1003results about How to "Movement precision" patented technology

The invention discloses an automatic assembling line of a liquefied petroleum gas cylinder valve and relates to an improvement on production equipment of a liquefied petroleum gas cylinder valve. The automatic assembling line is characterized by consisting of a loading working platform, a valve core assembling working platform, a connecting piece assembling working platform, a valve rod assembling working platform, a rubber pad assembling working platform, an oil coating working platform, a nut assembling working platform, a nut screwing working platform, a paper pad assembling working platform, a hand wheel assembling working platform, a spring assembling working platform, a round nut assembling working platform, a finished product blanking working platform and a line body. The automatic assembling line has the beneficial effects that a workpiece is clamped and conveyed by adopting a mode of automatic loading of a vibrating disc and stepping transmission so as to be transferred in a reciprocating manner of returning to the original position; and after the assembly of all the working platforms is finished in circulation, the blanking of the workpiece in next circulation is carried out, and the movement of the mechanism is more accurate by utilizing a cylinder and a linear guide rail. A sensor is adopted to sense whether the workpiece exists, a signal is transmitted to a PLC (programmable logic computer) and the PLC sends an instruction to execute the actions of all the working platforms and carry out closed-loop control.

The invention discloses an automated instrument applied to nucleic acid extraction and continuous operation process of a mass spectrum sample application chip in biomass spectrometry analysis of a nucleic acid sample. The automated instrument comprises three main devices, namely, a nucleic acid extraction and purification device, a nucleic acid liquor relief distributing device and a mass spectrum chip sample application device, wherein nucleic acid in body fluid is extracted by using a magnetic bead method, a mechanical arm is utilized to complete a nucleic acid extraction action, the extracted nucleic acid is dispensed onto a sample board through a dispenser, a pipettor is used for transferring the sample board onto a chip sample application instrument, and the mass spectrum and relatedinformation of the nucleic acid are obtained through laser sampling of a mass spectrometer, so that the nucleic acid is analyzed rapidly, directly and continuously. The automated instrument is high-precision in controlling the volume of dispensed liquor, high-cleanliness in controlling the quality of the dispensed liquor and high-efficiency in meeting sample application requirements of large-batch samples; meanwhile, the samples are uniformly distributed under the control of a computer program, volume errors and possible foreign pollution caused by manual operation are avoided, and the speed and efficiency in sample application are increased at the same time.

The invention discloses a distributing net single phase earth fault type and a distinguishing method of phase identification, relating to a distributing net single phase earth fault distinguishing method in the field of AC distributing net testing and relaying protection technology. According to the invention, through collecting three-phase voltage of the distributing net system and neutral point voltage of the distributing net system, phase angle of each eigenvector is computed through a special relation, the type of the fault and the phase identification can be fast distinguished through the phase angle distinguishing logic. The inventive working system is that a three-phase bus (000), a grounding transformer (100), a linear side of an arc suppression coil (200) are connected in turn with the earth; a controller (400), a thyristor (300) and a secondary side of an arc suppression coil (200) are connected in turn. The invention is simple in criterion, small in collection quantity, fast in distinguishing speed, high in accuracy, reliable in security, which is suitable for 3-66 KV distributing net based on an aerial line or a power cable.

The invention relates to a 3D printer based on a fusion accumulation rapid-forming process. The 3D printer is characterized by comprising a transmission mechanism, a worktable, a feeding mechanism and an isolating device. By utilizing a specific driving wheel and driven wheel and line transmission fit manner, the friction coefficient is increased, the problem that a belt wheel slips in a belt transmission process is solved, and transmission motion is accurate and reliable.

