Intelligent assembly process and device for picking spindle of cotton picker

Abstract

The invention discloses an intelligent assembly process and device for a cotton picker spindle, and relates to the technical field of agricultural machinery, and the intelligent assembly process specifically comprises the following steps: S1, designing an integrated assembly tool matched with a cotton picker spindle core assembly; s2, the dustproof sleeve and the needle sleeve are sequentially placed into an integrated assembly tool; s3, the dustproof sleeve and the needle sleeve are fixed through the integrated assembly tool; s4, the spindle needle is pressed into the needle sleeve in a vertical posture, and the spindle needle and the needle sleeve form an intermediate product; and S5, the integrated assembly tool relieves fixation of the intermediate product, the intermediate product moves downwards until the needle sleeve is pressed into the dustproof sleeve, and intelligent assembly of the cotton picker spindle is achieved. According to the cotton picker spindle assembly tool, one-time positioning of the needle sleeve and the dustproof sleeve is achieved through the integrated assembly tool, the spindle needle, the needle sleeve and the dustproof sleeve can be pressed in sequence, the operation of overturning intermediate products in the assembly process is omitted, the overturning error is eliminated, the coaxiality is guaranteed, the assembly quality of a cotton picker spindle is improved, and the assembly efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and specifically to an intelligent assembly process and device for the picking spindles of a cotton picker. Background Art

[0002] The picking spindles of a cotton picker are the core working components of the cotton picker, undertaking the key function of efficiently separating and collecting cotton from cotton plants. Currently, the mainstream picking spindles of cotton pickers adopt a modular design and mainly consist of three core components: picking spindle needles, needle sleeves, and dust covers. At present, the assembly process flow of the picking spindles of a cotton picker includes: Pretreatment stage: Cleaning the mating surfaces of the picking spindle needles and needle sleeves, and grouping and selecting the mating dimensions. Precision assembly: Pressing the picking spindle needles into the needle sleeves in a vertical posture, controlling the pressing speed with a servo press and monitoring the pressing force and displacement curves in real time. Dust cover installation: Using a special tooling for positioning and evenly pressing it in with a pneumatic tool. Quality inspection: Measuring the coaxiality of the picking spindle needles and needle sleeves and the runout of the dust cover installation surface with a coordinate measuring machine; detecting the mating clearance between the inner hole of the needle sleeve and the picking spindle needles with a pneumatic gauge; measuring the rotational resistance and axial displacement with a special torque test bench; and conducting sealing performance and dynamic performance tests.

[0003] When the above assembly process is adopted for the picking spindles of a cotton picker, at least two workpiece flipping operations are required, reducing the assembly efficiency. Moreover, when the workpiece is flipped, the position of the workpiece is likely to move, which is likely to affect the assembly quality of the picking spindles. Based on this, the present application proposes an intelligent assembly process and device for the picking spindles of a cotton picker. Summary of the Invention

[0004] The present invention provides an intelligent assembly process and device for the picking spindles of a cotton picker, solving the problem that during the assembly process of the picking spindles of a cotton picker as mentioned in the above background art, multiple flips are required, reducing the assembly efficiency, and when the workpiece is flipped, the position of the workpiece is likely to move, which is likely to affect the assembly quality of the picking spindles.

[0005] The present invention provides the following technical solutions: An intelligent assembly process for the picking spindles of a cotton picker includes the following steps: S1. Design an integrated assembly tooling adapted to the core components of the picking spindles of a cotton picker; S2. Use an automatic grasping and positioning robot to grasp the dust covers and needle sleeves of the core components of the picking spindles of a cotton picker, and the automatic grasping and positioning robot sequentially places the dust covers and needle sleeves into the integrated assembly tooling; S3. The integrated assembly tooling fixes the dust covers and needle sleeves; S4. The automatic grasping and positioning robot grasps the picking spindle needles, adjusts the positions of the picking spindle needles to align them with the entrances of the needle sleeves, and the automatic grasping and positioning robot presses the picking spindle needles into the needle sleeves in a vertical posture, and the picking spindle needles and the needle sleeves form an intermediate product; In S5, the integrated assembly tooling releases the fixation of the intermediate product. Under the pressing force of the robotic arm of the automatic grasping and positioning robot, the intermediate product moves downward until the needle sleeve is pressed into the dust cover, realizing the intelligent assembly of the picker spindle of the cotton picker.

[0006] Preferably, the dust cover inside the integrated assembly tooling is located directly below the needle sleeve, and the dust cover and the needle sleeve are coaxially arranged.

