CN111230477B

CN111230477B - Automatic assembling equipment for hollow rod gasket assembly of controllable gas spring

Info

Publication number: CN111230477B
Application number: CN202010049877.5A
Authority: CN
Inventors: 王祖雷; 胡威明; 魏海泉
Original assignee: Ningbo Lipinge Machine Industry Co ltd
Current assignee: NINGBO LIPINGE MACHINE INDUSTRY CO.,LTD.
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2021-11-26
Anticipated expiration: 2040-01-17
Also published as: CN111230477A

Abstract

The invention relates to the field of automatic assembly equipment for gas springs, in particular to automatic assembly equipment for hollow rod gasket components of controllable gas springs, which comprises piston rod pre-assembly equipment and a first conveyor, wherein the piston rod pre-assembly equipment comprises a piston rod pre-assembly machine and a piston rod pre-assembly machine; the piston rod pre-assembly equipment comprises a first gasket feeding assembly mechanism, a check ring feeding assembly mechanism, a first inner seal ring feeding assembly mechanism and a second gasket feeding assembly mechanism which are arranged around the side of the first conveyor, wherein the first gasket feeding assembly mechanism, the check ring feeding assembly mechanism and the second gasket feeding assembly mechanism are identical in structure, and correction detection mechanisms which are arranged beside the first conveyor are arranged between the first gasket feeding assembly mechanism and the check ring feeding assembly mechanism, between the check ring feeding assembly mechanism and the first inner seal ring feeding assembly mechanism and behind the second gasket feeding assembly mechanism; this technical scheme can full automatic assembly hollow rod gasket subassembly.

Description

Automatic assembling equipment for hollow rod gasket assembly of controllable gas spring

Technical Field

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

Background

The gas spring is an industrial accessory which can play a role in supporting, buffering, braking, height adjustment, angle adjustment and the like. It is composed of the following parts: the device comprises a pressure cylinder, a piston rod, a piston, a sealing guide sleeve, a filler (inert gas or oil-gas mixture), an in-cylinder control element, an out-cylinder control element (a controllable gas spring), a joint and the like. The principle is that inert gas or oil-gas mixture is filled in a closed pressure cylinder, the pressure in a cavity is several times or dozens of times higher than the atmospheric pressure, and the motion of a piston rod is realized by utilizing the pressure difference generated by the cross section area of the piston rod smaller than that of the piston.

The piston in the controllable gas spring is provided with a controllable valve member for locking the piston rod of the gas spring, the piston rod is of a hollow structure, a control rod is arranged in the piston rod, the push-pull action of the control rod can be controlled through a wrench device at the head of the piston rod, and then the control rod drives the controllable valve member on the piston to open and close. When the controllable valve member is opened, if no axial external force is applied, the controllable gas spring extends, and the piston rod is ejected. The controllable gas spring is compressed if there is an external force acting on it that is greater than the force generated by its internal pressure.

Chinese patent CN107701639B discloses a double-cylinder controllable gas spring, which comprises a piston rod, an outer cylinder, a guide sleeve, a rear end enclosure, a joint, an inner cylinder and a buffer sleeve. The inner hole of the buffer sleeve is connected with the piston rod in a sliding mode, the outer cylindrical surface of the buffer sleeve is in sliding fit with the inner hole of the outer cylinder, the lower end of the buffer sleeve is inserted between the inner surface of the inner cylinder and the outer surface of the piston rod, and the upper end of the buffer sleeve is further provided with an oil guide hole. A floating piston is arranged between the inner cylinder and the outer cylinder. The valve needle is arranged in the inner hole of the valve body piston. The middle part of the valve needle is concave, the upper side and the lower side are cylinders, the lower end is connected with the lower end of the valve body piston in an intermittent sealing mode, and the upper end is connected with the piston rod in a sealing mode. The outer diameter of the upper end of the valve body piston is smaller than the inner diameter of the inner cylinder, and a plurality of conducting holes which are communicated with the middle part of the valve needle in a concave mode are formed in the valve body piston. The lower end of the inner cylinder is hermetically connected with the supporting seat. The supporting seat is connected with the outer cylinder in a sealing way. The upper end of the rear end enclosure is provided with a concave part, the concave part is provided with an air path communicated with an external air source, and the air path is provided with a sealing steel ball. The supporting seat is provided with an air guide hole.

Similar to the controllable gas spring disclosed in this patent, there is currently no fully automated apparatus for assembling the hollow rod and shim assemblies.

Disclosure of Invention

The technical problem to be solved by the invention is to provide automatic assembly equipment for the hollow rod gasket assembly of the controllable gas spring.

In order to solve the technical problems, the invention provides the following technical scheme:

an automatic assembly device for a hollow rod gasket assembly of a controllable gas spring is applied to automatically installing a first gasket, a check ring, a first inner sealing ring and a second gasket into a hollow rod; the device comprises a piston rod preassembling device and a first conveyor; piston rod pre-assembly equipment is including having the first gasket material loading assembly devices who encircles in first conveyer side, retaining ring material loading assembly devices, first interior sealing washer material loading assembly devices, second gasket material loading assembly devices, first gasket material loading assembly devices, retaining ring material loading assembly devices, first interior sealing washer material loading assembly devices, second gasket material loading assembly devices arranges in proper order along the assembly order of piston rod, first gasket material loading assembly devices, retaining ring material loading assembly devices, second gasket material loading assembly devices's structure is the same, wherein between first gasket material loading assembly devices and the retaining ring material loading assembly devices, between retaining ring material loading assembly devices and the first interior sealing washer material loading assembly devices, all be provided with behind the second gasket material loading assembly devices and lie in the correction detection mechanism of first conveyer side.