The invention relates to a somatosensory interaction method using a somatosensory interaction system. The somatosensory interaction system comprises intelligent electronic equipment and at least one somatosensory control device, wherein the intelligent electronic equipment and the at least one somatosensory control device are in wireless connection pairing. The somatosensory interaction method comprises the following steps of: performing wireless connection pairing on the somatosensory control device and the intelligent electronic equipment; sensing the movement by the somatosensory control device and obtaining movement posture data; transmitting the movement posture data to the intelligent electronic equipment; sensing position data of the intelligent electronic equipment; correcting the movement posture data according to the position data to obtain the relative movement posture data of the somatosensory control device relative to the intelligent electronic equipment; recognizing the actual actions by the intelligent electronic equipment according to the relative movement posture data; and sending out a corresponding instruction by the intelligent electronic equipment according to the recognized actual actions to execute the corresponding operation.

The invention relates to a stacking robot which aims at overcoming the existing defects and is low in gravity center, convenient to control various movements and small in electric consumption. The stacking robot comprises a base, a vertical arm, a cross arm and a picking device, is provided with a programmable control circuit and further comprises a planetary gear train and a cross arm adjusting parallelogram mechanism. The vertical arm is hinged on the base and provided with a vertical arm driving motor. The picking device is preferentially a clamping device and comprises a clamping mechanism and a swivel motor, and the front end of the cross arm is hinged on the swivel motor. The motors are all servo motors with reducing mechanisms, the servo motors are all connected with the programmable control circuit and controlled by the programmable control circuit, and a hinged shaft axis between a first swinging rod and the base is coincided with a hinged shaft axis between the vertical arm and the base. The stacking robot has the advantage of being low in gravity center, high in efficiency, less in consumed electricity and fast and correct in movement and is suitable for various automatic production lines.

The invention discloses a pneumatic crawler-type hydraulic drill carriage which comprises a carriage body, a travelling gear, a working device for drilling connected with the carriage body, a hydraulic system for driving the devices, and an operating device; a pneumatic motor is used as power of the hydraulic system and operation of the drill carriage; an operating device, which adopts closed loop design, is used for driving the pneumatic motor, the pneumatic system, the hydraulic system and the various acting components to act; the travelling device is crawler-typed; a swinging device, which consists of a swinging arm and a cylinder, is arranged at the front of the carriage body; the front end of the swinging device is connected with the working device for drilling by a universal rotating device; the working device consists of a feeding device which comprises a supporting device, a secondary cylinder, and a chain pushing mechanism; and the pneumatic crawler-type hydraulic drill carriage uses a method combining water and gas to clean the boreholes. The pneumatic crawler-type hydraulic drill applies especially to mass drilling work sites of which change continuously; the whole carriage is free of electric devices and the pneumatic crawler-type hydraulic drill applies particularly to high gassy mine and can carry out universal hole drilling.

Construction features of roadbed are as follows: building vent-pipes perpendicular to direction of roadbed in certain depth of road embankment; installing ventilating units of automatic controlling temperature at end part of vent-pipe; setting up thermal-protection material between vent-pipes / entire up part of vent-pipes with earth material being covered and tamped. The said automatic controlling ventilating units carries out heat exchange between inside roadbed and airflow in low temperature outside. The thermal-protection material protects ever frost effectively. Thus, the invention prevents frost heave and thaw collapse caused by season change so as to keep stability of roadbed in high level. The invention solves issue of carrying construction in zone of frozen earth.

The invention relates to a floating number plates discriminating method, which is based on the three-road parallel manmade nerve-net. The identify steps are that adopting the video burst mode to catch the video automatically for the collection of video pictures of the moving vehicle, character cutting the part of pictures of the number plates and then being the input signal of the nerve-net; said nerve-net adopts three standard self-adapt vibrate net each of which has its own work, the three nets are the Chinese characters identify net, the English characters identify net and the data identify net, all of which identify the inputted vector signals at one time, and outputs the most similar sort unity respectively, through controlling the property of the Territory value and the identify accurately according to the number plates and filter, at last add a color property of number plates as the output of the discriminating results. Adopting the method of the invention can identify the number plates of vehicle fast and accurately under the largest driving speed of the vehicles.

