Automatic production device and method for water pump mechanical seal corrugated pipe spring assembly

Abstract

The present application relates to a water pump mechanical seal bellows spring assembly automatic production device and method, relates to automatic assembly detection technical field, it includes with assembly station and assembly detection station first rotation structure and assembly structure, first rotation structure is evenly arranged with several placing seats along the circumference, placing seat drives with first rotation structure and sequentially passes through assembly station and assembly detection station;Placing seat is used for rubber pad and bellows spring assembly layered stacking, first rotation structure is used for driving placing seat index transfer rubber pad and bellows spring assembly, assembly structure is located at assembly station;The first rotation structure outside is provided with clamping detection structure, clamping detection structure is located at assembly detection station, and clamping detection structure is used to clamp the assembly spare and detect the quality of assembly spare and separate from placing seat, clamping detection structure is also used to clamp the defective products that detect and take down material.This application has the effect of improving production efficiency and product pass rate.

Description

Technical Field

[0001] This invention relates to the field of automated assembly and testing technology, and in particular to an automated production apparatus and method for water pump mechanical seal bellows spring assemblies. Background Technology

[0002] The mechanical seal used in water pumps relies on a bellows spring assembly in conjunction with a rubber gasket to achieve end face sealing. It is the core component for preventing water pump leakage, and the assembly precision of the product determines the service life of the seal and the operational stability of the water pump.

[0003] Currently, the assembly of this component generally relies on simple tooling. Operators manually place and press down the bellows spring and rubber pad in steps. The two sets of parts are pressed together by a fixed pressing device. After the assembly is completed, the operator visually judges whether the assembly is in place and whether the two sets of parts fit together completely.

[0004] However, manual visual inspection of the assembly status cannot detect the hidden problem of foreign objects mixed inside the rubber pad, resulting in low overall production efficiency and poor product processing quality. Summary of the Invention

[0005] To improve production efficiency and product qualification rate, this invention provides an automated production device for water pump mechanical seal bellows spring assemblies.

[0006] In a first aspect, the automated production device for water pump mechanical seal bellows spring assembly provided by the present invention adopts the following technical solution: An automated production device for water pump mechanical seal bellows spring assembly includes a first rotary structure with an assembly station and an assembly inspection station, and an assembly structure. The first rotary structure is evenly distributed with a plurality of placement seats along the circumference. The placement seats are driven by the first rotary structure and pass through the assembly station and the assembly inspection station in sequence. The placement seat is for stacking rubber pads and bellows spring assemblies in layers. The first rotary structure is used to drive the placement seat to index and transfer the rubber pads and bellows spring assemblies. The assembly structure is located at the assembly station and is used to press down and assemble the rubber pads and bellows spring assemblies stacked in the same placement seat to form an assembly. A clamping detection structure is provided on the outside of the first rotary structure. The clamping detection structure is located at the assembly detection station and is used to clamp the assembly parts away from the placement seat and detect the quality of the assembly parts. The clamping detection structure is also used to clamp and unload defective products that fail the inspection.

[0007] By adopting the above technical solution, the first rotary structure is used to realize the continuous indexing and transfer of workpieces, and the assembly structure is used to complete the precise pressing and assembly of workpieces, ensuring assembly accuracy and consistency. With the help of the clamping and detection structure, the assembly parts can be clamped, lifted and removed from the placement seat, reducing blind spots in detection and improving production efficiency and pass rate.

[0008] Optionally, the clamping and detection structure includes a clamping cylinder, a lateral gripper, a detection camera, and a lifting and translation module; The clamping cylinder is fixedly installed on the output end of the lifting and translating module. Two lateral grippers are symmetrically arranged along the clamping cylinder, and the lateral grippers are fixedly installed on the output end of the clamping cylinder. The inspection camera is installed above and to the side of the assembly inspection station. The clamping cylinder and the lateral gripper cooperate to clamp the assembly from the side and provide an unobstructed inspection field of view for the inspection camera above.

[0009] By adopting the above technical solution, the side grippers are used to hold the assembly from the side, avoiding the defects of traditional top gripping that obstructs the assembly, providing an unobstructed shooting field of view for the multi-directional inspection camera, and effectively improving the accuracy of appearance inspection.

[0010] Optionally, an airtightness detection structure and a first feeding structure are also provided on one side of the first rotating structure; The airtightness testing structure is used to test the sealing performance of the bellows spring assembly. The first feeding structure is used to transport the bellows spring assembly that has been determined to be airtight by the airtightness testing structure to the placement seat. The placement seat for placing the bellows spring assembly is located upstream of the assembly station.

[0011] By adopting the above technical solution and utilizing the pre-arranged airtightness detection structure, the sealing performance of the bellows spring assembly can be tested before assembly, thus eliminating unqualified workpieces in advance, avoiding defective assembly from the source, and reducing material waste and ineffective operations.

[0012] Optionally, multiple airtightness detection structures are arranged in sequence, and the first feeding structure includes a first transfer component, a transfer support component, and a single gripper feeding component. The first transfer component is used to simultaneously clamp and transfer multiple qualified bellows spring assemblies to the transfer support component, and the single-claw loading component is used to transport the bellows spring assemblies on the transfer support component to the placement seat to complete the loading. The transfer support component includes a support plate for supporting the bellows spring assembly, the support plate sliding along the execution direction of the single-claw feeding component to fix the material picking position of the single-claw feeding component.

[0013] By adopting the above technical solution, multiple airtightness detection structures are used to achieve batch inspection of assemblies, and the first transfer component is used to complete batch feeding, thereby improving the efficiency of the inspection operation. At the same time, the sliding support plate is used to accurately position the material picking position, and the single gripper feeding component is used to achieve precise fixed-point feeding.

[0014] Optionally, the airtightness testing structure is provided with a second rotating structure, an appearance inspection structure and a second feeding structure on one side. The second rotating structure has an appearance inspection station. The second rotating structure is evenly provided with a number of fixed seats along the circumference. The fixed seats are driven by the second rotating structure and pass through the appearance inspection station. The appearance inspection structure is located at the appearance inspection station, and the appearance inspection structure is used to collect external images of the bellows spring assembly from multiple angles to identify appearance defects. The second feeding structure is used to transport the bellows spring assembly that has been determined to be qualified in appearance on the second rotating structure to the airtightness inspection structure.