Preferably, the first conveyor comprises a first workbench, a first fixed disc, a first movable ring, a third rotary driver, a second movable ring and a tenth linear driver; the third rotary driver and the tenth linear driver are both fixedly arranged at the top of the first workbench, the working parts of the third rotary driver and the tenth linear driver are both vertically arranged upwards, and the output shaft of the third rotary driver is vertically arranged; the first movable ring and the second movable ring are coaxially sleeved on the outer side of the first fixed disk, the first fixed disk is fixedly arranged on a non-working part of the third rotary driver, the first movable ring is fixedly arranged on a working part of the third rotary driver, and the second movable ring is fixedly arranged on a working part of the tenth linear driver; a plurality of hollow rod upper clamps which are uniformly distributed around the axis of the first movable ring are fixedly arranged on the first movable ring, the hollow rod upper clamps are provided with first working ends for clamping the hollow rods, a first clamp shutter arranged at a feeding part and a discharging part of the first conveyor is fixedly arranged on the first fixed disc, and the first clamp shutter is provided with a second working end for driving the hollow rod upper clamps to open; under the working state, the top surface of the second movable ring is positioned right below the working end of the clamp on the hollow rod.

Preferably, the top surface of the second movable ring is fixedly provided with a projection which corresponds to each assembling station of the piston rod one by one, and the diameter of the projection is larger than that of the hollow rod.

Preferably, the projection is provided with a sliding groove vertically and downwardly recessed from the top surface of the projection, and the width of the sliding groove is smaller than the diameter of the hollow rod.

Preferably, the bottom surface fixed mounting of second loose collar has the hollow pole lower clamp with every lug one-to-one, and hollow pole lower clamp is including pointing the cylinder and being used for pressing from both sides tight hollow pole clamping jaw of hollow pole, and the cylinder is connected with second loose collar fixed connection to the finger, and hollow pole clamping jaw and the work end fixed connection who points the cylinder, the work portion of hollow pole clamping jaw upwards extends to the top surface both sides of lug along the both sides of second loose collar.

Preferably, the first gasket feeding assembly mechanism, the check ring feeding assembly mechanism, the first inner seal ring feeding assembly mechanism and the second gasket feeding assembly mechanism respectively comprise a vibrating feeder, a distributor, an industrial robot and a manipulator, the discharging end of the vibrating feeder is communicated with the feeding end of the distributor, the discharging end of the distributor is located in the working area of the industrial robot, and the manipulator is fixedly installed at the working end of the industrial robot.

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

Preferably, the manipulator is a fourth manipulator which comprises a fifth linear driver, a movable block and a stopper pin, the guide post, the fixed block, fill in a section of thick bamboo, fifth linear actuator fixed mounting is in industrial robot's work end, fifth linear actuator is vertical to be set up, movable block fixed mounting is in the work portion of fifth linear actuator, fixed block fixed mounting is in the non-work portion of fifth linear actuator, the fixed block is located the movable block under, the bottom fixed mounting of movable block has the stopper needle that runs through the fixed block, the side of stopper needle is provided with the guide post that is connected with the movable block fixed and runs through the fixed block, the bottom of fixed block is installed the stopper section of thick bamboo of cover outside the stopper needle, the outer periphery of stopper needle and first inner seal circle interference fit, the outer periphery of stopper section of thick bamboo and the internal diameter clearance fit of control lever, the clearance between guide post and the stopper section of thick bamboo is greater than the wall thickness of hollow rod.

Preferably, the correction detection mechanism comprises a second correction detection mechanism, the second correction detection mechanism comprises a seventh linear driver, a second elastic connection mechanism and a second cylindrical go-no-go gauge, the seventh linear driver is fixedly installed at the working end of the industrial robot, the working end of the seventh linear driver is vertically arranged downwards, the second cylindrical go-no-go gauge can be vertically and slidably installed on the seventh linear driver, the second cylindrical go-no-go gauge is elastically connected with the working end of the seventh linear driver through the second elastic connection mechanism, and the outer circumferential surface of the second cylindrical go-no-go gauge is in clearance fit with the inner wall of the hollow rod.

Preferably, the correction detection mechanism comprises a first correction detection mechanism, the first correction detection mechanism comprises a first support, a sixth linear driver, a first elastic connection mechanism and a first cylinder go-no-go gauge, the first support is fixedly mounted on a first fixed disc, the sixth linear driver is fixedly mounted on the first support, the working end of the sixth linear driver is vertically arranged downwards, the first cylinder go-no-go gauge can be vertically slidably mounted on the first support, the first cylinder go-no-go gauge is elastically connected with the working end of the sixth linear driver through the first elastic connection mechanism, and the outer circumferential surface of the first cylinder go-no-go gauge is in clearance fit with the inner wall of the hollow rod.

Compared with the prior art, the invention has the beneficial effects that:

the pre-assembly equipment of the piston rod comprises a first gasket feeding assembly mechanism, a retainer ring feeding assembly mechanism, a first inner sealing ring feeding assembly mechanism, a second gasket feeding assembly mechanism and a first correction detection mechanism which are arranged around the side of the first conveyor, the first conveyor drives the hollow rod and the control rod to sequentially pass through the working intervals of the first gasket feeding assembly mechanism, the check ring feeding assembly mechanism, the first inner seal ring feeding assembly mechanism and the second gasket feeding assembly mechanism, the first gasket feeding assembly mechanism, the check ring feeding assembly mechanism, the first inner seal ring feeding assembly mechanism and the second gasket feeding assembly mechanism are respectively used for assembling a first gasket, a check ring, a first inner seal ring and a second gasket to one end inside the hollow rod, the hollow rod and the control rod are assembled into a piston rod, and then the first correction detection mechanism detects the pre-assembled piston rod; the second straightening detection mechanism extends the working end of the second straightening detection mechanism into the hollow rod to straighten the flat circular slice.

This automatic assembly equipment has all corrected and detected at every step process, has improved the automatic assembly qualification rate of hollow pole gasket subassembly greatly.