The invention provides a full-automatic integration machine of capping, cap-removing and tank-reversing feeding, which comprises a base and is characterized in that a rotating stage is arranged at the base and provided with a lifting frame that is provided with a clamping and embracing turnover device and a tank cover taking and placing device. Only a device is used for conveniently and rapidly realizing the full-automatic processes of cap taking, clamping and embracing, displacing, turnover unloading, displacing and cap adding, and the whole machine has high automation degree, sensitive and accurate action, compact structure, flexile and convenient control and small occupied space, and the disposed cigarette treatment can be carried out once for all without disposed cigarette detection, and the charging efficiency is high, simultaneously, a cigarette tank finishes the turnover feeding in a clamping and embracing manner, so the cigarette tank can be designed to be a structure with light weight and small size, thus reducing the total bearing load of elevated stereo storehouses, reducing the total height, increasing the safety of the elevated stereo storehouses as well as saving the cost of construction.

A teaching device and a teaching method for a robotic arm are disclosed. The teaching device comprises a robotic arm, a control device and a gesture recognition module. The gesture recognition module detects a control gesture signal and transmits the detected control gesture signal to the control device. After receiving the control gesture signal, the control device teaches the robotic arm to move and switches between an arm movement mode and a hand movement mode. In an arm movement mode, the control device, aided by an arm ambient image shown on an eye frame and an arm control gesture, teaches an arm unit to move to a target at a high velocity. In the hand movement mode, the control device, aided by a hand vicinity image shown on an eye-in-hand frame and a hand control gesture, teaches a hand unit to move the processing target at a low velocity.

The invention relates to food processing equipment, particularly to equipment for coring lotus seeds. A lotus seed coring machine capable of adapting to sizes of lotus seeds comprises a cam movement mechanism, a feeding mechanism, a coring mechanism, a discharge mechanism and a transmission mechanism. The invention has the characteristics that the device can automatically adapt to the lotus seeds in different sizes, the lotus seeds are cored efficiently and accurately without deviation, and the lotus seed coring efficiency and the lotus seed quality are improved; meanwhile, the device is safely and reliably operated and can replace the conventional lotus seed coring machine, a plurality of groups of coring mechanisms are combined, the production capacity is equal to the production capacity of a plurality of machines, the production efficiency is greatly improved, the floor space of the equipment is reduced, and the lotus seed coring machine is suitable for massively and fully automatically coring the lotus seeds at high quality by lotus seed processors.

The invention provides a cloud cluster movement estimation method facing to photovoltaic power prediction. The cloud cluster movement estimation method for the photovoltaic power prediction comprises the following steps: preprocessing an image of a ground-based cloud picture; thresholding the ground-based cloud picture; detecting and marking a cloud cluster and extracting center of mass of the cloud cluster; and estimating moving speed and direction of the cloud cluster. By the cloud cluster movement estimation method for the photovoltaic power prediction, each cluster in a time sequence image is tracked and studied to determine the moving speed and direction of the cloud cluster in the future, so that the cloud cluster movement in the future is estimated, and an important data source is provided for minute-grade power prediction within a super-short period of 0-4 hours for a photovoltaic power station.

The invention discloses an automatic press-connection machine of a connector and a press-connection system and press-connection process thereof. The automatic press-connection machine comprises a machine body, a portal frame supporting and guiding assembly, a material guiding assembly, a press-connection head replacing assembly and a press-connection assembly; the press-connection system comprises an IPC control chip, a height sensor connected with the IPC control chip, a CCD module, a movement control card, a linear motor and a data acquisition card; the press-connection process comprises a PARS press-connection module, a pressure press-connection module and a distance press-connection module. The automatic press-connection machine of the connector and the press-connection system and press-connection process thereof are applicable to a modern assembly line, fully-automatic material guiding control is adopted, a plurality of press-connection head components are arranged therein, multiple types of press-connection modes are correspondingly matched with the press-connection head components, in the press-connection process, pres-connection heads are replaced automatically, and product press-connection diversity is achieved.