[0015] By adopting the above technical solution, the second rotating structure drives the workpiece to rotate stably in an indexing manner. Combined with the multi-angle appearance inspection structure, the workpiece image is collected comprehensively, and appearance defects such as cracks and deformations are accurately identified, reducing the probability of defective products flowing into the assembly process and improving the overall quality of the finished product.

[0016] Optionally, a third feeding structure equipped with feeding claws is provided on one side of the first rotary structure. The third feeding structure is used to place the rubber pads sequentially on the placement seat. The feeding claws are used to hold the rubber pads. The placement seat is provided with a clearance groove. The clearance groove matches the movement trajectory of the feeding claws to create spatial clearance for the feeding claws.

[0017] By adopting the above technical solution, the avoidance groove structure on the placement seat that matches the trajectory of the feeding claw avoids mechanical interference during the operation of the third feeding structure claw, ensuring smooth and stable feeding of the rubber pad and preventing the feeding claw from bumping.

[0018] Secondly, this application provides an automated production method for water pump mechanical seal bellows spring assemblies, employing the following technical solution: An automated production method for water pump mechanical seal bellows spring assemblies, applied to the automated production apparatus for water pump mechanical seal bellows spring assemblies as described in the first aspect, includes: S10: In response to the assembly signal that the assembly moves to the assembly station, obtain the workpiece number and control the assembly structure to perform the pressing assembly action of the bellows spring assembly and the rubber pad. S11: During the pressing assembly process, the pressure feedback is continuously collected and the corresponding workpiece number is entered into the system; S12: In response to the detection signal that the assembly is lifted by the clamping detection structure, acquire the side image of the assembly and extract the features of the rubber pad; S13: When the rubber pad features are inconsistent with the preset standard features, read the corresponding feedback pressure based on the workpiece number and generate a pressure curve; S14: Determine whether there are obstructions inside the rubber pad based on the waveform characteristics of the pressure curve; S15: Execute a preset material rejection instruction based on the presence of obstructions within the rubber pad.

[0019] By adopting the above technical solution, and using real-time pressure acquisition during the assembly process combined with visual image detection, abnormal workpieces can be identified by appearance, and abnormal situations such as obstructions inside the rubber pad can be identified by the waveform changes of the pressure curve and then removed, thereby improving production efficiency and pass rate.

[0020] Optionally, methods for determining whether there are obstructions inside the rubber pad include: S20: Obtain the time points and their corresponding pressure increase rates based on the pressure curve; S21: Define the time point in the pressure curve where the pressure rise rate is greater than 0 as the pressure rise point; S22: Delineate the pressure rise segment of the pressure curve based on the continuously distributed pressure rise nodes; S23: Compare all boost rates in the boost section with the preset standard boost range; S24: When the pressurization rate does not fall within the standard pressurization range, it is determined that there is an obstruction in the rubber pad.

[0021] By adopting the above technical solution, the pressure increase stage of the assembly is divided by the pressure change value, allowing for brief pressure fluctuations caused by the rebound of foreign objects. The results are compared with the normal pressure increase value range, and the presence of obstructions inside is determined based on the data results.

[0022] Optionally, after comparing the boost rate with the standard boost range, the following may also be included: S30: Combining the pressure curve and the pressure boosting section, the remaining part is divided into the pressure holding section; S31: Read the steady-state reference pressure after the pressure is fully depressed from the pressure holding section; S32: If the steady-state reference pressure does not fall within the preset standard pressure range, it is determined that the assembly has abnormal spring force. S33: Determine the pressure offset based on the steady-state reference pressure and the standard pressure range; S34: Match the compensation parameters corresponding to the workpiece number based on the pressure offset; S35: Control the clamping and detection structure to reset the assembly and enter the cyclic detection, while controlling the assembly structure to perform pre-pressure repair operation based on compensation parameters.

[0023] By adopting the above technical solution, the pressure value during the stabilization stage is used to determine whether the spring force exceeds the standard. According to the pressure deviation, the corresponding correction parameters are matched, and the springs with unqualified spring force are pre-compressed for repair, so as to ensure that the support pressure of all finished products is maintained within a reasonable range.

[0024] Optionally, after extracting the features of the rubber pad, the following may also be included: S40: Extract the bottom edge profile and sidewall profile of the rubber pad from the rubber pad features; S41: When there is a preset strip-shaped burr feature in the bottom edge contour, it is determined that there is a burr on the outer bottom of the rubber pad; S42: Combine the sidewall profile and bottom profile to determine the ideal bottom profile and set the cleanup path; S43: Based on the cleaning path control preset, the cutting component removes burrs from the bottom of the rubber pad; S44: After burr removal is completed, the control clamping and detection structure will reset the assembly and enter the loop detection.

[0025] By adopting the above technical solution, visual recognition is used to determine whether there are burrs on the bottom of the rubber pad. The standard edge line is calculated based on the overall outline of the rubber pad and the cleaning path is planned. The cutting blade automatically cuts off the excess burrs on the bottom. After the trimming is completed, the assembly is reset and cyclically tested.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: The first rotary structure enables continuous indexing and transfer of workpieces, and the assembly structure completes precise pressing and assembly of workpieces, ensuring assembly accuracy and consistency. With the help of the clamping and detection structure, the assembly parts can be clamped, lifted and removed from the placement seat, reducing blind spots in detection and improving production efficiency and pass rate. Multiple airtightness testing structures are used to achieve batch testing of assemblies, and the first transfer component is used to complete batch feeding, improving the efficiency of testing operations. At the same time, the sliding support plate is used to accurately position the material picking position, and the single gripper feeding component is used to achieve precise fixed-point feeding. By combining real-time pressure acquisition during assembly with visual image detection, abnormal workpieces can be identified by appearance, and abnormal situations such as obstructions inside the rubber pad can be identified by changes in the waveform of the pressure curve and then removed, thereby improving production efficiency and pass rate. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the automated production device for the water pump mechanical seal bellows spring assembly of this application; Figure 2 This is a partial schematic diagram of the automated production device for the water pump mechanical seal bellows spring assembly of this application. Figure 1 ; Figure 3This is a partial schematic diagram of the automated production device for the water pump mechanical seal bellows spring assembly of this application. Figure 2 ; Figure 4 This is a partial schematic diagram of the automated production device for the water pump mechanical seal bellows spring assembly of this application. Figure 3 ; Figure 5 This is a partial schematic diagram of the automated production device for the water pump mechanical seal bellows spring assembly of this application. Figure 4 ; Figure 6 This is a partial schematic diagram of the automated production device for the water pump mechanical seal bellows spring assembly of this application. Figure 5 ; Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0028] The parts referred to by the numbers in the above attached diagrams are as follows: 1. First rotating structure; 11. Assembly station; 12. Assembly inspection station; 13. Placement seat; 131. Clearance groove; 14. Second unloading component; 15. Unloading platform; 151. Unloading cylinder; 152. Push plate; 16. Infrared detection component; 2. Assembly structure; 3. Clamping and detection structure; 31. Clamping cylinder; 32. Lateral gripper; 33. Inspection camera; 34. Lifting and translation module; 4. Air tightness detection structure; 41. Inspection seat; 42. Sealing block; 43. Pressing cylinder; 44. Support frame; 5. First loading structure; 51. First transfer component; 52. Transfer support component; 521. Support plate; 522. Through slot; 523. Drive cylinder; 53. Single gripper loading component; 6. Second rotary structure; 61. Appearance inspection station; 62. Fixed base; 63. Feeding platform; 64. First feeding component; 65. Pressing component; 66. First unloading component; 7. Appearance inspection structure; 71. Vertical camera unit; 72. Coaxial light source box; 73. Tilt camera unit; 74. Side light source; 75. Front camera unit; 76. Front light source; 8. Second loading structure; 81. Second feeding component; 82. Transfer platform; 821. Placement slot; 83. Second transfer component; 9. Third loading structure; 91. Gripper cylinder; 911. Loading gripper; 92. Dual-axis moving module. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses an automated production device for water pump mechanical seal bellows spring assembly.