Drawings

FIG. 1 is a cross-sectional view of the hollow bar gasket assembly in an assembled condition;

FIG. 2 is a top view of the present invention;

FIG. 3 is a perspective view of the present invention;

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

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

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

FIG. 7 is a perspective view of a first gasket feeding assembly mechanism of the present invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at G;

FIG. 9 is a side view of a third robot and a second leveling detection mechanism of the present invention;

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

FIG. 11 is a perspective view of a first inner seal ring loading assembly mechanism of the present invention;

FIG. 12 is an enlarged view of a portion of FIG. 11 at I;

figure 13 is a side view of a fourth robot of the present invention;

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

FIG. 15 is a perspective view of a first orthotic detection mechanism according to the present invention;

FIG. 16 is a top view of a first orthotic detection mechanism according to the present invention;

FIG. 17 is a cross-sectional view taken along line K-K of FIG. 16;

the reference numbers in the figures are:

a-a piston rod; a 1-hollow bar; a2-control lever; a3 — first shim; a 4-retaining ring; a5 — first inner seal ring; a6 — second gasket;

d-a piston rod preassembly apparatus;

d1-hollow rod feeding mechanism; d1a — first chain conveyor; d1 b-hollow bar lifter; d1b1 — first linear driver; d1b 2-lifting lever; d1 c-a first industrial robot; D1D — first manipulator;

d2-control lever material loading assembly devices; d2 a-control rod feeding table; d2a 1-stock chest; d2a 2-spindle; d2a 3-bearing; d2 b-control lever distributor; d2b 1-striker plate; d2b2 — lifter plate; d2b3 — second linear drive; d2b 4-guide plate; d2 c-control rod conveyor; d2c1 — slide; d2c2 — third linear drive; d2c 3-fourth linear drive; D2D-a second industrial robot; d2 e-a second robot;

d3-first gasket material loading and assembling mechanism; d3a — first vibrating feeder; d3b — first distributor; d3 c-a third industrial robot; D3D-third robot; D3D1 — first anchor block; D3D2 — first active mass; D3D3 — first spool; D3D4 — first spring; D3D5 — sleeve; D3D 6-first finger cylinder; D3D 7-tuck jaw;

d4-check ring feeding and assembling mechanism;

d5-first inner seal washer feeding and assembling mechanism; d5 a-second vibrating feeder; d5b — second distributor; d5 c-a fourth industrial robot; D5D-a fourth robot; D5D 1-fifth linear drive; D5D 2-active mass; D5D 3-stopper needle; D5D 4-guide post; D5D 5-fixed block; D5D 6-plug cartridge;

d6-second gasket material loading and assembling mechanism;

d7 — a first orthotic detection mechanism; d7a — first scaffold; d7 b-sixth linear drive; d7c — a first resilient connecting mechanism; D7D-first cylinder go-no-go gauge;

d8 — a second orthotic detection mechanism; d8 a-seventh linear drive; d8b — a second resilient connection; d8 c-second cylinder go-no-go gauge;

g-a first conveyor;

g1 — first stage;

g2-first fixed disk;

g3-first movable ring;

g4 — third rotary drive;

g5-second movable ring; g5a — bumps; g5 b-chute;

g6-tenth linear drive;

g7-hollow bar clamp; g7a — first working end; g7 b-first clamp fixing block; g7c — first clamp moving block; g7d — first clamp sliding post; g7e — first clamp guide block; g7f — second spring;

g8 — first clamp shutter; g8a — second working end; g8b — eleventh linear drive; g8c — first pusher block;

g9-hollow bar lower clamp; g9 a-finger cylinder; g9 b-hollow bar jaw.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

An automatic assembling device for a hollow rod gasket assembly of a controllable gas spring is applied to automatically load a first gasket A3, a check ring A4, a first inner sealing ring A5 and a second gasket A6 into a hollow rod A1; as shown in fig. 1, the control rod a2 is pre-assembled inside the hollow rod a1, and then the first gasket A3, the retainer ring a4, the first inner seal ring a5 and the second gasket a6 are sequentially assembled at one end inside the hollow rod a1 from inside to outside, so that the pre-assembly of the piston rod a is completed; the device comprises a piston rod preassembling device D and a first conveyor G; the piston rod pre-assembly device D comprises a first gasket feeding assembly mechanism D3, a check ring feeding assembly mechanism D4, a first inner seal ring feeding assembly mechanism D5 and a second gasket feeding assembly mechanism D6 which are arranged around the side of a first conveyor G, wherein the first gasket feeding assembly mechanism D3, the check ring feeding assembly mechanism D4, the first inner seal ring feeding assembly mechanism D5 and the second gasket feeding assembly mechanism D6 are sequentially arranged along the assembly sequence of the piston rod A, the first gasket feeding assembly mechanism D3, the check ring feeding assembly mechanism D4 and the second gasket feeding assembly mechanism D6 have the same structure, wherein, a correction detection mechanism positioned beside the first conveyor G is arranged between the first gasket feeding and assembling mechanism D3 and the retainer ring feeding and assembling mechanism D4, between the retainer ring feeding and assembling mechanism D4 and the first inner sealing ring feeding and assembling mechanism D5 and behind the second gasket feeding and assembling mechanism D6.

As shown in fig. 2 and 3, the piston rod pre-assembly device D includes a hollow rod feeding mechanism D1, a control rod feeding assembly mechanism D2, a first gasket feeding assembly mechanism D3, a retainer ring feeding assembly mechanism D4, a first inner gasket feeding assembly mechanism D5, and a second gasket feeding assembly mechanism D6, which are arranged around the side of the first conveyor G, the hollow rod feeding mechanism D1 is used for placing the hollow rod a1 into the feeding end of the first conveyor G, the first conveyor G drives the hollow rod a1 to move to the working region of the control rod feeding assembly mechanism D2, the control rod feeding assembly mechanism D2 inserts the control rod a2 into the inside of the hollow rod a1, the first conveyor G drives the hollow rod a1, the assembly of the control rod a2 passes through the working region of the first gasket feeding assembly mechanism D3, the retainer ring feeding assembly mechanism D4, the first inner gasket feeding assembly mechanism D5, and the second gasket feeding assembly mechanism D6, the first gasket feeding and assembling mechanism D3, the check ring feeding and assembling mechanism D4, the first inner seal ring feeding and assembling mechanism D5 and the second gasket feeding and assembling mechanism D6 are respectively used for assembling a first gasket A3, a check ring A4, a first inner seal ring A5 and a second gasket A6 on one end inside a hollow rod A1, assembling a combination of the hollow rod A1 and a control rod A2 into a piston rod A, and performing posture correction and detection on the piston rod A through a correction detection mechanism after the first gasket A3, the check ring A4 and the second gasket A6 are installed each time; since the first washer A3, the retainer a4 and the second washer a6 are flat ring-shaped thin pieces, and the depth of the flat ring-shaped thin pieces mounted inside the hollow rod a1 is deep, when the flat ring-shaped thin pieces are thrown into a deep hole by an automatic robot and a manipulator in the prior art, the flat ring-shaped thin pieces are prone to deflection, so that the flat ring-shaped thin pieces need to be straightened by the straightening detection mechanism with the working end thereof inserted into the hollow rod a1, and the stroke of the working part of the straightening detection mechanism is checked while the straightening detection mechanism is straightened, so that whether the flat ring-shaped thin pieces are mounted correctly can be judged.