The invention discloses a motion control method and device of a robot. The control method comprises the steps that a depth sensor is used for collecting three-dimensional coordinates of bone joints of a human body according to the frame; according to the three-dimensional coordinates, the angles of the bone joints are calculated through the spatial vector algorithm; the angles are sent to the robot in an instruction manner, and the robot executes the corresponding motions according to the angles in the instruction. According to the depth sensor, the three-dimensional coordinates in the bone joints in the human body action process can be collected according to the frames, through the spatial vector algorithm, the angles of the motion of the bone joints can be calculated, the angles are sent to the robot through the instruction, a robot steering engine executes the corresponding motion according to the angles, the robot can simulate and copy the human body motion, programming personnel does not need to independently carry out three-dimensional animation programming on each steering engine, instructions of multiple frames are included within one second, and the motion of the robot is more accurate and smooth.

The invention provides a force feedback rehabilitation robot of shoulder joint and elbow joint with three degrees of freedom. The rehabilitation robot comprises a base, a straight motor arranged on the base, a rotary motor support base arranged on the straight motor, a rotary motor arranged in the rotary motor support base, a V-range motor support base connected with the rotary motor and a V-range motor arranged on the V-range motor support base; the V-range motor is connected with a cantilever rotating shaft by a small gear and a big gear; cantilevers are arranged on the cantilever rotating shaft; a linear guide track, a rolling ball screw rod, a cantilever motor, a screw rod nut and a handle are arranged on the cantilever arranged at one side of the cantilever rotating shaft, and a balance weight is arranged on the cantilever arranged at the other side of the cantilever rotating shaft. The rehabilitation robot is mainly characterized in that the rehabilitation robot can respectively carry out the single-joint motion training of the shoulder joint and the elbow joint and can also carry out the dual-joint complex motion training; the motion training space of the shoulder joint is increased, the number of the training freedom degree is increased, the control algorithm is simple, the force feedback leads the motion to be more accurate and reliable, and the rehabilitation robot can simultaneously provide the detection for the end mechanical information.

The invention discloses an automatic lifting system. The automatic lifting system comprises a control device, a driving device and a lifting device which are electrically connected together, wherein the driving device and the lifting device are controlled by the control device; the lifting device is connected with an external work table; the control device drives the driving device, so that the lifting device drives the external work table to make straight reciprocating motion; the lifting device comprises a first retaining plate, a second retaining plate, a movable plate, a lead screw, a lead screw nut and a supporting column; the movable plate is arranged between the first retaining plate and the second retaining plate; the driving device is fixed to the first retaining plate; the lead screw nut is inserted into and fixed on the movable plate; one end of the lead screw passes through the first retaining plate and is connected with the driving device, while the other end passes through the lead screw nut and then is connected with the second retaining plate; and one end of each supporting column is fixed to the movable plate, while the other end passes through the second retaining plate and protrudes on the second retaining plate to be connected with the external work table. The system has the advantages of high movement accuracy, high reliability, low noise, low pollution and simple structure.

The invention relates to a coal-fired power station boiler air duct and an air-conditioning ventilation duct wormlike cleaning robot. The air-conditioning ventilation duct wormlike cleaning robot comprises a peristaltic vehicle body, a controller, a vision system, an ultrasonic obstacle avoidance device and the like. The peristaltic vehicle body comprises a head and a vehicle body. The head is connected with the vehicle body through a skeleton type hydraulic connection turning device, and parts of the vehicle body are also connected through skeleton type hydraulic connection turning devices. The left, the right and the top of each section of the vehicle body are respectively provided with a non-power fixed traveling platform through a foldable telescopic device, and the bottom of each section of the vehicle body is respectively provided with a power traveling platform through a foldable telescopic device. The vision system and the ultrasonic obstacle avoidance device are installed at the front end of the head. A surrounding type cleaning device is disposed on a first section of the vehicle body, a second section of the vehicle body is connected with the controller, and a dust collection device is arranged on a third section of the vehicle body. The air-conditioning ventilation duct wormlike cleaning robot is capable of cleaning a primary-air air duct, a secondary-air air duct and a central air-conditioning air duct of a coal-fired power station boiler, and has the advantages of being flexible and accurate in motion, capable of cleaning air ducts in all-round manner, reliable in performance, reasonable in price and the like.

