspection production line of this embodiment, the second clamping and fixing mechanism 28 is arranged as a whole on the first support plate 42, and the distance between the second clamping and fixing mechanism 28 and the third clamping and fixing mechanism 29 is adjusted as the first support plate 42 moves to meet the needs of gas springs of various length specifications.

[0099] The second clamping and fixing mechanism 28 and the third clamping and fixing mechanism 29 both include a seventeenth air cylinder 281 and a sixth clamping jaw assembly 282 driven by the seventeenth air cylinder 281 to move up and down. The sixth clamping jaw assembly 282 clamps and fixes both ends of the gas spring to ensure that the first joint assembly mechanism 22 and the second joint assembly mechanism 23 can carry the joint 205 and accurately align the ends of the gas spring for screwing and assembly.

[0100] The joints at both ends of the gas spring have a plane. According to the product structure design requirements, the plane of the joint at one end needs to be set downward, and the plane of the joint at the other end needs to be set vertically. However, at the joint tightening station, the tightening of the joints at both ends of the gas spring depends on the torque in the screw gun 226 to control the tightening degree. Therefore, after the joint is tightened, the angle state of the joint plane is random and uncontrolled. Therefore, in this embodiment, the joints at both ends of the gas spring are rotated to a set angle state by setting a joint angle adjustment mechanism 230. Since the angle of rotation of the joint during the angle adjustment will not exceed 180°, that is, it will not exceed half a circle, the tightening degree of the joint will not be greatly affected, and the number of rotations during the angle adjustment can also be taken into account when tightening the joint. When the joint is tightened, the tightening torque can be increased to compensate for the rotation of the joint when the angle is adjusted. The joint angle adjustment mechanism 230 includes a first angle adjustment module 2301 for adjusting the angle of the cylinder rod end joint and a second angle adjustment module 2302 for adjusting the angle of the cylinder barrel end joint. The first angle adjustment module 2301 and the second angle adjustment module 2302 have the same structural principle and both include an eighteenth cylinder 23011, a twelfth support plate 23012 driven by the eighteenth cylinder 23011 to move forward and backward, a first rotating rod 23013 rotatably arranged on the twelfth support plate 23012, a second joint bearing seat 23014 fixed to the end of the first rotating rod 23013, and a tenth motor 23015 fixed to the twelfth support plate 23012 and driving the first rotating rod 23013 to rotate. The joint of the second joint bearing seat 23014 has the same structure as that of the first joint bearing seat 225.

[0101] Since the first joint assembly mechanism 22 and the second joint assembly mechanism 23 are provided with a ninth motor 227 capable of monitoring the rotation angle of the joint in real time, the encoder in the ninth motor 227 can be used to obtain the angle status information of the movable joint when it is tightened and stops rotating. If the angle status information is transmitted to the tenth motor 23015, on the one hand, the tenth motor 23015 can drive the second joint support seat 23014 to rotate to the corresponding angle according to the angle status information, so that it can be exactly plugged into the joints at both ends of the incoming gas spring; on the other hand, it also provides an adjustment basis for the second joint support seat 23014 to rotate and adjust the joint angle after the tenth motor 23015 receives the joint of the incoming gas spring, so as to ensure that the final angle of the joints at both ends of the gas spring meets the design requirements.

[0102] In this embodiment, the first angle adjustment module 2301 is disposed on the first support plate 42, and position adjustment is achieved as the first support plate 42 moves, so as to be suitable for angle adjustment of joints at both ends of gas springs of various length specifications.