As shown in fig. 4 to 5, the first conveyor G includes a first table G1, a first fixed tray G2, a first movable ring G3, a third rotary driver G4, a second movable ring G5, and a tenth linear driver G6; the third rotary driver G4 and the tenth linear driver G6 are fixedly arranged at the top of the first workbench G1, the working parts of the third rotary driver G4 and the tenth linear driver G6 are vertically arranged upwards, and the output shaft of the third rotary driver G4 is vertically arranged; the first movable ring G3 and the second movable ring G5 are coaxially sleeved on the outer side of the first fixed disk G2, the first fixed disk G2 is fixedly arranged on a non-working part of the third rotary driver G4, the first movable ring G3 is fixedly arranged on a working part of the third rotary driver G4, and the second movable ring G5 is fixedly arranged on a working part of the tenth linear driver G6; a plurality of hollow rod upper clamps G7 which are uniformly distributed around the axis of the first movable ring G3 are fixedly arranged on the first movable ring G3, each hollow rod upper clamp G7 is provided with a first working end G7a used for clamping the hollow rod A1, a first clamp shutter G8 arranged at the feeding part and the discharging part of the first conveyor G is fixedly arranged on the first fixed disc G2, and each first clamp shutter G8 is provided with a second working end G8a used for driving the hollow rod upper clamp G7 to open; in the working state, the top surface of the second movable ring G5 is located directly below the working end of the hollow bar upper clamp G7.

The first movable ring G3 and the third rotary driver G4 are combined into a common indexing disc, the third rotary driver G4 is a servo motor provided with a speed reducer, and the tenth linear driver G6 is a manual lifting table combined by a plurality of manual ball screw sliding tables linked through chain transmission;

the hollow rod upper clamp G7 comprises a first clamp fixing block G7b, a first clamp moving block G7c, a first clamp sliding column G7d, a first clamp guiding block G7e and a second spring G7f, the first clamp fixing block G7b is fixedly connected with a first moving ring G3, the first clamp moving block G7c, a first clamp sliding column G7d and a first clamp guiding block G7e are fixedly connected in sequence through bolts, the first clamp moving block G7c and the first clamp guiding block G7e are respectively arranged at two sides of the first clamp fixing block G7b, the first clamp sliding column G7d is slidably arranged in the first clamp fixing block G7b, the first clamp moving block G7c and the first clamp guiding block G7e are respectively arranged at the outer side and the inner side of the first moving ring G3, the second spring G7 3 is sleeved on the first clamp sliding column G7G 3, the second clamp moving block G7 and the first clamp guiding block G72 are respectively arranged at two ends of the first clamp fixing block G7 3, and the first clamp moving block 3 are respectively arranged at two ends of the first clamp fixing block 3, and the first clamp sliding column G7 3, and the first clamp moving block 3 are respectively arranged at two ends of the first clamp sliding block 3, and the second clamp sliding block 3 The two semicircular gaps are combined into a circular hole under the action of resilience force of the second spring G7f and clamp the hollow rod A1 in the middle in the working state;

the first clamp shutter G8 comprises an eleventh linear driver G8b and a first pushing block G8c, the eleventh linear driver G8b is a double-shaft double-rod cylinder, the eleventh linear driver G8b is fixedly connected with a first fixed disk G2, the first pushing block G8c is fixedly connected with the working end of the eleventh linear driver G8b, the surface of the first pushing block G8c facing the first clamp guide block G7e is a second working end G8a, in the working state, the eleventh linear driver G8b drives the first material pushing block G8c to move towards the direction of the first clamp guiding block G7e, the first clamp guiding block G7e overcomes the resilience force of the second spring G7f to drive the first clamp sliding column G7d to drive the first clamp moving block G7c to move away from the first clamp fixing block G7b, the first clamp fixing block G7b is separated from the first clamp moving block G7c, and the first working end G7a is separated into two semicircular notches for the hollow rod a1 to be inserted into or extracted from;

the first working end G7a is used for clamping the outer cylindrical surface of the hollow bar a1, and the second movable ring G5 is used for supporting the bottom surface of the hollow bar a 1; the worker can adjust the distance between the working end of the clamp G7 on the hollow rod and the top surface of the second movable ring G5 by adjusting the height of the second movable ring G5 through the tenth linear driver G6, so that the clamp can be adapted to hollow rods A1 with different lengths;

the third rotary driver G4 drives the first movable ring G3 to drive the hollow rod upper clamp G7 to rotate together, so that the first conveyor G can clamp a plurality of hollow rods a1 to move circularly around the output shaft of the third rotary driver G4, thereby playing a role in conveying the hollow rods a 1.

As shown in fig. 6, the top surface of the second movable ring G5 is fixedly mounted with a bump G5a corresponding to each assembling position of the piston rod a one-to-one, and the bump G5a has a diameter larger than that of the hollow rod a 1.

When the hollow bar a1 is assembled, the bump G5a is used for supporting the bottom surface of the hollow bar a1, and when the hollow bar a1 moves, the hollow bar a1 does not contact with the second movable ring G5, so that when the hollow bar a1 is clamped by the hollow bar upper clamp G7 to move, the hollow bar a1 rubs against the top surface of the bump G5a only near each station, thereby reducing friction between the hollow bar a1 and the second movable ring G5.

The bump G5a is provided with a sliding groove G5b vertically depressed from the top surface of the bump G5a, and the width of the sliding groove G5b is smaller than the diameter of the hollow rod a 1.

The sliding groove G5b serves to convert the surface-to-surface friction between the hollow bar a1 and the bump G5a into a line friction between the hollow bar a1 and the sliding groove G5b, thereby further reducing the friction between the hollow bar a1 and the second movable ring G5.