[0031] Reference Figure 1The automated production device for the bellows spring assembly of the water pump mechanical seal includes a first rotary structure 1, an assembly structure 2, a clamping and detection structure 3, an airtightness detection structure 4, a first feeding structure 5, a second rotary structure 6, an appearance inspection structure 7, a second feeding structure 8, and a third feeding structure 9. The appearance inspection structure 7 and the second feeding structure 8 are sequentially fixedly installed around the second rotary structure 6 along the execution direction of the second rotary structure 6. The airtightness detection structure 4 is installed between the second feeding structure 8 and the first feeding structure 5. The third feeding structure 9, the first feeding structure 5, the assembly structure 2, and the clamping and detection structure 3 are sequentially fixedly installed around the first rotary structure 1 along the execution direction of the first rotary structure 1.

[0032] Reference Figure 2 The second rotary structure 6 adopts a rotary worktable and rotates counterclockwise. Twelve fixed seats 62 are evenly distributed around the second rotary structure 6. The second rotary structure 6 has an appearance inspection station 61, which corresponds to the position of the three fixed seats 62 in front. A feeding platform 63 and a first feeding component 64 are arranged on the left side of the second rotary structure 6. The first feeding component 64 is used to transfer the bellows spring assembly on the feeding platform 63 to the left fixed seat 62 on the second rotary structure 6. In this embodiment, the first feeding component 64 is assembled from standard components such as clamping cylinder, pushing cylinder and linear module. The clamping cylinder drives the gripper to clamp and release the bellows spring assembly. The pushing cylinder drives the clamping cylinder to rise and fall. The linear module that drives the pushing cylinder to move horizontally completes the feeding process. Other transmission combination structures with the same gripping, lifting and conveying functions can achieve the same feeding action effect.

[0033] A pressing component 65 is provided at the left front of the second rotary structure 6. The pressing component 65 is used to press down the bellows spring assembly on the fixed seat 62 to improve the assembly completion between its various parts. In this embodiment, the pressing component 65 consists of a push cylinder and a clamping block installed on the output end of the push cylinder. The push cylinder is fixed above the fixed seat 62 on the left front side by a conventional mounting bracket. The push cylinder drives the clamping block to move down and squeeze the bellows spring assembly on the fixed seat 62.

[0034] A first unloading component 66 is provided at the rear of the second rotary structure 6. The first unloading component 66 adopts the same structure as the first feeding component 64. The first unloading component 66 is used to unload the bellows spring assembly that has been detected and determined to be unqualified in the rear fixed seat 62 of the second rotary structure 6.

[0035] The appearance inspection structure 7 includes a vertical camera unit 71, a coaxial light source box 72, an oblique camera unit 73, a side light source 74, a front camera unit 75, and a front light source 76. The vertical camera unit 71, coaxial light source box 72, oblique camera unit 73, side light source 74, front camera unit 75, and front light source 76 are all fixed by conventional mounting brackets. The vertical camera unit 71 is fixedly installed above the front left mounting base 62. The coaxial light source box 72 is located between the vertical camera unit 71 and the mounting base 62. The oblique camera unit 73 and the side light source 74 are evenly arranged in three groups along the upper part of the front right mounting base 62. The shooting direction of the oblique camera unit 73 is towards the mounting base 62, and the side light source 74 is located between the oblique camera unit 73 and the mounting base 62. The front camera unit 75 is fixedly installed in front of the front mounting base 62, and the front light source 76 is fixedly installed between the front camera unit 75 and the mounting base 62.

[0036] Reference Figure 3 The second feeding structure 8 includes a second feeding component 81, a transfer platform 82, and a second transfer component 83. The second feeding component 81 adopts the same structure as the first feeding component 64. The second feeding component 81 is used to transfer the qualified bellows spring assembly in the right fixed seat 62 on the second rotary structure 6 to the transfer platform 82. Two placement slots 821 are opened on the transfer platform 82 along the sliding direction of the second feeding component 81. The second transfer component 83 is used to clamp and transfer the bellows spring assemblies in the two placement slots 821 together to the two adjacent airtightness detection structures 4. In this embodiment, the second transfer component 83 is assembled from standard components such as two clamping cylinders, a pushing cylinder, and a linear module. The two clamping cylinders are fixedly installed side by side at the output end of the pushing cylinder and located in front of the transfer platform 82. The pushing cylinder is driven by the linear module to move left and right, which helps to clamp and transfer the two bellows spring assemblies on the transfer platform 82.

[0037] Reference Figure 4 Ten sets of airtightness detection structures 4 are arranged sequentially along the linear module running direction of the second transfer component 83. Each set of airtightness detection structures 4 includes a detection seat 41, a sealing block 42, a pressing cylinder 43, and a support frame 44. The support frame 44 is located behind the linear module of the second transfer component 83 and on the right side of the transfer platform 82. The detection seat 41 and the pressing cylinder 43 are fixedly installed on the support frame 44. The detection seat 41 and the transfer platform 82 are located on the same horizontal plane. A sealing ring is provided on the outer ring above the detection seat 41. An air passage and a pressure sensor connected to an external air supply device are provided on the inner side of the detection seat 41. The pressing cylinder 43 is located above the detection seat 41 and its execution direction is downward. The sealing block 42 is fixedly installed at the output end of the pressing cylinder 43 and is driven by the pressing cylinder 43 to seal the top of the detection seat 41.