[0103] The working process of the joint assembly unit 20 is as follows: the second conveying unit 21 moves the gas spring 200 at the end of the first conveying unit 11 to the joint tightening station, and the second clamping and fixing mechanism 28 and the third clamping and fixing mechanism 29 clamp and fix the two ends of the gas spring to prevent the gas spring from axial sliding; the first large joint feeding mechanism 24 and the first small joint feeding mechanism 25 respectively output large joints and small joints in order; the first joint transporting mechanism 210 clamps a large joint at the output end of the first large joint feeding mechanism 24, moves to the joint tightening station after detection, and tightens it to the cylinder rod through the first joint assembly mechanism 22, and then clamps a small joint at the output end of the first small joint feeding mechanism 25, moves to the joint tightening station after detection, and tightens it to the cylinder rod through the first joint assembly mechanism 22; at the same time, the second joint transporting mechanism 220 respectively outputs large joints and small joints at the output end of the second large joint feeding mechanism 2 6. The second small joint feeding mechanism 27 clamps the joint, and after detection, it is moved to the joint tightening station and tightened to the cylinder barrel through the second joint assembly mechanism 23; after the joint is assembled, the gas spring is moved to the joint angle adjustment station, and the encoder in the ninth motor 227 uploads the angle state information when the joint stops rotating, and then drives the first joint support seat 225 to rotate to the initial angle state, waiting to receive the next group of joints; the control system transmits the angle state information to the tenth motor 23015, the tenth motor 23015 drives the second joint support seat 23014 to rotate to the corresponding angle state, the eighteenth cylinder 23011 drives the second joint support seat 23014 to extend and support the joints at both ends of the gas spring, and the tenth motor 23015 drives the second joint support seat 23014 to rotate with the joints at both ends of the gas spring to the set angle state, completing the joint assembly and angle adjustment.

[0104] The coding engraving unit 30 includes a plasma cleaning mechanism 301, a first coding mechanism 302, a second coding mechanism 303 and a laser marking engraving mechanism 304, which are sequentially arranged along the second conveying unit 21, and a first supporting rotating mechanism 305 arranged at each mechanism. The second conveying unit 21 clamps the gas spring 200 and moves between the above-mentioned mechanisms in sequence. After the gas spring 200 moves to the position of each of the above-mentioned mechanisms, the joints at both ends of the gas spring are supported by the first supporting rotating mechanism 305, and then the gas spring is driven to rotate according to the process requirements.

[0105] The plasma cleaning mechanism 301, the first coding mechanism 302, the second coding mechanism 303 and the laser marking engraving mechanism 304 are all existing structures and will not be described in detail in this embodiment. The plasma cleaning mechanism 301, the first coding mechanism 302, the second coding mechanism 303 and the laser marking engraving mechanism 304 in this embodiment are all equipped with a forward and backward movement function to meet the plasma cleaning, coding and marking operation requirements of gas springs of various length specifications or different positions.

[0106] The first support rotation mechanism 305 includes a first support rotation module 3051 at the end of the support cylinder rod and a second support rotation module 3052 at the end of the support cylinder barrel. The second support rotation module 3052 and the first support rotation module 3051, one end of which is an active rotation end and the other end is a driven rotation end. In this embodiment, the second support rotation module 3052 is an active rotation end, which includes a nineteenth cylinder 30521, a thirteenth support plate 30522 driven by the nineteenth cylinder 30521 to move forward and backward, a second rotation rod 30523 rotatably arranged on the thirteenth support plate 30522, a third joint bearing seat 30524 arranged at the end of the second rotation rod 30523, and an eleventh motor 30525 fixed on the thirteenth support plate 30522 and driving the second rotation rod 30523 to rotate. The first support rotation module 3051 is a driven rotation end, which includes a 20th cylinder 30511, a 14th support plate 30512 driven by the 20th cylinder 30511 to move forward and backward, a third rotation rod 30513 rotatably arranged on the 14th support plate 30512, a fourth joint bearing seat 30514 arranged at the end of the third rotation rod 30513, a 21st cylinder 30515 fixed on the 14th support plate 30512, and a locking piece (not marked in the figure) driven by the 21st cylinder 30515 to move forward and backward and lock the third rotation rod 30513 to prevent it from rotating, and a locking groove 30516 for inserting the locking piece is arranged at one end of the third rotation rod 30513. Before the joint enters the fourth joint bearing seat 30514, the locking piece is inserted into the locking groove 30516 to keep the third rotation rod 30513 in a non-rotating state, thereby ensuring smooth insertion and matching with the joint. When the gas spring needs to be driven to rotate, the locking piece is pulled out, the third joint bearing seat 30524 rotates with the gas spring, and the third rotating rod 30513 rotates accordingly.