The invention relates to a single-camera hand-eye calibration method of a manipulator end. The above-mentioned single-camera hand-eye calibration method of the manipulator end includes: providing a calibration plate; placing the calibration plate in a visual field of a camera, controlling the camera for photographing, and controlling the manipulator end to be rotated to obtain a plurality of firstpixel coordinates of a center of a mark; wherein the first pixel coordinates of the center of the mark are the first of the first pixel coordinates before the manipulator end is rotated; and fittingthe plurality of first pixel coordinates into a circle, and calculating circle center coordinates corresponding to the circle, namely pixel coordinates of the manipulator end. According to the above-mentioned single-camera hand-eye calibration method of the manipulator end, artificial and manual operations of manipulator movement is not required, an entire calibration process is simple, calibration time is shorter, and impacts of artificial factors on calibration precision are smaller; and because the calibration time of the above-mentioned calibration method is shorter, calibration efficiencyof the calibration method is enabled to be higher.

The invention provides a hydraulic fruit picking manipulator, and belongs to agricultural tools. The manipulator comprises wheels, a chassis, a rotary device, a supporting rod, a pitching hydraulic cylinder, a telescopic hydraulic cylinder, a spring, a manipulator body, a spring base, a hinge rod, a connection rod, manipulator claws and rollers. The wheels are arranged on the chassis so that the manipulator can operate stably, the supporting rod and the chassis are hinged together through the rotary device, the supporting rod can rotate by 360 degrees, and the pitching hydraulic cylinder and the telescopic hydraulic cylinder enable the manipulator body to pitch and stretch and retract respectively. The manipulator body is composed of the three manipulator claws which are hinged through the connection rod and the hinge rod, the tops of the three manipulator claws are provided with the rollers, the hinge rod and the spring base are connected through the spring, and a locking device is an electromagnetic device. When the manipulator is locked, the spring base is powered on and attracts an iron core, and accordingly the spring has no effect. The manipulator has the advantages that safe picking of fruits is finally achieved by means of the hydraulic cylinders, the rollers, a connection rod mechanism, the spring and the like, and economic benefits are improved.

The invention discloses a breaker simulating device used for replacing a real high-voltage breaker in the protecting testing process. The breaker simulating device comprises a breaker circuit which comprises a plurality of breaker circuit bodies identical in circuit structure and a plurality of extension relay circuits identical in circuit structure. A breaker protecting switching-on switch is connected into a closing coil and a controller switching-on opening loop. The closing coil and the controller switching-on opening loop are connected in parallel. A breaker protecting trip switch is connected into a tripping coil and a controller tripping opening loop. The tripping coil and the controller tripping opening loop are connected in parallel. One relay is adopted in each extension relay circuit to serve as contact extension, and each extension relay circuit is used for simulating an auxiliary switch contact of the breaker to be opened at the switching-on and switching-off position. The switching-on and switching-off time of the sixth simulated breaker can be set according to needs, and the precision of the switching-on and switching-off time of the simulated breaker is high.