The bottom surface of the second movable ring G5 is fixedly provided with a hollow rod lower clamp G9 corresponding to each bump G5a one by one, the hollow rod lower clamp G9 comprises a finger cylinder G9a and a hollow rod clamping jaw G9b for clamping a hollow rod A1, the finger cylinder G9a is fixedly connected with the second movable ring G5, the hollow rod clamping jaw G9b is fixedly connected with the working end of the finger cylinder G9a, and the working part of the hollow rod clamping jaw G9b extends upwards to the two sides of the top surface of the bump G5a along the two sides of the second movable ring G5.

Since the support between the hollow bar a1 and the slide groove G5b is unstable and the hollow bar a1 is easily inclined in the assembling process, when the hollow bar a1 is positioned on the slide groove G5b before the start of each process, the finger cylinder G9a drives the hollow bar clamp jaws G9b to clamp and fix the bottom end of the hollow bar a1 from both sides so that the hollow bar a1 can be assembled while maintaining a vertical state.

The first gasket feeding and assembling mechanism D3, the check ring feeding and assembling mechanism D4, the first inner seal ring feeding and assembling mechanism D5 and the second gasket feeding and assembling mechanism D6 comprise a vibrating feeder, a distributor, an industrial robot and a manipulator, the discharging end of the vibrating feeder is communicated with the feeding end of the distributor, the discharging end of the distributor is located in the working interval of the industrial robot, and the manipulator is fixedly installed at the working end of the industrial robot.

As shown in fig. 7 to 10, the first gasket feeding and assembling mechanism D3 includes a first vibrating feeder D3a, a first distributor D3b, a third industrial robot D3c, and a third manipulator D3D, wherein a discharging end of the first vibrating feeder D3a is communicated with a feeding end of the first distributor D3b, a discharging end of the first distributor D3b is located in a working area of the third industrial robot D3c, and the third manipulator D3D is fixedly mounted at a working end of the third industrial robot D3 c; the first vibrating loader D3a continuously conveys the first gasket A3 to the inside of the first distributor D3b, the first distributor D3b separates a working area from the first gasket A3 to the third industrial robot D3c at a time, and the third industrial robot D3c drives the third manipulator D3D to grab the first gasket A3 and mount the first gasket A3 to the inside of one end of the hollow rod A1;

the first vibrating feeder D3a comprises a vibrating disc, a guide rail and a vibrating motor, and is used for continuously conveying materials to the first distributor D3 b; the first distributor D3b includes a groove for accommodating only one material, and a slide table for driving the slide block having the groove to move, thereby conveying the materials one by one to the working space of the third industrial robot D3 c; the third industrial robot D3c is commonly a two-degree-of-freedom XY-axis robot (cartesian robot) for moving the third manipulator D3D; the first vibrating loader D3a, the first distributor D3b and the third industrial robot D3c are already common in the related field of automatic assembly, and the specific structure and working principle thereof are not described herein; the first gasket feeding and assembling mechanism D3, the retainer ring feeding and assembling mechanism D4, and the second gasket feeding and assembling mechanism D6 have the same structure.

As shown in fig. 11 to 12, the first inner seal ring loading and assembling mechanism D5 differs from the first gasket loading and assembling mechanism D3 in the structure of the manipulator, the first inner seal ring loading and assembling mechanism D5 includes a second vibrating loader D5a, a second loader D5b, a fourth industrial robot D5c and a fourth manipulator D5D, the discharging end of the second vibrating loader D5a is communicated with the feeding end of the second loader D5b, the discharging end of the second loader D5b is located in the working space of the fourth industrial robot D5c, the fourth manipulator D5D is fixedly installed at the working end of the fourth industrial robot D5c, the specific working principle thereof is similar to that of the first gasket loading and assembling mechanism D3, and only the working principle of the manipulator is different.

The manipulator is a third manipulator D3D, the third manipulator D3D comprises a first fixed block D3D1, a first movable block D3D2, a first sliding column D3D3, a first spring D3D4, a sleeve D3D5, a first finger cylinder D3D6 and a plug claw D3D 7; the first fixed block D3D1 is fixedly installed at a working end of an industrial robot, the first sliding column D3D3 is slidably installed on the first fixed block D3D1, the first movable block D3D2 is fixedly installed at the bottom end of the first sliding column D3D3, the first spring D3D4 is sleeved on the first sliding column D3D3, two ends of the first spring D3D4 are respectively abutted to the first fixed block D3D1 and the first movable block D3D2, the sleeve D3D5 is fixedly connected with the first movable block D3D2, the first finger cylinder D3D6 is fixedly connected with the first fixed block D3D1, the plug claw D3D7 is fixedly installed at a working end of the first finger cylinder D3D6, and a working end of the piston rod pre-assembling device D7 penetrates through the sleeve D3D5 from top to bottom.

When material is taken, the third industrial robot D3c drives the first fixed block D3D1 to drive the first finger cylinder D3D6 to move towards the direction of the first distributor D3b, firstly, the first movable block D3D2 and the sleeve D3D5 abut against the first distributor D3b to stop moving, the plug claw D3D7 overcomes the resilience force of the first spring D3D4 to continue moving downwards, the plug claw D3D7 is vertically inserted downwards into the inner ring of the first gasket A3, then the first finger cylinder D3D6 drives the plug claw D3D7 to separate towards two sides, so that the first gasket A3 is firmly clamped on the plug claw D7, and after the third industrial robot D3c is reset, the sleeve D3D5 abuts against the top surface of the first gasket A3 and cannot move downwards;

during assembly, the third industrial robot D3c drives the first fixed block D3D1 to drive the first finger cylinder D3D6 to move towards the direction of the hollow rod a1, the first movable block D3D2 and the sleeve D3D5 abut against the hollow rod a1 to stop moving, meanwhile, the plug claw D3D7 carries the first gasket A3 to be inserted into the hollow rod a1, then the first finger cylinder D3D6 drives the plug claw D7 to fold towards the middle, the first movable block D3D2 pushes the first gasket A3 to move downwards under the resilience of the first spring D3D4, at the moment, the inner ring of the first gasket A3 loses the tensile force fixation of the plug claw D3D7, and the first gasket A3 falls off from the plug claw D3D7 to fall towards the inside of the hollow rod a 1.