[0107] In the coding engraving unit 30, the gas spring passes through the plasma cleaning mechanism 301, the first coding mechanism 302, the second coding mechanism 303 and the laser marking mechanism 304 in sequence, and plasma cleaning is performed at the set position, and then the first information coding and the second information coding are completed, and finally the marking is completed.

[0108] The force measurement and unloading unit 50 includes a force measurement station, a waste discharge station, a wax coating station and a unloading station in sequence along the second conveying unit 21. The force measurement station is provided with a force measurement mechanism 501, the waste discharge station is provided with a waste discharge conveying mechanism 502, the wax coating station is provided with a wax coating mechanism 503, and the unloading station is provided with a unloading mechanism 504; the waste discharge station and the wax coating station are both provided with a second support rotation mechanism 505 that supports both ends of the gas spring and drives the gas spring to rotate according to demand. The structure of the second support rotation mechanism 505 is the same as that of the first support rotation mechanism 305. A second support rotation mechanism 505 with a rotation drive function is provided at the waste discharge station to be suitable for gas spring models with different angle states of the joints at both ends.

[0109] The force measuring mechanism 501 mainly detects the size of the supporting force provided by the cylinder rod in the gas spring when it is extended to a set length. The force measuring mechanism 501 includes a support module 5011 that supports the gas spring, a force measuring module 5012 that abuts against the cylinder end, and a push module 5013 that abuts against the cylinder rod end. The support module 5011 includes two submodules that support the two ends of the gas spring respectively, one of which is arranged on the first support plate 42, and moves with the first support plate 42 to achieve position adjustment, so as to be suitable for supporting both ends of gas springs of various length specifications. The submodule includes a twenty-second cylinder 50111 and a support plate 50112 that is driven by the twenty-second cylinder 50111 to move up and down. The force measuring module 5012 includes a two-stroke cylinder 50121 and a pressure sensor 50122 that is driven by the two-stroke cylinder 50121 to move forward and backward. The push module 5013 includes a twenty-third cylinder 50131 and a second push block 50132 driven by the twenty-third cylinder 50131 to move forward and backward. The push module 5013 is slidably arranged on the support slide bar 5014, and its position can be flexibly adjusted according to the length specification of the gas spring, and is locked and fixed on the support slide bar 5014 after the position is adjusted.

[0110] Conventional force measuring mechanisms in the prior art can be used, such as setting a reference surface, pushing the gas spring so that one end thereof contacts the reference surface, and using a pressure sensor at one end thereof to push the gas spring, and the distance between the position where the pressure sensor stays and the reference surface is consistent with the overall length of the gas spring when the cylinder rod is extended to a set length. At this time, the data read by the pressure sensor is the size of the supporting force that the cylinder rod of the gas spring can provide when it is extended to a set length.

[0111] The waste discharge and transport mechanism 502 includes a two-dimensional driving module 5021, a seventh clamping jaw assembly 5022 driven by the two-dimensional driving module 5021 to move left and right and up and down, and a third waste box 5023 located below the transfer range of the two-dimensional driving module 5021. The waste discharge and transport mechanism 502 rejects NG products according to the detection results of the front station with detection function.