The invention relates to a full-automatic camshaft assembling machine. The full-automatic camshaft assembling machine comprises a rack and a power distribution control cabinet arranged in the rack; arotating disk device is arranged on the middle portion above the rack; and a shaft feeding device, a cam vibrating feeding disk, a cam feeding device, a press-fitting device, a floating shaft pressingdevice, a laser welding device, a flaw detecting device and a discharging device in butt joint with carrier assemblies are sequentially arranged above the rack in the rotating direction of a rotatingdisk. According to the full-automatic camshaft assembling machine, by means of the shaft feeding device, a shaft is placed in the carrier assembly on the rotating disk device, and the carrier assembly rotates clockwise along the rotating disk and sequentially rotates onto the cam feeding device to perform cam feeding, onto the press-fitting device so as to press a cam into a matching groove of the shaft, onto the floating shaft pressing device to push down the shaft to be clamped with the matching groove, onto the laser welding device to perform laser welding on the matched portion of the shaft and the cam, onto the flaw detecting device to detect bruised damage and scratches, and onto the discharging device to perform discharging; and the assembling process of the cam and the shaft is completed, the positioning precision is high, and defective products are detected in time.

An embracing electric shifting machine comprises a supporting leg opening and closing mechanism, a base, a vertical base, embracing arms, an electric lifting mechanism, an embracing arm opening and closing mechanism, an embracing arm locking mechanism, an electric control system, shank supporting mechanisms, a thigh supporting strap and a push handle. The vertical base is mounted on the base. The electric lifting mechanism is mounted on the inner side of the vertical base. The shank supporting mechanisms are mounted on the two sides of the vertical base. The supporting leg opening and closing mechanism is mounted under the base and comprises a left supporting leg and a right supporting leg. The embracing arm opening and closing mechanism is mounted at the upper end of the electric lifting mechanism. The embracing arms are connected to the embracing arm opening and closing mechanism. According to the embracing electric shifting machine, required functions are achieved by combining a manual mode and an electric mode; a left supporting arm and a right supporting arm on the upper portion are opened and closed by means of manual adjustment, and ascending and descending of the ends of the supporting arms are achieved in the electric mode; a left supporting frame and a right supporting frame at the bottom are opened and closed by means of electric control; a single-chip microcomputer is adopted to achieve the function of a controller, and therefore a circuit is concise overall.

The invention discloses an hemming working method and a hemming working apparatus. A moving die 18 is held by a robot 22 and made to approach a vehicle 12, and a positioning pin 62 is inserted into a positioning hole 65 of the vehicle 12. The moving die 18 is brought into a floating state of being displaceable relative to the vehicle 12 by reducing a force of the robot 22 for maintaining an attitude thereof. In a state of holding the moving die 18 by the robot 22, a surface 49a of the moving die 18 is brought into contact with the vehicle 12 by an adsorbing mechanism 58 including an adsorbing portion 67a of an elastic member provided to the moving die 18. The moving die 18 and the robot 22 are cut to be separated.

The invention provides a surgery mechanical arm stroke correcting system and method. The system comprises a surgery mechanical arm, a fluoroscopy device, a processing device, a control device and a target marking structure; the target marking structure comprises at least four C calibration bodies, wherein the four C calibration bodies are not located on the same plane; the control device controlsthe surgery mechanical arm to move according to the theoretical stroke so as to drive a surgical tool on the surgery mechanical arm to move towards the planned path of the target marking structure; the fluoroscopy device photographs the target marking structure and the surgical tool controlled to be moved according to the theoretical stroke, and the photographed images are transmitted to the processing device; the processing device determines the actual position of the surgical tool and the offset of the planned path according to the position relation of the target marking structure and the surgical tool in the photographed images; the offset is used for correcting the theoretical stroke. According to the surgery mechanical arm stroke correcting system and method, the stroke of the surgerymechanical arm can be corrected, and positioning errors are reduced.