[0007] Preferably, during the pressing process, a sensor is used to monitor the displacement and pressing force of the picker spindle needle in real time, draw a relationship curve graph of the displacement and the pressing force, compare the measured curve graph with the predicted curve graph to obtain a curve deviation graph, and predict the assembly quality of the picker spindle of the cotton picker based on the curve deviation graph.

[0008] Preferably, in S5, after the integrated assembly tooling releases the fixation of the intermediate product, the intermediate product is limited, so that the intermediate product can only move in the vertical direction under the action of the pressing force.

[0009] Preferably, the sensor includes a six-axis force sensor, a strain gasket, and a piezoelectric film sensor. The six-axis force sensor is arranged at the end of the servo press push rod of the automatic grasping and positioning robot. The strain gasket is arranged on the tapered surface of the inner hole of the needle sleeve, and the piezoelectric film sensor is arranged on the lip seal surface of the dust cover.

[0010] Preferably, the picker spindle needle is pretreated before assembly. A lubricating oil film is sprayed on the surface of the picker spindle needle, and the film thickness is 9 - 15 μm.

[0011] An intelligent assembly device for the picker spindle of a cotton picker includes an integrated assembly tooling and an automatic grasping and positioning robot. The integrated assembly tooling includes a base. In the middle of the top of the base, a dust cover limiting component is arranged. The top of the base is connected with a needle sleeve limiting component through a guide rod and a spring. The needle sleeve limiting component is located directly above the dust cover limiting component. The dust cover limiting component and the needle sleeve limiting component are positioned through a positioning structure.

[0012] Preferably, the dust cover limiting component includes a first mold base movably connected to the top of the base. At the top end of the first mold base, a placement groove adapted to the dust cover is arranged. A vacuum chuck is arranged in the inner cavity at the bottom end of the placement groove. Through holes adapted to the picker spindle needle are arranged at the bottom end of the first mold base and in the middle of the base. Hydraulic telescopic rods I are symmetrically arranged at the top of the first mold base, and the hydraulic telescopic rods I are located below the needle sleeve limiting component.

[0013] Preferably, the needle sleeve limiting component includes a second die holder movably connected to the top end of the guide rod. The second die holder is connected to the guide rod through a spring. An electromagnet is provided at the top end of the guide rod. When the electromagnet is energized, the electromagnet and the second die holder are magnetically attracted to each other. A hole groove adapted to the needle sleeve is provided in the middle of the second die holder, and needle sleeve fixing components are provided on both sides of the hole groove.

[0014] Preferably, the positioning structure includes a signal receiver provided at the bottom of the needle sleeve limiting component and a signal transmitter provided at the top of the dust cover limiting component. The signal transmitter is adapted to the signal receiver.

[0015] Preferably, the intelligent assembly device for the cotton picker spindle is applied to the intelligent assembly process of the cotton picker spindle.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The intelligent assembly process and device for the cotton picker spindle adopt an integrated assembly tooling to achieve the one-time positioning of the needle sleeve and the dust cover, so that the spindle needle, the needle sleeve and the dust cover can be press-fitted in sequence, thus omitting the operation of turning the intermediate product during the assembly process, eliminating the turning error, ensuring the coaxiality, improving the assembly quality of the cotton picker spindle, reducing the assembly process, and improving the assembly efficiency.

[0017] 2. The intelligent assembly process and device for the cotton picker spindle can synchronously fix the needle sleeve and place the dust cover, and synchronously fix and reset the dust cover and press the spindle needle into the needle sleeve, improving the spindle assembly efficiency. And the positioning structure is used to realize the positioning between the needle sleeve and the dust cover, ensuring the coaxiality between the needle sleeve and the dust cover and improving the assembly accuracy. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the intelligent assembly process flow of a cotton picker spindle proposed by the present invention; Figure 2 It is a schematic diagram of an intelligent assembly device for a cotton picker spindle proposed by the present invention; Figure 3 It is a schematic diagram of the use of the integrated assembly tooling of the present invention; Figure 4 It is the structure of the present invention Figure 3 Bottom view schematic diagram; Figure 5 It is a top view schematic diagram of the dust cover limiting component of the present invention; Figure 6 It is a bottom view schematic diagram of the dust cover limiting component of the present invention; Figure 7 It is a cross-sectional schematic diagram of the needle sleeve limiting component of the present invention.