[0112] The wax coating mechanism 503 is mainly used to apply wax to the joint connection positions at both ends of the gas spring and the dust cover installation position. The wax coating mechanism 503 includes a first wax coating module 5031 for applying wax to the cylinder end of the gas spring and a second wax coating module 5032 for applying wax to the cylinder rod end of the gas spring. In this embodiment, the first wax coating module 5031 is fixedly arranged, and the wax coating gun adopts a position-adjustable installation structure. The second wax coating module 5032 adopts an automatic position adjustment structure, which includes a twelfth motor 50321 and a wax coating gun 50322 driven by the twelfth motor 50321 to move back and forth. Through the structural design of the second wax coating module 5032, it can be applied to the wax coating operation at both ends of gas springs of various specifications and lengths.

[0113] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A gas spring end component assembly and testing production line, characterized by: It includes: The dustproof seal assembly unit comprises a first conveying unit for conveying a gas spring, a gas spring feeding mechanism arranged at the end of the first conveying unit, a dust cover assembly mechanism, a dust cover detection mechanism and a first glue dispensing mechanism arranged in sequence along the rear side of the first conveying unit, a bullet loading mechanism, a dust cover pre-loading mechanism, a bullet unloading mechanism, a dust cover assembly mechanism and a second glue dispensing mechanism arranged in sequence along the front side of the first conveying unit; a bullet reflux mechanism is arranged between the bullet loading mechanism and the bullet unloading mechanism; A joint assembly unit, which includes a second conveying unit docked with the first conveying unit, a joint tightening station and a joint angle adjustment station arranged in sequence along the second conveying unit, a first joint assembly mechanism and a second joint assembly mechanism arranged at the joint tightening station in front and behind, a first large joint feeding mechanism and a first small joint feeding mechanism located on the left and right sides of the first joint assembly mechanism, a second large joint feeding mechanism and a second small joint feeding mechanism located on the left and right sides of the second joint assembly mechanism, a second clamping and fixing mechanism for fixing the end of the clamping cylinder rod, a third clamping and fixing mechanism for fixing the end of the clamping cylinder barrel, a first joint transporting mechanism for clamping and moving the joints output by the first large joint feeding mechanism and the first small joint feeding mechanism to the position of the first joint assembly mechanism, a second joint transporting mechanism for clamping and moving the joints output by the second large joint feeding mechanism and the second small joint feeding mechanism to the position of the second joint assembly mechanism, and a joint angle adjustment mechanism located at the joint angle adjustment station.

2. The assembly and testing production line for the gas spring end components according to claim 1, characterized in that: A first station, a second station, a third station, a fourth station, a fifth station, a sixth station and a seventh station are sequentially arranged along the first conveying unit; the bullet loading mechanism is arranged corresponding to the first station, the dust cover pre-loading mechanism is opposite to the dust cover assembly mechanism front and back and is arranged corresponding to the second station, the bullet unloading mechanism is arranged corresponding to the third station, the dust cover detection mechanism is arranged corresponding to the fourth station, the dust cover assembly mechanism is arranged corresponding to the fifth station, the second glue dispensing mechanism is opposite to the first glue dispensing mechanism front and back and is arranged corresponding to the seventh station; the first clamping and fixing mechanisms for fixing the two end positions of the gas spring are arranged at the front and rear sides of the first conveying unit corresponding to the first station, the second station, the third station, the fourth station and the fifth station.

3. The assembly and testing production line for the gas spring end components according to claim 2, characterized in that: It also includes a laser marking mechanism; the laser marking mechanism is arranged corresponding to the sixth station and is located above the first conveying unit.

4. The gas spring end component assembly and testing production line according to claim 1, characterized in that: It also includes a spacing adjustment mechanism, which includes a first motor and a first support plate driven by the first motor to move forward and backward, and the first support plate extends left and right to cover the dustproof seal assembly unit and the joint assembly unit; the bullet loading mechanism, the bullet unloading mechanism, the bullet reflux mechanism and the second clamping and fixing mechanism are all arranged on the first support plate.

5. The assembly and testing production line for the gas spring end components according to claim 4, characterized in that: The first conveying unit includes a first conveying member and a second conveying member which are arranged parallel to each other in front and back, and a plurality of supporting members are arranged on the first conveying member and the second conveying member at equal intervals; the first conveying member is integrally mounted on the first supporting plate.