[0038] Reference Figure 5 The first feeding structure 5 is located on the side of the airtightness detection structure 4 away from the second feeding structure 8. The first feeding structure 5 includes a first transfer component 51, a transfer support component 52, and a single-claw feeding component 53. The first transfer component 51 is used to clamp and transfer the bellows spring assembly that has completed testing in the airtightness detection structure 4 to the transfer support component 52. The first transfer component 51 adopts the same structure as the second transfer component 83, and the first transfer component 51 and the second transfer component 83 are symmetrically arranged along the center of the airtightness detection structure 4. The transfer support component 52 includes a support plate 521 and a driving bearing. The drive cylinder 523 drives the pallet 521 to slide left and right. The pallet 521 has two through slots 522 for placing the bellows spring assembly. The diameter of the through slots 522 is smaller than the maximum outer diameter of the bellows spring assembly, so that the bellows spring assembly will not fall through. The distance between the two through slots 522 is consistent with the distance between the two placement slots 821 and the adjacent detection seat 41. The drive cylinder 523 is set to execute left and right. The single gripper loading component 53 is used to pick up and transfer the two bellows spring assemblies on the pallet 521 to the first rotary structure 1 in sequence.

[0039] The first rotary structure 1 adopts the same structure as the second rotary structure 6. The first rotary structure 1 rotates in a clockwise direction. Twelve placement seats 13 are evenly distributed along the circumference of the first rotary structure 1. The placement seats 13 are provided with clearance grooves 131. The first rotary structure 1 has an assembly station 11 and an assembly inspection station 12. The rightward end point of the single gripper feeding component 53 is located above the left placement seat 13. The assembly station 11 and the assembly inspection station 12 are located downstream of the left placement seat 13.

[0040] The third feeding structure 9 is located in front of the first rotary structure 1. The third feeding structure 9 is used to sequentially clamp and transfer the rubber pads to the front placement seat 13 of the first rotary structure 1. The third feeding structure 9 includes a gripper cylinder 91 with a feeding gripper 911 and a dual-axis moving module 92. The dual-axis moving module 92 adopts the same structure as the lifting and translating module 34. The gripper cylinder 91 is fixedly installed at the output end of the dual-axis moving module 92. There are two feeding grippers 911 arranged symmetrically on the left and right and fixedly installed at the output end of the gripper cylinder 91. When the feeding gripper 911 places the rubber pad, it just passes through the clearance groove 131 on the placement seat 13.

[0041] The outer side of the first rotary structure 1 is also provided with a second unloading component 14, an unloading platform 15, and an infrared detection component 16. The second unloading component 14 is located on the right side of the first rotary structure 1. The second unloading component 14 adopts the same structure as the first feeding component 64. The front end of the unloading platform 15 is also equipped with an unloading cylinder 151. A pusher plate 152 is fixedly installed on the output end of the unloading cylinder 151. The pusher plate 152 is driven by the unloading cylinder 151 to slide back and forth along the surface of the unloading platform 15. There are three infrared detection components 16. Two infrared detection components 16 are located between the third loading structure 9 and the first loading structure 5, between the first loading structure 5 and the assembly structure 2, and between the second unloading component 14 and the third loading structure 9, respectively. The infrared detection components 16 adopt infrared photoelectric switches and are fixed above the placement base 13 through conventional mounting brackets.

[0042] The assembly structure 2 is located to the left rear of the first rotary structure 1. The assembly structure 2 adopts the same structure as the pressing component 65. The execution area of ​​the assembly structure 2 is the assembly station 11.

[0043] Reference Figure 7 The clamping and detection structure 3 includes a clamping cylinder 31, lateral grippers 32, a detection camera 33, and a lifting and translating module 34. The lifting and translating module 34 is located behind the first rotating structure 1. In this embodiment, the lifting and translating module 34 is assembled from standard components such as a push cylinder and a linear module. The linear module slides back and forth to drive the push cylinder to move. The output end of the push cylinder faces downward. The clamping cylinder 31 is fixedly installed at the output end of the push cylinder. Two lateral grippers 32 are symmetrically arranged along the front and back of the clamping cylinder 31. The two lateral grippers 32 are fixedly installed at the output end of the clamping cylinder 31. At the end, the clamping cylinder 31 is located on the upper side of the rear placement seat 13, and the lateral gripper 32 is located on the front and rear sides of the rear placement seat 13 respectively. There are two detection cameras 33. One detection camera 33 is fixedly installed on the output end of the push cylinder and located directly above the rear placement seat 13. The other detection camera 33 is fixedly installed on the sliding output end of the lifting and translating module 34 and faces the rear placement seat 13. When the clamping cylinder 31 drives the lateral gripper 32 to clamp the assembled bellows spring assembly and rise, the two detection cameras 33 are located directly above and directly to the right of the bellows spring assembly respectively.

[0044] Several bellows spring assemblies are placed on the feeding table 63. The first feeding component 64 clamps the bellows spring assemblies in sequence and transfers them to the left fixed seat 62 of the second rotating structure 6. The second rotating structure 6 rotates counterclockwise at a set rotation angle and interval. The interval is consistent with the single transfer time of the first feeding component 64. The bellows spring assemblies move with the fixed seat 62 to the bottom of the pressing component 65. The push cylinder in the pressing component 65 drives the pressing block to move downward and squeeze the bellows spring assemblies on the fixed seat 62, so that the various parts of the bellows spring assembly are tightly assembled. The pressed bellows spring assemblies are then moved in sequence to the shooting areas of the vertical camera unit 71, the front camera unit 75, and the tilt camera unit 73. The coaxial light source box 72 and the front light source are also present. 76 and side light source 74 provide supplementary lighting. Vertical camera unit 71, front camera unit 75 and tilt camera unit 73 respectively capture images of the bellows spring assembly from above, front and side. The background system analyzes the images from above, front and side to determine whether each part of the bellows spring assembly exists and whether it is properly assembled. If a part is missing or not properly assembled, it is judged as a defective product. Otherwise, it is judged as an acceptable product. When the bellows spring assembly judged as an acceptable product moves to the right and is located below the second feeding component 81, the second feeding component 81 moves the acceptable product to a placement slot 821 on the transfer table 82. When the bellows spring assembly judged as a defective product moves to the rear and is located below the first unloading component 66, the first unloading component 66 unloads the defective product.