The invention discloses a clamping spring feeding, pressing and mounting device of a clutch master cylinder. The clamping spring feeding, pressing and mounting device of the clutch master cylinder mainly comprises a locating mechanism, a piston pressing-down mechanism, a piston greasing mechanism, a clamping spring feeding mechanism, a clamping spring guiding mechanism and a clamping spring pressing mechanism. A shell of the clutch master cylinder is fixed by a locating sleeve of the locating mechanism. A piston is pressed and mounted through work of a standard air cylinder by the piston mechanism. The piston greasing mechanism is movably connected below the piston pressing-down mechanism to perform greasing on the piston. Through the work of the standard air cylinder, clamping springs are conveyed out gradually by the clamping spring feeding mechanism. The clamping spring guiding mechanism located under the clamping spring pressing-down mechanism can guide the clamping springs, and under the action of a conical groove, the clamping springs are strung. Finally, the clamping springs are pressed and mounted through the clamping spring pressing-down mechanism. The clamping spring feeding, pressing and mounting device is in linkage mechanically and electrically, the six mechanism are controlled to move on a sliding rail through the standard air cylinder, a limiting mechanism also plays a role, and therefore feeding, pressing and mounting can be automatically completed, and the clamping spring feeding, pressing and mounting device is easy to control and high in pressing and mounting accuracy.

The invention discloses a method for inhibiting peak starting current of a start-stop motor. The method includes that firstly a relay with a current limiting resistor is added to a main start-stop motor loop comprising a storage battery, an ignition switch, a contact of an electromagnetic switch and the start-stop motor, and two binding posts of the current limiting resistor and the relay are parallelly connected and then connected between the ignition switch and the contact of the electromagnetic switch; and secondly, a power supply of the storage battery supplies power for coils of the relay and the electromagnetic switch respectively. The invention further discloses a relay for achieving the method for inhibiting peak starting current of the start-stop motor and a start-stop motor for implementing the method for inhibiting peak starting current of the start-stop motor. According to the method, the relay and the start-stop motor, the current limiting resistor is cut in or cut out when ignition is performed in the start-stop motor loop, so that overlarge starting current can be inhibited at the moment of starting of the start-stop motor so as to achieve the purpose of prolonging the service life of the start-stop motor.

The invention discloses a full-automatic steel ball assembling machine which comprises a machine frame (1). A transition section material groove (7) is formed in the machine frame (1). The tail end of an automatic feeding groove channel (3) is hinged with a blocking plate (9). When the transition section material groove (7) is separated from the tail end of the automatic feeding groove channel (3), the front end of the blocking plate (9) abuts against a workpiece (4) at the forefront end on the automatic feeding groove channel (3). When the transition section material groove (7) abuts against the tail end of the automatic feeding groove channel (3), a top rod (11) of the transition section material groove (7) stops the front end of the blocking plate (9) from preventing the workpiece (4) from moving forward. A feeding arm is arranged on the machine frame (1). The machine further comprises a steel ball discharging device, a down-pressing device and an oil injection device. The machine can achieve automatic feeding of the workpiece (4), the workpiece is conveyed to a down-pressign working position quickly, accurately and efficiently, a steel ball can be automatically conveyed into a mounting hole of the workpiece (4), the steel ball can be pressed automatically, and automatic oil injection can be carried out to the steel ball.

The invention discloses an adaptive kernel function and instantaneous frequency estimation-based fault arc detection method of a photovoltaic system. The adaptive kernel function and instantaneous frequency estimation-based fault arc detection method comprises the steps of acquiring a signal xt by a time window with TNCT length, performing non-linear frequency modulation wavelet transform to obtain a iteration time-frequency diagram of the xt, and constructing characteristic quantity, used for judging moment when frequency spectrum energy is increased, according to a frequency component in theselected iteration time-frequency diagram; and obtaining a corresponding matrix distribution form of the xt in the time-frequency domain by adaptive optimal kernel time-frequency distribution after an abrupt changing point where the energy is increased is found out, performing square sum on the matrix according to time dimension to obtain a line vector, selecting a plurality of frequency bands, performing frequency-dimensional integral operation on each frequency band to obtain a plurality of characteristic values input into a trained naive bayesian model, and judging a state of the photovoltaic system in a current time frame. By a plurality of effective time-frequency characteristics, a fault arc in the photovoltaic system is accurately identified, meanwhile, no misoperation under various types arc working conditions also can be ensured, and the photovoltaic system safely and stably run.