6. The assembly and testing production line for gas spring end components according to claim 1 or 4, characterized in that: The bullet loading mechanism and the bullet unloading mechanism both include a fourth cylinder, a second support plate driven by the fourth cylinder to rotate around a horizontal axis, a fifth cylinder fixed on the second support plate, and a third clamping jaw assembly driven by the fifth cylinder to move up and down or forward and backward; the bullet reflux mechanism includes a second motor and a carrier driven by the second motor to move left and right between the bullet loading mechanism and the bullet unloading mechanism; the carrier is provided with a plurality of bearing grooves for bearing bullets.

7. The gas spring end component assembly and testing production line according to claim 1, characterized in that: The dust cover assembly mechanism comprises a dust cover feeding module, a first receiving module arranged at the output end of the dust cover feeding module, and a dust cover assembly module for taking out the dust cover on the first receiving module and installing it on the end of the cylinder barrel; The first material receiving module includes a first material receiving block docked with the dust cover feeding module, a first push rod that lifts the dust cover in the first material receiving block upward, and a sixth cylinder that drives the first push rod to move up and down; the dust cover assembly module includes a seventh cylinder, an eighth cylinder driven by the seventh cylinder to rotate around a horizontal axis, and a suction nozzle driven by the eighth cylinder to move up and down or horizontally.

8. The gas spring end component assembly and testing production line according to claim 1, characterized in that: The dust cover pre-installation mechanism comprises a dust cover feeding module, a second receiving module arranged at the output end of the dust cover feeding module, a dust cover taking module for taking out the dust cover in the second receiving module and rotating it to a horizontal state, and a dust cover pre-installation module for pulling down the dust cover on the dust cover taking module and pre-installing it to a set position of the cylinder rod; The second material receiving module includes a second material receiving block, a second push rod located below the second material receiving block, and a ninth cylinder driving the second push rod to lift the dust sleeve in the second material receiving block upward; the dust sleeve picking module includes an eleventh cylinder and a picking rod driven by the eleventh cylinder to rotate and switch between a horizontal state and a vertical state; the dust sleeve pre-installation module includes a third motor, a third support plate driven by the third motor to move back and forth above the first conveying unit, and a clamp fixed on the third support plate.

9. The assembly and testing production line for the gas spring end components according to claim 8, characterized in that: A storage groove for carrying the dust cover is formed on the clamping support, and an avoidance opening is provided at the bottom of the storage groove for the material picking rod to swing into the interior of the storage groove with the dust cover, the side of the storage groove facing the pre-installation direction of the dust cover is an open structure and is formed with an outlet, and a resistance limit surface that resists the end of the dust cover is provided on the side of the storage groove opposite to the outlet; a second sensor for detecting whether there is a dust cover in the storage groove is provided on the third support plate.

10. The assembly and testing production line for the gas spring end components according to claim 1, characterized in that: The dust cover detection mechanism includes a twelfth cylinder, a fourth support plate driven by the twelfth cylinder to move forward and backward, a third sensor fixed on the fourth support plate, and a detection block arranged at the movable end of the third sensor and in contact with the dust cover.

11. The assembly and testing production line for gas spring end components according to claim 1, characterized in that: The dust cover assembly mechanism includes a fourth motor, a fifth support plate driven by the fourth motor to move back and forth above the first conveying unit, a fourth sensor fixed on the fifth support plate, a sixth support plate arranged at the sensing end of the fourth sensor, and a first push block fixed at the bottom of the sixth support plate; the fourth sensor is a pressure sensor; a limiting blocking surface that abuts against the end of the dust cover is formed on one side of the first push block, and an avoidance groove that avoids the cylinder rod body is formed at the bottom of the first push block.