[0019] In the figure: 1. Base; 2. First die holder; 3. Second die holder; 4. Guide rod; 5. Spring; 6. Rotary support; 7. Robot arm; 8. Servo press; 9. Picking pin clamping assembly; 10. Signal transmitter; 11. Second hydraulic telescopic rod; 12. Pressure plate; 13. Chute; 14. Double-headed cylinder; 15. Vacuum chuck; 16. First hydraulic telescopic rod; 17. Through hole; 18. Servo motor; 19. Vacuum pump; 20. Exhaust passage; 21. Signal receiver; 22. Fixed groove; 23. Electromagnet. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Please refer to Figure 1 , the present invention proposes an intelligent assembly process for the picking spindles of a cotton picker, including the following steps: S1. Design an integrated assembly tooling adapted to the core components of the picking spindles of the cotton picker; S2. Use an automatic grasping and positioning robot to grasp the dust covers and needle sleeves of the core components of the picking spindles of the cotton picker, and the automatic grasping and positioning robot sequentially places the dust covers and needle sleeves into the integrated assembly tooling. At this time, the dust cover in the integrated assembly tooling is directly below the needle sleeve, and the dust cover and the needle sleeve are in a coaxial setting state; S3. The integrated assembly tooling fixes the dust cover and the needle sleeve, fixes the positions of the dust cover and the needle sleeve, avoids changes in the positions of the dust cover and the needle sleeve, and ensures the quality during the assembly of the picking spindles of the cotton picker; S4. The picker pins are pre-treated before assembly. A lubricating oil film with a thickness of 9 - 15 μm is sprayed on the surface of the picker pins. The automatic grasping and positioning robot grasps the pre-treated picker pins, adjusts the position of the picker pins to align them with the inlet of the needle sleeve, and then presses the picker pins into the needle sleeve in a vertical posture. The picker pins and the needle sleeve form an intermediate product. During this process, a sensor is used to monitor the displacement and pressing force of the picker pins in real time, draw a relationship curve graph of displacement and pressing force, and compare the measured curve graph with the predicted curve graph to obtain a curve deviation graph. When the measured curve is the same as the predicted curve, the curve deviation graph shows a zero-deviation reference line. At this time, the picker assembly process is stable and the picker quality consistency meets the standard. When the measured curve is different from the predicted curve, the curve deviation graph fluctuates in a non-zero region. At this time, the picker assembly process is out of tolerance. For example, when there is a continuous positive deviation, there is an over-interference tolerance process defect in the assembly; when there is a continuous negative deviation, there is a clearance tolerance process defect in the assembly; when there is a local peak, there is a surface defect deviation in the assembly; when there is a periodic fluctuation, there is a pressing force fluctuation defect in the assembly. Based on the curve deviation graph, the assembly quality of the cotton picker pickers can be predicted, and the out-of-tolerance risk can be identified in advance, enabling the staff to optimize the process in a timely manner according to the assembly accuracy, improving the qualified rate of picker assembly, and reducing rework losses. S5. The integrated assembly tooling releases the fixation of the intermediate product, and after releasing the fixation of the intermediate product, the integrated assembly tooling limits the intermediate product so that the intermediate product can only move in the vertical direction under the action of the pressing force, avoiding the deviation of the displacement of the intermediate product in the vertical direction and ensuring the assembly quality. Under the action of the pressing force of the automatic grasping and positioning robot manipulator, the intermediate product moves downward until the needle sleeve is pressed into the dust cover, realizing the intelligent assembly of the cotton picker pickers. During this process, a sensor is still used to monitor the displacement and pressing force of the picker pins in real time, draw a relationship curve graph of displacement and pressing force, and compare the measured curve graph with the predicted curve graph to obtain a curve deviation graph. Based on the curve deviation graph, the assembly quality of the cotton picker pickers is predicted.

[0022] As can be seen from the above description, during the assembly process of the cotton picker pickers, the integrated assembly tooling is used to achieve the one-time positioning of the needle sleeve and the dust cover, enabling the picker pins, the needle sleeve, and the dust cover to be pressed in sequence, thus omitting the operation of flipping the intermediate product during the assembly process, eliminating the flipping error, ensuring the coaxiality, improving the assembly quality of the cotton picker pickers, reducing the assembly process, and being able to improve the assembly efficiency.

[0023] The sensor includes a six-axis force sensor, a strain gasket, and a piezoelectric film sensor. The six-axis force sensor is arranged at the end of the servo press push rod of the automatic grasping and positioning robot. The strain gasket is arranged on the inner hole conical surface of the needle sleeve. The piezoelectric film sensor is arranged on the lip seal surface of the dust cover.