[0045] When both mounting slots 821 on the transfer station 82 contain bellows spring assemblies, the push cylinder and linear module of the second transfer component 83 work together to move the two clamping cylinders to the outside of the mounting slots 821 respectively. The clamping cylinders are activated to clamp the bellows spring assemblies. Then, the push cylinder and linear module work together to transfer the bellows spring assemblies to the two adjacent detection seats 41. The corresponding pressing cylinder 43 is activated to drive the sealing block 42 to move downward and fit and seal with the upper end face of the detection seat 41. At this time, the upper part of the bellows spring assembly is blocked by the sealing block 42, and the lower part is connected to the air passage. Air is injected into the bellows spring assembly through the air passage. After the pressure stabilizes, the air tightness of the bellows spring assembly is judged by the pressure data collected by the air pressure sensor. Based on the air tightness, it is divided into defective products and qualified products.

[0046] After the airtightness test is completed, the pressing cylinder 43 drives the sealing block 42 to rise and reset, and the first transfer component 51 is activated to simultaneously clamp and transfer the two adjacent bellows spring assemblies to the two through slots 522 of the support plate 521. If both bellows spring assemblies are qualified airtight products, the two clamping cylinders are directly released and placed. If the left bellows spring assembly is defective, the drive cylinder 523 drives the support plate 521 to move to the right, so that the through slot 522 on the left side of the support plate 521 corresponds to the right clamping cylinder. At this time, after the clamping cylinder is released, the qualified airtight product on the right falls into the through slot 522 and is limited, while the defective product on the left falls into the pre-set recycling box below. When the right bellows spring assembly is defective, the support plate 521 moves to the left. When both are defective, the support plate 521 moves to the right to avoid the two clamping cylinders.

[0047] After placement, the airtight qualified product is moved to the fixed clamping position of the first transfer component 51 by adjusting the left and right positions of the lower support plate 521. The first transfer component 51 is then activated to place the airtight qualified product in the left placement seat 13 of the first rotary structure 1. Before this, the third feeding structure 9 drives the gripper cylinder 91 to move back and forth and lift and lower through the dual-axis moving module 92, thereby cooperating with the feeding gripper 911 to sequentially complete the gripping and feeding of the rubber pad, so that the rubber pad is placed in the front placement seat 13. During the placement process, the clearance groove 131 on the placement seat 13 avoids the feeding gripper 911. The placed rubber pad rotates clockwise with the first rotary structure 1. The infrared detection component 16 located at the front left of structure 1 detects the placement seat 13 below to determine if a rubber pad is present. If no rubber pad is present in the placement seat 13, the first transfer component 51 skips the placement seat 13 when placing the airtight qualified product, ensuring that each airtight qualified product is accurately placed on the rubber pad. The infrared detection component 16 located at the rear left of the second rotating structure 6 detects the placement seat 13 below to determine if an airtight qualified product is present. If no airtight qualified product is present in the placement seat 13, subsequent components skip the placement seat 13. When an airtight qualified product is present in the placement seat 13 and moves to below the assembly structure 2, the push cylinder of the assembly structure 2 drives the clamping block to move downward and squeeze. The bellows spring assembly and rubber pad on the placement seat 13 are pressed together, so that the bellows spring assembly is fully inserted into the rubber pad to form an assembly. When the assembly moves to the bottom of the clamping and detection structure 3, the lifting and translating module 34 drives the clamping cylinder 31 to move down to above the assembly. The clamping cylinder 31 drives the lateral gripper 32 to tighten and clamp the assembly and rise with the lifting and translating module 34, so that the assembly is completely detached from the placement seat 13. At this time, the two detection cameras 33 are located directly above and to the right of the assembly, respectively. The detection cameras 33 take top view and side view images of the assembly. The top view image is used to judge the smoothness of the upper surface of the assembly, and the side view image is used to judge whether the assembly is assembled in place. If the assembly is not assembled in place, then... If the defective product is used, the lifting and translation module 34 drives the clamping cylinder 31 to unload the defective product. If it is assembled in place, it is judged as a qualified finished product and placed back into the placement seat 13 at the rear. When the qualified finished product moves to the lower part of the second unloading component 14 on the right, the second unloading component 14 clamps the qualified finished product and moves it to the unloading platform 15. The unloading platform 15 is pre-placed with a storage box. The unloading cylinder 151 is activated to drive the push plate 152 to move backward. The storage box is pushed and slides backward to cooperate with the second unloading component 14 to place several qualified finished products in different storage box positions in sequence. When a single storage box is collected, the unloading cylinder 151 cooperates with the push plate 152 to unload the entire storage box, thereby completing the entire production process.

[0048] Based on the same inventive concept, embodiments of the present invention provide an automated production method for water pump mechanical seal bellows spring assemblies.

[0049] An automated production method for water pump mechanical seal bellows spring assemblies includes the following steps: S10: In response to the assembly signal that the assembly part moves to the assembly station 11, obtain the workpiece number and control the assembly structure 2 to perform the pressing assembly action of the bellows spring assembly and the rubber pad.

[0050] The assembly signal refers to the arrival trigger electrical signal issued by the system after the assembly part moves to the assembly station 11 following the placement seat 13; the assembly signal is issued when the photoelectric sensor pre-set at the assembly station 11 senses that there is an obstruction in the placement seat 13 corresponding to the current assembly station 11.

[0051] The workpiece number refers to the unique identification code assigned by the system to each bellows spring assembly with rubber pads; when the assembly signal is triggered, the system automatically generates an incrementing number, i.e., the workpiece number, according to the flow sequence.

[0052] S11: During the pressing assembly process, the pressure feedback is continuously collected and the corresponding workpiece number is entered into the system.

[0053] Feedback pressure refers to the axial reaction force of the pressing assembly, which is collected in real time by the pressure sensor built into the clamping block in assembly structure 2 during the pressing assembly process; the feedback pressure is collected in real time by the pressure sensor pre-set between the clamping block and the push cylinder.

[0054] S12: In response to the detection signal that the assembly is lifted by the clamping detection structure 3, acquire the side image of the assembly and extract the features of the rubber pad.