As shown in fig. 13 to 14, the manipulator is a fourth manipulator D5D, the fourth manipulator D5D includes a fifth linear driver D5D1, a movable block D5D2, a stopper pin D5D3, a guide post D5D4, a fixed block D5D5, and a stopper cylinder D5D6, the fifth linear driver D5D1 is fixedly installed at a working end of the industrial robot, the fifth linear driver D5D1 is vertically disposed, the movable block D5D1 is fixedly installed at a working portion of the fifth linear driver D5D1, the fixed block D5D1 is fixedly installed at a non-working portion of the fifth linear driver D5D1, the fixed block D5D1 is located right below the movable block D1, the stopper pin D5D1 which penetrates through the fixed block D1 is fixedly installed at a bottom end of the movable block D5D1, the stopper pin D1 which penetrates through the fixed block D5D1 is fixedly installed at a side of the stopper pin D1, an outer circumferential surface of the stopper pin 1a 1 which penetrates through the fixed block D1a guide post, the stopper pin 1a control ring 1a is installed at an outer circumferential surface of the stopper cylinder 1a which is fitted with an inner circumferential surface of the stopper cylinder 1a which is fixedly connected with the stopper cylinder 1a of the fixed block D1, the clearance between the guide post D5D4 and the plug barrel D5D6 is greater than the wall thickness of the hollow rod A1.

When material is taken, the fifth linear driver D5D1 drives the movable block D5D2 to vertically move downwards, the movable block D5D2 drives the stopper needle D5D3 and the guide column D5D4 to move downwards together, the stopper needle D5D3 is inserted into the inner ring of the first inner sealing ring A5, and the first inner sealing ring A5 is sleeved on the stopper needle D5D3 in an expanding manner;

during assembly, the fourth industrial robot D5c drives the fourth manipulator D5D to move to a position right above the hollow rod a1, the fourth industrial robot D5c drives the fourth manipulator D5D to move vertically downwards, so that the plugging needle D5D3 and the plugging cylinder D5D6 are inserted into the hollow rod a1, the guide column D5D4 and the plugging cylinder D5D6 clamp the wall of the hollow rod a1, then the fifth linear driver D5D1 drives the movable block D5D2 to move vertically upwards, the movable block D5D2 drives the plugging needle D5D3 and the guide column D5D4 to move upwards together, the plugging needle D5D3 retracts into the plugging cylinder D5D6, the first inner sealing ring a5 is pushed by the plugging cylinder D5D6 to be disengaged from the plugging needle D3 and to the inside of the hollow rod a1, and then the fourth industrial robot D5c drives the fourth manipulator D5D to complete the assembly process.

As shown in fig. 7 to 10, the correcting and detecting mechanism includes a second correcting and detecting mechanism D8, the second correcting and detecting mechanism D8 includes a seventh linear actuator D8a, a second elastic connecting mechanism D8b, and a second cylindrical go-no-go gauge D8c, the seventh linear actuator D8a is fixedly mounted at the working end of the industrial robot, the working end of the seventh linear actuator D8a is vertically and downwardly disposed, the second cylindrical go-no-go gauge D8c is vertically and slidably mounted on the seventh linear actuator D8a, the second cylindrical go-no-go gauge D8c and the working end of the seventh linear actuator D8a are elastically connected through the second elastic connecting mechanism D8b, and the outer circumferential surface of the second cylindrical go-no-go gauge D8c is in clearance fit with the inner wall of the hollow rod a 1.

Correspondingly, the working ends of the retainer ring loading assembly mechanism D4 and the second gasket loading assembly mechanism D6 are also provided with a second correction detection mechanism D8; the seventh linear driver D8a is a cylinder with a guide rod, and the second elastic connecting mechanism D8b is an elastic element such as a sliding column or a rubber sleeve provided with a spring; when the piston rod assembly machine is in operation, firstly, the third manipulator D3D loads the first gasket A3 in the hollow rod A1, then the third manipulator D3c drives the third manipulator D3D to reset, at the moment, the second cylindrical pass-stop gauge D8c is positioned right above the hollow rod A1 loaded with the first gasket A3, the seventh linear driver D8a drives the second cylindrical pass-stop gauge D8c to vertically move downwards through the second elastic connecting mechanism D8b, the second cylindrical pass-stop gauge D8c extends into the hollow rod A1 and contacts with the first gasket A3, the second cylindrical pass-stop gauge D8c stops moving after the first gasket A3 which can incline is straightened, the working end of the seventh linear driver D8a overcomes the force of the second elastic connecting mechanism D8 to automatically descend to the end point of the 8b to reset, and whether the assembly stroke of the piston rod assembly machine is qualified or not can be judged by measuring the stroke of the second cylindrical pass-stop gauge D8c, and the piston rod assembly stroke is smaller than the rebound stroke 8c, the first gasket A3 is skewed, and if the stroke of the second cylindrical pass-no-go gauge D8c is larger than the threshold value, the first gasket A3 is neglected to be installed; the stroke of the second cylinder go-no-go gauge D8c can be measured accurately by a displacement sensor fixedly connected with the second cylinder go-no-go gauge D8c, or the approach of the second cylinder go-no-go gauge D8c is roughly measured by a sensor arranged near a threshold value, and then whether the first gasket A3 is assembled qualified or not is judged by comparing sensor signals by an industrial computer.

As shown in fig. 15 to 17, the correction detection mechanism includes a first correction detection mechanism D7, the first correction detection mechanism D7 includes a first support D7a, a sixth linear actuator D7b, a first elastic connection mechanism D7c, and a first cylindrical go-no-go gauge D7D, the first support D7a is fixedly mounted on the first fixing plate G2, the sixth linear actuator D7b is fixedly mounted on the first support D7a, a working end of the sixth linear actuator D7b is vertically disposed downward, the first cylindrical go-no-go gauge D7D is vertically slidably mounted on the first support D7a, the first cylindrical go-no-go gauge D7D is elastically connected with the working end of the sixth linear actuator D7b through the first elastic connection mechanism D7c, and an outer circumferential surface of the first cylindrical go-no-go gauge D7D is in clearance fit with an inner wall of the hollow rod a 1.