[0024] The present application provides an intelligent assembly device for cotton picker spindles, which is applied to the intelligent assembly process of the above-mentioned cotton picker spindles. It includes an integrated assembly tooling and an automatic grasping and positioning robot. The structural example of an intelligent assembly device for cotton picker spindles is as follows Figures 2 to 7 shown. The automatic grasping and positioning robot is a prior art. In this example, the automatic grasping and positioning robot includes a rotary support 6, a robotic arm 7 connected to the rotary support 6, a servo press 8 connected to the end of the robotic arm 7, and a spindle needle clamping assembly 9 connected to the end of the push rod of the servo press 8. A six-axis force sensor is provided at the end of the push rod of the servo press 8.

[0025] The integrated assembly tooling includes a base 1. In the middle of the top of the base 1, a dust cover limiting component is provided. The dust cover limiting component includes a first die base 2 movably connected to the top of the base 1. A servo motor 18 is provided on the top of the base 1. The end of the output shaft of the servo motor 18 is connected to one side of the bottom of the first die base 2 through a reducer. Through the setting of the servo motor 18, the rotation of the servo motor 18 can drive the connected first die base 2 to rotate, and the position of the first die base 2 can be changed.

[0026] At the top of the first die base 2, a placement groove adapted to the dust cover is provided. The inner wall of the bottom end of the placement groove is provided with a vacuum chuck 15. Through holes 17 adapted to the spindle needles are provided in the middle of the bottom end of the first die base 2 and the base 1 respectively. A vacuum pump 19 is provided at the bottom of the first die base 2. The air inlet end of the vacuum pump 19 is communicated with the inner cavity of the vacuum chuck 15 through an air inlet pipe. An exhaust passage 20 is provided at the bottom end of the first die base 2. One end of the exhaust passage 20 extends into the inner cavity of the through hole 17, and the other end of the exhaust passage 20 is connected to the air outlet end of the vacuum pump 19. Through the setting of the vacuum pump 19, the operation of the vacuum pump 19 can make the dust cover placed in the placement groove be negatively connected to the vacuum chuck 15, realizing the fixation of the position of the dust cover, and the air sucked away by the vacuum pump 19 is discharged through the exhaust passage 20.

[0027] It can be known from the above description that when the servo motor 18 drives the first die base 2 to rotate, the through hole 17 on the first die base 2 and the through hole 17 on the base 1 can be in a staggered state.

[0028] The top of the base 1 is connected with a needle sleeve limiting component through a guide rod 4 and a spring 5. The guide rod 4 is connected to the top of the base 1, and the top end of the guide rod 4 is movably sleeved with the needle sleeve limiting component. The needle sleeve limiting component includes a die holder two 3 movably connected to the top end of the guide rod 4. A chute 13 is provided on the die holder two 3, and the top end of the guide rod 4 is movably connected to the inner cavity of the chute 13. An electromagnet 23 is provided at the top end of the guide rod 4. When the electromagnet 23 is in the energized state, the electromagnet 23 and the die holder two 3 are magnetically attracted to each other. The material of the die holder two 3 is a ferromagnetic material, and the material of the die holder two 3 can be iron. Through the setting of the electromagnet 23, when the electromagnet 23 is in the energized state, the magnetic attraction force between the electromagnet 23 and the die holder two 3 can keep the position of the die holder two 3 fixed.

[0029] The bottom of the die holder two 3 is fixedly connected with a spring 5, and the other end of the spring 5 is connected to the bottom end of the guide rod 4. Through the setting of the spring 5, when the electromagnet 23 is in the de-energized state, the resilience of the spring 5 can support the die holder two 3, so that the height of the die holder two 3 remains unchanged. Under the action of an external force, the height of the die holder two 3 can be changed, and when the restriction on the die holder two 3 is released, under the action of the resilience of the spring 5, the die holder two 3 can be reset, which is convenient for the use of the die holder two 3. The resilience of the spring 5 can be set according to requirements and is not limited here.

[0030] Symmetrically arranged hydraulic telescopic rods one 16 are provided on the top of the die holder one 2. The hydraulic telescopic rods one 16 are located below the needle sleeve limiting component and below the die holder two 3. Through the setting of the hydraulic telescopic rods one 16, the telescoping of the hydraulic telescopic rods one 16 can change the position of the connected die holder two 3, so that when the spring 5 shows fatigue, under the action of the hydraulic telescopic rods one 16, the die holder two 3 can still be reset, ensuring the use accuracy of the device.