[0055] The detection signal refers to the arrival trigger electrical signal issued by the system after the clamping cylinder 31 of the clamping detection structure 3 clamps the assembly and lifts it into place. Both the clamping cylinder 31 and the lifting and translating module 34 of the clamping detection structure 3 have built-in magnetic switches. When the clamping cylinder 31 performs clamping, and at the same time the lifting and translating module 34 drives the clamping cylinder 31 to move upward from the assembly detection station 12 and stay there, the magnetic switch closes to output the detection signal.

[0056] The side image refers to the actual image of the assembly taken by the inspection camera 33 located on the side of the assembly inspection station 12 from the side of the assembly; the system controls the inspection camera 33 to take a picture at the same time as receiving the inspection signal, and uses the image taken by the side inspection camera 33 as the side image.

[0057] Rubber pad features refer to the set of geometric information such as the shape, size, edge contour, and bottom burr of the rubber pad extracted from the side image by image algorithms; the side image is processed by vision software to perform grayscale processing, thresholding, and edge extraction operations, and the contour coordinates and size coordinates are fitted to obtain the rubber pad features.

[0058] S13: When the rubber pad features are inconsistent with the preset standard features, read the corresponding feedback pressure based on the workpiece number and generate a pressure curve.

[0059] Standard features refer to the standard contour dimensions and shape parameters of standard assemblies after assembly. Operators use the side inspection camera 33 to take pictures of the standard assemblies in advance, extract feature values ​​from multiple assemblies, and take the average value as the standard features.

[0060] If the characteristics of the rubber pad do not match the standard characteristics, it means that the dimensions and shape of the rubber pad are abnormal and it is not a standard qualified part.

[0061] The pressure curve is a continuously changing curve generated by combining all collected feedback pressures with the sampling interval, with time as the horizontal axis and the feedback pressure value as the vertical axis. The system synchronously records the sampling time and corresponding pressure value at a fixed sampling period and generates a continuous pressure curve by fitting the difference using the built-in plotting function.

[0062] S14: Determine whether there are obstructions inside the rubber pad based on the waveform characteristics of the pressure curve.

[0063] The method for determining whether there are obstructions inside the rubber pad is based on the waveform characteristics of the pressure curve, and will be disclosed in detail in subsequent steps.

[0064] S15: Execute a preset material rejection instruction based on the presence of obstructions within the rubber pad.

[0065] The material rejection instruction refers to the instruction that the lifting and translation module 34 drives the clamping cylinder 31 to move backward and when it moves to the designated position, the clamping cylinder 31 stops clamping to transfer the assembly to the preset waste bin. The designated position is set in advance by the operator according to the position of the waste bin. The material rejection instruction is set in advance by the operator in combination with the actual layout of the structure and then entered into the system.

[0066] The method for determining whether there is an obstruction inside the rubber pad includes the following steps: S20: Obtain the time points and their corresponding pressure increase rates based on the pressure curve.

[0067] A time node refers to each sampling time point recorded by the system at a fixed sampling interval when collecting feedback pressure. The operator pre-marks the moment when each sampling action is triggered as a time node by using a fixed sampling period set by a timer based on the actual sampling capability of the pressure sensor.

[0068] The pressure rise rate is the ratio of the change in feedback pressure between two adjacent time points to the time interval. The pressure rise rate is calculated by subtracting the feedback pressure at the current time point from the feedback pressure at the previous time point, and then quotienting the result with the time interval. The time interval is the duration between two adjacent time points.

[0069] S21: Define the time point in the pressure curve where the pressure rise rate is greater than 0 as the pressure rise point.

[0070] A pressure boosting node is a time point in which the feedback pressure shows a continuous upward trend compared to the previous time point. The pressure boosting rate corresponding to all time points is compared with 0, and the time point corresponding to the pressure boosting rate that is greater than 0 is defined as the pressure boosting node.

[0071] S22: Delineate the pressure rise section of the pressure curve based on the continuously distributed pressure rise nodes.

[0072] The pressure rise segment refers to the period when the pressure curve rises upward as a whole. The longest continuous pressure rise node in the entire pressure curve is selected, and the beginning of this time node is taken as the starting point of the pressure rise segment, and the end of this time node is taken as the ending point. The time intervals with adjacent individual pressure rise rates not greater than 0 are included in the pressure rise segment, and finally the entire pressure rise segment is obtained.

[0073] S23: Compare all boost rates in the boost section with the preset standard boost range.

[0074] The standard pressure increase range refers to the allowable fluctuation range of the pressure increase rate within the pressure increase section during the normal pressing process of standard assemblies. Operators collect the pressure increase rate during the pressing process of qualified products based on a large number of calibration experiments, statistically determine the normal fluctuation range, add redundant values, and then set upper and lower limits as the standard pressure increase range and enter it into the system.

[0075] S24: When the pressurization rate does not fall within the standard pressurization range, it is determined that there is an obstruction in the rubber pad.

[0076] If the pressurization rate does not fall within the standard pressurization range, it indicates a localized sudden change in force during the pressing process, which is determined to be caused by a fixed foreign object in the rubber pad, resulting in abnormal extrusion resistance. The values ​​of all pressurization rates within the pressurization section are compared with the standard pressurization range. If any value is higher than the upper limit of the range or lower than the lower limit of the range, it is determined that there is an obstruction in the rubber pad.

[0077] After comparing the boost rate with the standard boost range, the following steps are also included: S30: Combining the pressure curve and the pressure boosting section, the remaining part is divided into the pressure holding section.

[0078] The pressure holding section refers to the pressure stabilization range after removing the pressure rise section from the entire pressure curve; the remaining curve segment after removing the time range corresponding to the pressure rise section from the time axis of the entire pressure curve is automatically divided into the pressure holding section.

[0079] S31: Read the steady-state reference pressure after the pressure is fully depressed from the pressure holding section.

[0080] The steady-state reference pressure refers to the stable average pressure value within the pressure holding section, where the pressure value tends to be constant and without fluctuation; the steady-state reference pressure is the arithmetic mean of all feedback pressures within the pressure holding section.

[0081] S32: If the steady-state reference pressure does not fall within the preset standard pressure range, it is determined that there is an abnormal spring force in the assembly.

[0082] The standard pressure range refers to the normal pressure range that a standard assembly can reach during the pressure holding and stabilization phase. Operators collect feedback pressure values ​​of the standard assembly during the pressure stabilization process based on a large number of calibration experiments, statistically determine the normal fluctuation range of the feedback pressure, add redundancy values, set upper and lower limits as the standard pressure range, and enter it into the system.