The operating principle of the first correction detection mechanism D7 and the second correction detection mechanism D8 is completely the same, the difference lies in that the second correction detection mechanism D8 is fixedly mounted on the first gasket material loading and assembling mechanism D3, the check ring material loading and assembling mechanism D4, the working end of the second gasket material loading and assembling mechanism D6, and the first correction detection mechanism D7 is fixedly mounted on the first fixing disc G2, the first correction detection mechanism D7 is stable in working, the failure rate is low, the second correction detection mechanism D8 does not need extra stations, and the design can be more compact.

The working principle of the invention is as follows:

the third rotary driver G4 drives the first movable ring G3 to drive the hollow rod upper clamp G7 to rotate together, so that the first conveyor G can clamp a plurality of hollow rods A1 to move circularly around the output shaft of the third rotary driver G4, and the hollow rods A1 which are pre-assembled with the control rods A2 are driven to sequentially pass through the working intervals of the first gasket feeding and assembling mechanism D3, the check ring feeding and assembling mechanism D4, the first inner seal ring feeding and assembling mechanism D5, the second gasket feeding and assembling mechanism D6 and the first correction detection mechanism D7;

the first vibrating loader D3a continuously conveys the first gasket A3 to the inside of the first distributor D3b, the first distributor D3b separates a working area from the first gasket A3 to the third industrial robot D3c at a time, and the third industrial robot D3c drives the third manipulator D3D to grab the first gasket A3 and mount the first gasket A3 to the inside of one end of the hollow rod A1;

The second vibrating feeder D5a continuously conveys the first inner sealing ring A5 to the interior of the second distributor D5b, the second distributor D5b separates the working areas of the first inner sealing ring A5 to the fourth industrial robot D5c one at a time, and the fourth industrial robot D5c drives the fourth manipulator D5D to grab the first inner sealing ring A5 and mount the first inner sealing ring A5 to the interior of one end of the hollow rod A1;

During tamping detection, the seventh linear driver D8a drives the second cylindrical go-no-go gauge D8c to vertically move downwards through the second elastic connecting mechanism D8b, the second cylindrical go-no-go gauge D8c extends into the hollow rod A1 and contacts with the first gasket A3, the second cylindrical go-no-go gauge D8c stops moving after the first gasket A3 which possibly inclines is tamped, the working end of the seventh linear driver D8a overcomes the resilience force of the second elastic connecting mechanism D8b and continuously descends to the end point of the stroke and then resets, whether the piston rod A is assembled successfully or not can be judged by measuring the stroke of the second cylindrical go-no-go gauge D8c, if the stroke of the second cylindrical go-no-go gauge D8c is smaller than a threshold value, the first gasket A3 is inclined, and if the stroke of the second cylindrical go-no-go gauge D8c is larger than the threshold value, the first gasket A3 is neglected in assembly;

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

Claims

1. An automatic assembling device for a hollow rod gasket assembly of a controllable gas spring is applied to automatically load a first gasket (A3), a retainer ring (A4), a first inner sealing ring (A5) and a second gasket (A6) into a hollow rod (A1); it is characterized by comprising the following steps:

a piston rod preassembly device (D) and a first conveyor (G);

the piston rod pre-assembly equipment (D) comprises a first gasket feeding assembly mechanism (D3), a check ring feeding assembly mechanism (D4), a first inner seal ring feeding assembly mechanism (D5) and a second gasket feeding assembly mechanism (D6) which are arranged around the side of a first conveyor (G), the first gasket feeding assembly mechanism (D3), the check ring feeding assembly mechanism (D4), the first inner seal ring feeding assembly mechanism (D5) and the second gasket feeding assembly mechanism (D6) are sequentially arranged along the assembly sequence of the piston rod (A), the first gasket feeding assembly mechanism (D3), the check ring feeding assembly mechanism (D4) and the second gasket feeding assembly mechanism (D6) are identical in structure, the space between the first gasket feeding assembly mechanism (D3) and the check ring feeding assembly mechanism (D4), the check ring feeding assembly mechanism (D4) and the first inner seal ring feeding assembly mechanism (D5) is arranged between the check ring feeding assembly mechanism (D4) and the first inner seal ring feeding assembly mechanism (D5), A correction detection mechanism positioned beside the first conveyor (G) is arranged behind the second gasket feeding and assembling mechanism (D6);

the first gasket feeding assembly mechanism (D3), the check ring feeding assembly mechanism (D4), the first inner seal ring feeding assembly mechanism (D5) and the second gasket feeding assembly mechanism (D6) respectively comprise a vibrating feeder, a distributor, an industrial robot and a manipulator, the discharge end of the vibrating feeder is communicated with the feeding end of the distributor, the discharge end of the distributor is located in the working area of the industrial robot, and the manipulator is fixedly installed at the working end of the industrial robot;

the manipulator is a third manipulator (D3D), and the third manipulator (D3D) comprises a first fixed block (D3D 1), a first movable block (D3D 2), a first sliding column (D3D 3), a first spring (D3D 4), a sleeve (D3D 5), a first finger cylinder (D3D 6) and a stopper claw (D3D 7); the first fixed block (D3D 1) is fixedly installed at a working end of an industrial robot, the first sliding column (D3D 3) is slidably installed on the first fixed block (D3D 1), the first movable block (D3D 2) is fixedly installed at the bottom end of the first sliding column (D3D 3), the first spring (D3D 4) is sleeved on the first sliding column (D3D 3), two ends of the first spring (D3D 4) are respectively abutted to the first fixed block (D3D 1) and the first movable block (D3D 2), the sleeve (D3D 5) is fixedly connected with the first movable block (D3D 2), the first finger cylinder (D3D 6) is fixedly connected with the first fixed block (D3D 1), the plug claw (D3D 7) is fixedly installed at the working end of the first finger cylinder (D3D 6), and the working end of the piston rod pre-assembly device (D7) penetrates through the sleeve (D3D 5) from top to bottom.