12. The assembly and testing production line for gas spring end components according to claim 1, characterized in that: The second conveying unit includes a sixth motor and a plurality of lifting and clamping modules driven by the sixth motor to move left and right, and two adjacent lifting and clamping modules are connected together by a connecting rod; the lifting and clamping module includes an eighth support plate slidably set on a slide rail, a fifteenth cylinder fixed on the eighth support plate, and a fourth clamping jaw assembly driven by the fifteenth cylinder to move up and down.

13. The gas spring end component assembly and testing production line according to claim 1, characterized in that: The first joint assembly mechanism and the second joint assembly mechanism both include an eighth motor, a tenth support plate driven by the eighth motor to move forward and backward, an eleventh support plate slidably arranged forward and backward and moving with the tenth support plate, a screwing rod rotatably arranged on the tenth support plate and capable of moving forward and backward relative to the tenth support plate, a first joint bearing seat fixedly arranged at the end of the screwing rod, a screw gun fixed on the eleventh support plate and driving the screwing rod to rotate to tighten the joint, and a ninth motor fixed on the eleventh support plate and driving the screwing rod to rotate to return to the origin.

14. The assembly and testing production line for gas spring end components according to claim 4, characterized in that: The joint angle adjustment mechanism includes a first angle adjustment module for adjusting the joint angle of the cylinder rod end and a second angle adjustment module for adjusting the joint angle of the cylinder barrel end; the first angle adjustment module and the second angle adjustment module both include an eighteenth cylinder, a twelfth support plate driven by the eighteenth cylinder to move back and forth, a first rotating rod rotatably set on the twelfth support plate, a second joint supporting seat fixed on the end of the first rotating rod, and a tenth motor fixed on the twelfth support plate and driving the first rotating rod to rotate; the first angle adjustment module is set on the first support plate.

15. The assembly and testing production line for gas spring end components according to claim 1, characterized in that: It also includes a coding engraving unit and a force measuring and detecting material discharging unit, and the coding engraving unit and the force measuring and detecting material discharging unit are sequentially arranged along the second conveying unit; The coding engraving unit includes a plasma cleaning mechanism, a first coding mechanism, a second coding mechanism and a laser marking engraving mechanism which are sequentially arranged along the second conveying unit, and a first support rotation mechanism arranged at each mechanism; the first support rotation mechanism includes a first support rotation module at the end of the support cylinder rod and a second support rotation module at the end of the support cylinder barrel; the second support rotation module includes a nineteenth cylinder, a thirteenth support plate driven by the nineteenth cylinder to move forward and backward, a second rotating rod rotatably arranged on the thirteenth support plate, a third joint bearing seat arranged at the end of the second rotating rod, and an eleventh motor fixed on the thirteenth support plate and driving the second rotating rod to rotate; the first support rotation module includes a twentieth cylinder, a fourteenth support plate driven by the twenty-th cylinder to move forward and backward, a third rotating rod rotatably arranged on the fourteenth support plate, a fourth joint bearing seat arranged at the end of the third rotating rod, a twenty-first cylinder fixed on the fourteenth support plate, and a locking plate driven by the twenty-first cylinder to move forward and backward and lock the third rotating rod to prevent it from rotating, and one end of the third rotating rod is provided with a locking groove for inserting the locking plate; The force measuring and detecting unloading unit includes a force measuring station, a waste discharge station, a wax coating station and an unloading station in sequence along the second conveying unit. The force measuring station is provided with a force measuring mechanism, the waste discharge station is provided with a waste discharge and conveying mechanism, the wax coating station is provided with a wax coating mechanism, and the unloading station is provided with a unloading mechanism; the waste discharge station and the wax coating station are both provided with a second support rotating mechanism that supports both ends of a gas spring and drives the gas spring to rotate according to demand; the structure of the second support rotating mechanism is the same as that of the first support rotating mechanism; the force measuring mechanism includes a support module that supports the gas spring, a force measuring module that resists the cylinder end, and a pushing module that resists the cylinder rod end.

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