[0083] Abnormal spring force refers to the spring force of the spring component in the bellows spring assembly being too large or too small, causing the final support pressure to deviate from the standard pressure range under the same downward stroke. If the steady-state reference pressure does not fall into the standard pressure range, it is determined that the spring force is abnormal.

[0084] S33: Determine the pressure offset based on the steady-state reference pressure and the standard pressure range.

[0085] Pressure offset refers to the degree to which the steady-state reference pressure deviates from the standard pressure range. The median value of the range is determined based on the standard pressure range. The difference between the steady-state reference pressure and the median value is calculated, which is the pressure offset. If the pressure offset is positive, it means that the steady-state reference pressure is too high and the overall spring force is too high. If the pressure offset is negative, it means that the steady-state reference pressure is too low and the overall spring force is too low.

[0086] S34: Match the compensation parameters corresponding to the workpiece number based on the pressure offset.

[0087] The compensation parameters refer to the correction process parameters such as the pre-compression stroke and pre-compression duration obtained by matching the pressure offset. The stroke difference and duration difference are obtained from the compensation correspondence table based on the pressure offset value. Then, based on the initially set base stroke and base duration, when the pressure offset is positive, the base stroke and stroke difference are summed to obtain the pre-compression stroke, and the base duration and duration difference are summed to obtain the pre-compression duration. When the pressure offset is negative, the base stroke and stroke difference are subtracted to obtain the pre-compression stroke, and the base duration and duration difference are subtracted to obtain the pre-compression duration. The pre-compression stroke and pre-compression duration are then integrated to obtain the compensation parameters.

[0088] The compensation correspondence table is a mapping data table that is pre-calibrated and stored in the system database. The table uses multiple sets of gradient pressure offsets as a benchmark, and each pressure offset corresponds to a set of stroke difference and time difference. The table is generated by fitting spring samples with different elastic force deviations through repeated pre-compression calibration tests to ensure that the spring support pressure can return to the standard pressure range after pre-compression treatment.

[0089] S35: Control the clamping and detection structure 3 to reset the assembly and enter the cyclic detection, and at the same time control the assembly structure 2 to perform pre-pressure repair operation based on the compensation parameters.

[0090] Cyclic detection refers to the clamping detection structure 3 resetting the assembly and placing it back into the original placement seat 13. The assembly continues to follow the first rotating structure 1 to perform the next cycle of assembly and detection. During the cycle, due to the setting of the infrared detection component 16, there will be no repeated stacking.

[0091] After extracting the features of the rubber pad, the following steps are also included: S40: Extract the bottom edge profile and sidewall profile of the rubber pad from the rubber pad features.

[0092] The bottom edge contour refers to the closed line corresponding to the outer edge of the bottom of the rubber pad extracted from the features of the rubber pad using image recognition; the bottom region of the rubber pad is extracted using the Canny edge detection algorithm, and the bottom edge contour is obtained by extracting the continuous closed edge data of the bottom surface.

[0093] The sidewall profile refers to the closed line corresponding to the outer contour of the axial cylindrical side of the rubber pad extracted from the features of the rubber pad using image recognition; the Canny edge detection algorithm is used to extract the outer contour region of the axial cylindrical side, and the continuous closed edge data of the sidewall is extracted to obtain the sidewall profile.

[0094] S41: When there is a preset strip-shaped flash feature in the bottom edge contour, it is determined that there is a burr on the outer bottom of the rubber pad.

[0095] The strip-shaped flash feature refers to the long strip-shaped excess rubber protrusion pixel shape extending outward along the bottom edge outline of the rubber pad; the standard shape template set by the operator based on the long strip-shaped excess rubber protrusion outside the qualified bottom outline of the rubber pad, i.e. the strip-shaped flash feature, is pre-entered into the system.

[0096] The presence of strip-shaped flash in the bottom contour indicates that excess rubber burrs were generated at the bottom part of the molding surface during the molding and demolding stage of the rubber pad.

[0097] S42: Combine the sidewall profile and bottom profile to determine the ideal bottom profile and set the cleanup path.

[0098] The ideal bottom profile refers to the burr-free standard bottom profile after matching the real-time tilt and offset posture of the assembly, which serves as the reference route for burr removal. Based on the preset standard bottom template, the workpiece translation amount and tilt angle are calculated in combination with the side wall profile. The standard profile is then rotated and translated to obtain the ideal bottom profile corresponding to the bottom profile.

[0099] The cleaning path refers to the path of the cutter planned based on the ideal bottom contour. The cutting allowance is slightly offset outward from the ideal bottom contour to generate a continuous coordinate trajectory, which is the cleaning path. The cutting allowance is preset by the operator.

[0100] S43: Based on the cleaning path control preset, the cutting component removes burrs from the bottom of the rubber pad.

[0101] The cutting component refers to a rotating cutting tool module used to cut and remove the burrs at the bottom of the rubber pad; an integrated cutting execution module, i.e., the cutting component, is formed by using a robotic arm to carry a high-speed rotating cutting blade.

[0102] S44: After burr removal is completed, control clamping and detection structure 3 will reset the assembly and enter the loop detection.

[0103] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automated production device for a water pump mechanical seal bellows spring assembly, characterized in that, The first rotary structure (1) includes an assembly station (11) and an assembly inspection station (12) and an assembly structure (2). The first rotary structure (1) is evenly provided with a plurality of placement seats (13) along the circumference. The placement seats (13) are driven by the first rotary structure (1) and pass through the assembly station (11) and the assembly inspection station (12) in sequence. The placement seat (13) is for stacking rubber pads and bellows spring assemblies in layers. The first rotary structure (1) is used to drive the placement seat (13) to index and transfer rubber pads and bellows spring assemblies. The assembly structure (2) is located at the assembly station (11) and is used to press down and assemble rubber pads and bellows spring assemblies stacked in the same placement seat (13) to form an assembly. The first rotary structure (1) is provided with a clamping detection structure (3) on the outside. The clamping detection structure (3) is located at the assembly detection station (12). The clamping detection structure (3) is used to clamp the assembly parts away from the placement seat (13) and detect the quality of the assembly parts. The top view image and side view image of the assembly parts are captured by the detection camera (33). The smoothness of the upper surface of the assembly parts is judged by the top view image, and the assembly parts are judged by the side view image. The clamping detection structure (3) is also used to clamp and unload the defective products that fail the inspection. The pressure sensor built into the clamping block in the assembly structure (2) collects the axial reaction force of the pressing in real time. The pressure curve can be generated according to the feedback pressure, and the presence of obstructions in the rubber pad can be judged according to the waveform characteristics of the pressure curve. An airtightness detection structure (4) is also provided on one side of the first rotary structure (1), and the airtightness detection structure (4) is used to detect the sealing performance of the bellows spring assembly. The airtightness testing structure (4) is provided with a second rotating structure (6), an appearance testing structure (7) and a second feeding structure (8) on one side. The second rotating structure (6) has an appearance testing station (61). The second rotating structure (6) is evenly provided with a number of fixed seats (62) along the circumference. The fixed seats (62) are driven by the second rotating structure (6) and pass through the appearance testing station (61). The appearance inspection structure (7) is located at the appearance inspection station (61), and the appearance inspection structure (7) is used to collect the appearance images of the bellows spring assembly from multiple angles to identify appearance defects. The second feeding structure (8) is used to transport the bellows spring assembly that has been determined to be qualified in appearance on the second rotating structure (6) to the airtightness inspection structure (4).