2. The automatic assembly apparatus for a hollow rod shim assembly of a controllable gas spring as claimed in claim 1, wherein the first conveyor (G) includes a first table (G1), a first fixed disc (G2), a first movable ring (G3), a third rotary driver (G4), a second movable ring (G5), a tenth linear driver (G6); the third rotary driver (G4) and the tenth linear driver (G6) are fixedly mounted at the top of the first workbench (G1), working parts of the third rotary driver (G4) and the tenth linear driver (G6) are vertically arranged upwards, and an output shaft of the third rotary driver (G4) is vertically arranged; the first movable ring (G3) and the second movable ring (G5) are coaxially sleeved on the outer side of the first fixed disk (G2), the first fixed disk (G2) is fixedly arranged on a non-working part of the third rotary driver (G4), the first movable ring (G3) is fixedly arranged on a working part of the third rotary driver (G4), and the second movable ring (G5) is fixedly arranged on a working part of the tenth linear driver (G6); a plurality of hollow rod upper clamps (G7) uniformly distributed around the axis of the first movable ring (G3) are fixedly installed on the first movable ring (G3), each hollow rod upper clamp (G7) is provided with a first working end (G7 a) used for clamping a hollow rod (A1), a first clamp shutter (G8) arranged at a feeding part and a discharging part of the first conveyor (G) is fixedly installed on the first fixed disc (G2), and each first clamp shutter (G8) is provided with a second working end (G8 a) used for driving the hollow rod upper clamps (G7) to be opened; in the working state, the top surface of the second movable ring (G5) is positioned right below the working end of the hollow bar upper clamp (G7).

3. The automatic assembling apparatus for a hollow rod gasket assembly of a controllable gas spring as claimed in claim 2, wherein a projection (G5 a) corresponding to each assembling station of the piston rod (a) is fixedly installed on the top surface of the second movable ring (G5), and the diameter of the projection (G5 a) is larger than that of the hollow rod (a 1).

4. An automatic assembling apparatus for a hollow rod shim assembly of a controllable gas spring as claimed in claim 3, characterized in that the projection (G5 a) is provided with a slide groove (G5 b) vertically depressed from the top surface of the projection (G5 a), and the width of the slide groove (G5 b) is smaller than the diameter of the hollow rod (A1).

5. The automatic assembling apparatus of a hollow bar shim assembly for a controllable gas spring as claimed in claim 4, wherein a hollow bar lower jig (G9) corresponding to each protrusion (G5 a) is fixedly installed at a bottom surface of the second movable ring (G5), the hollow bar lower jig (G9) includes a finger cylinder (G9 a) and a hollow bar jaw (G9 b) for clamping the hollow bar (a 1), the finger cylinder (G9 a) is fixedly connected to the second movable ring (G5), the hollow bar jaw (G9 b) is fixedly connected to a working end of the finger cylinder (G9 a), and a working portion of the hollow bar jaw (G9 b) extends upward to both sides of a top surface of the protrusion (G5 a) along both sides of the second movable ring (G5).

6. The automatic assembling device for the hollow rod gasket assembly of the controllable gas spring as claimed in claim 1, wherein the manipulator is a fourth manipulator (D5D), the fourth manipulator (D5D) comprises a fifth linear driver (D5D 1), a movable block (D5D 2), a plugging needle (D5D 3), a guide post (D5D 4), a fixed block (D5D 5) and a plugging cylinder (D5D 6), the fifth linear driver (D5D 1) is fixedly installed at a working end of the industrial robot, the fifth linear driver (D5D 1) is vertically arranged, the movable block (D5D 2) is fixedly installed at a working portion of the fifth linear driver (D5D 1), the fixed block (D5D 5) is fixedly installed at a non-working portion of the fifth linear driver (D5D 1), the fixed block (D5D 5) is located right below the movable block (D5D 2), a bottom end of the movable block (D5D 5) is fixedly installed with a plugging needle (595D 3D) penetrating through the guide post 595D 2) and the fixed pin 595D 5739D 3D 599 is arranged on the fixed pin 595D 469), the bottom of the fixing block (D5D 5) is provided with a plug cylinder (D5D 6) which is sleeved outside the plug needle (D5D 3), the outer circumferential surface of the plug needle (D5D 3) is in interference fit with the first inner sealing ring (A5), the outer circumferential surface of the plug cylinder (D5D 6) is in clearance fit with the inner diameter of the control rod (A2), and the clearance between the guide column (D5D 4) and the plug cylinder (D5D 6) is larger than the wall thickness of the hollow rod (A1).

7. A controlled gas spring hollow rod shim assembly automatic assembly device according to claim 1, the device is characterized in that the correction detection mechanism comprises a second correction detection mechanism (D8), the second correction detection mechanism (D8) comprises a seventh linear driver (D8 a), a second elastic connecting mechanism (D8 b) and a second cylindrical pass-stop gauge (D8 c), the seventh linear driver (D8 a) is fixedly installed at the working end of the industrial robot, the working end of the seventh linear driver (D8 a) is vertically and downwards arranged, the second cylindrical pass-stop gauge (D8 c) is vertically and slidably installed on the seventh linear driver (D8 a), the second cylindrical pass-stop gauge (D8 c) and the working end of the seventh linear driver (D8 a) are elastically connected through the second elastic connecting mechanism (D8 b), and the outer circumferential surface of the second cylindrical pass-stop gauge (D8 c) is in clearance fit with the inner wall of the hollow rod (A1).

8. A controlled gas spring hollow rod shim assembly automatic assembly device according to claim 2, the device is characterized in that the correction detection mechanism comprises a first correction detection mechanism (D7), the first correction detection mechanism (D7) comprises a first support (D7 a), a sixth linear driver (D7 b), a first elastic connection mechanism (D7 c) and a first cylindrical go-no-go gauge (D7D), the first support (D7 a) is fixedly installed on a first fixed disc (G2), the sixth linear driver (D7 b) is fixedly installed on a first support (D7 a), the working end of the sixth linear driver (D7 b) is vertically and downwards arranged, the first cylindrical go-no-go gauge (D7D) can be vertically and slidably installed on the first support (D7 a), the working ends of the first cylindrical go-no-go gauge (D7D) and the sixth linear driver (D7 b) are elastically connected through the first elastic connection mechanism (D7 c), and the outer circumferential surface of the first cylindrical go-no-go gauge (D7D) is in clearance fit with the inner wall of a hollow rod (1).