2. The automated production device for the water pump mechanical seal bellows spring assembly according to claim 1, characterized in that, The clamping and detection structure (3) includes a clamping cylinder (31), a lateral gripper (32), a detection camera (33), and a lifting and translation module (34). The clamping cylinder (31) is fixedly installed on the output end of the lifting and translating module (34). Two lateral grippers (32) are symmetrically arranged along the clamping cylinder (31), and the lateral grippers (32) are fixedly installed on the output end of the clamping cylinder (31). The inspection camera (33) is installed above and to the side of the assembly inspection station (12). The clamping cylinder (31) and the side gripper (32) cooperate to clamp the assembly from the side and provide an unobstructed inspection field of view for the inspection camera (33) above.

3. The automated production device for the water pump mechanical seal bellows spring assembly according to claim 1, characterized in that, A first feeding structure (5) is also provided on one side of the first rotary structure (1); The first feeding structure (5) is used to transport the bellows spring assembly that has been determined to be airtight on the airtightness detection structure (4) to the placement seat (13). The placement seat (13) for placing the bellows spring assembly is located upstream of the assembly station (11).

4. The automated production device for the water pump mechanical seal bellows spring assembly according to claim 3, characterized in that, The airtightness detection structure (4) is arranged in multiple ways. The first feeding structure (5) includes a first transfer component (51), a transfer support component (52), and a single gripper feeding component (53). The first transfer component (51) is used to simultaneously clamp and transfer multiple qualified bellows spring assemblies to the transfer support component (52), and the single-claw loading component (53) is used to transport the bellows spring assemblies on the transfer support component (52) to the placement seat (13) to complete the loading. The transfer support component (52) includes a support plate (521) for supporting the bellows spring assembly, the support plate (521) sliding along the execution direction of the single gripper feeding component (53) to fix the material picking position of the single gripper feeding component (53).

5. The automated production device for the water pump mechanical seal bellows spring assembly according to claim 1, characterized in that, The first rotary structure (1) is provided with a third feeding structure (9) equipped with a feeding gripper (911) on one side. The third feeding structure (9) is used to place the rubber pads on the placement seat (13) in sequence. The feeding gripper (911) is used to hold the rubber pads. The placement seat (13) is provided with a clearance groove (131). The clearance groove (131) is matched with the movement trajectory of the feeding gripper (911) to form a spatial clearance for the feeding gripper (911).

6. An automated production method for a water pump mechanical seal bellows spring assembly, applied to an automated production apparatus for a water pump mechanical seal bellows spring assembly as described in any one of claims 1 to 5, characterized in that, include: S10: In response to the assembly signal that the part to be assembled moves to the assembly station (11), obtain the workpiece number and control the assembly structure (2) to perform the pressing assembly action of the bellows spring assembly and the rubber pad. S11: During the pressing assembly process, the pressure feedback is continuously collected and the corresponding workpiece number is entered into the system; S12: In response to the detection signal of the assembly being lifted by the clamping detection structure (3), the side image of the assembly is acquired and the rubber pad features are extracted; S13: When the rubber pad features are inconsistent with the preset standard features, read the corresponding feedback pressure based on the workpiece number and generate a pressure curve; S14: Determine whether there are obstructions inside the rubber pad based on the waveform characteristics of the pressure curve; S15: Execute a preset material rejection instruction based on the presence of obstructions within the rubber pad.

7. The automated production method for the bellows spring assembly of a water pump mechanical seal according to claim 6, characterized in that, Methods for determining whether there are obstructions inside the rubber pad include: S20: Obtain the time points and their corresponding pressure increase rates based on the pressure curve; S21: Define the time point in the pressure curve where the pressure rise rate is greater than 0 as the pressure rise point; S22: Delineate the pressure rise segment of the pressure curve based on the continuously distributed pressure rise nodes; S23: Compare all boost rates in the boost section with the preset standard boost range; S24: When the pressurization rate does not fall within the standard pressurization range, it is determined that there is an obstruction in the rubber pad.

8. The automated production method for the water pump mechanical seal bellows spring assembly according to claim 7, characterized in that, The comparison of the boost rate with the standard boost range also includes: S30: Combining the pressure curve and the pressure boosting section, the remaining part is divided into the pressure holding section; S31: Read the steady-state reference pressure after the pressure is fully depressed from the pressure holding section; S32: If the steady-state reference pressure does not fall within the preset standard pressure range, it is determined that the assembly has abnormal spring force. S33: Determine the pressure offset based on the steady-state reference pressure and the standard pressure range; S34: Match the compensation parameters corresponding to the workpiece number based on the pressure offset; S35: Control the clamping and detection structure (3) to reset the assembly and enter the cyclic detection, while controlling the assembly structure (2) to perform the pre-pressure repair operation based on the compensation parameters.

9. The automated production method for the water pump mechanical seal bellows spring assembly according to claim 6, characterized in that, After extracting the features of the rubber pad, the following is also included: S40: Extract the bottom edge profile and sidewall profile of the rubber pad from the rubber pad features; S41: When there is a preset strip-shaped burr feature in the bottom edge contour, it is determined that there is a burr on the outer bottom of the rubber pad; S42: Combine the sidewall profile and bottom profile to determine the ideal bottom profile and set the cleanup path; S43: Based on the cleaning path control preset, the cutting component removes burrs from the bottom of the rubber pad; S44: After burr removal is completed, control the clamping and detection structure (3) to reset the assembly and enter the cycle detection.

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