[0031] A hole groove adapted to the needle sleeve is provided in the middle of the die holder two 3. Needle sleeve fixing components are provided on both sides of the hole groove. The needle sleeve fixing components include pressing plates 12, double-headed cylinders 14 and hydraulic telescopic rods two 11. Fixed grooves 22 are provided on both sides of the hole groove. The pressing plates 12 are movably connected to the inner cavity of the fixed grooves 22. The double-headed cylinders 14 are connected to the outer side wall of the die holder two 3. Connecting rods are connected to the ends of the two output shafts of the double-headed cylinders 14, and the other ends of the connecting rods are connected to the hydraulic telescopic rods two 11. The output shaft ends of the hydraulic telescopic rods two 11 are fixedly connected to the pressing plates 12. The telescoping of the double-headed cylinders 14 can change the positions of the two pressing plates 12, and the pressing plates 12 can move away from or move into the hole groove. The telescoping of the hydraulic telescopic rods two 11 can change the height of the pressing plates 12. When the needle sleeve is placed in the hole groove, under the action of the double-headed cylinders 14, the end of the pressing plate 12 away from the hydraulic telescopic rod two 11 can move above the picking spindle socket of the cotton picker, and under the action of the hydraulic telescopic rods two 11, the pressing plates 12 can be closely attached to the picking spindle socket to fix the position of the picking spindle socket.

[0032] The dust cover limiting component and the needle sleeve limiting component are positioned through a positioning structure. The positioning structure includes a signal receiver 21 provided at the bottom of the needle sleeve limiting component and a signal transmitter 10 provided at the top of the dust cover limiting component. The signal transmitter 10 is adapted to the signal receiver 21. Through the setting of the positioning structure, when the signal emitted by the signal transmitter 10 can be received by the signal receiver 21 above it, the controller in the device can determine that the first mold base 2 and the second mold base 3 are in an aligned state, thereby making the needle sleeve and the dust cover in a coaxial state.

[0033] All the electrical components involved in this application are of the prior art. Those skilled in the art can select appropriate models of electrical components according to their needs, and there is no limitation or elaboration here. Those skilled in the art understand their connection methods. Through those skilled in the art, all the electrical components in this application are connected to their adapted power supplies through wires, and a suitable controller is selected according to the actual situation to meet the control requirements. For the specific connection and control sequence, refer to the following description. The electrical connection is completed in the order of the sequence of work among the electrical components. Their detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and no further description of electrical control will be made.

[0034] When the intelligent assembly device of the cotton picker spindle is in use, the electromagnet 23 is in an energized state, and the magnetic attraction force between the electromagnet 23 and the second mold base 3 fixes the position of the second mold base 3. The automatic grasping and positioning robot grasps the cotton picker spindle needle sleeve and places it into the hole groove. During the process of placing the needle sleeve, the servo motor 18 drives the first mold base 2 to rotate, making the first mold base 2 and the second mold base 3 in a staggered state. After the needle sleeve is placed, the automatic grasping and positioning robot grasps the dust cover and places it into the placement groove. The vacuum pump 19 works, and the work of the vacuum pump 19 makes the vacuum chuck 15 negatively connected to the dust cover, realizing the fixation of the position of the dust cover. After the position of the dust cover is fixed, the servo motor 18 drives the first mold base 2 to rotate in the reverse direction until the first mold base 2 is reset. At this time, the dust cover and the needle sleeve are in a coaxial state. During the working process of the servo motor 18, the needle sleeve fixing component uses the pressing plate 12 to fix the position of the needle sleeve. After the automatic grasping and positioning robot grasps the dust cover and places it into the placement groove, the automatic grasping and positioning robot grasps the pretreated spindle needle. After aligning the spindle needle with the entrance of the needle sleeve, the spindle needle is pressed into the needle sleeve in a vertical posture. The spindle needle and the needle sleeve form an intermediate product. The electromagnet 23 is in a de-energized state. The automatic grasping and positioning robot presses the intermediate product, and the intermediate product drives the first mold base 2 to move downward until the intermediate product needle sleeve is pressed into the dust cover, realizing the intelligent assembly of the cotton picker spindle. The vacuum pump 19 stops working. The automatic grasping and positioning robot takes out the assembled cotton picker spindle. Under the combined action of the spring 5 and the first hydraulic telescopic rod 16, the second mold base 3 can be reset, and the intelligent assembly device of the cotton picker spindle can continue to be used.

[0035] In summary, for the intelligent assembly device of the picker spindle of the cotton picker proposed by the present invention, during the use process, the fixing of the needle sleeve and the placement of the dust cover can be carried out synchronously, and the fixing and resetting of the dust cover and the pressing operation of the picker spindle needle into the needle sleeve can be carried out synchronously, improving the assembly efficiency of the picker spindle.

[0036] All standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each structure all adopt conventional technical means such as bolt connection in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, which will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent assembly process for cotton picker spindles, characterized in that, The steps include: S1. Design an integrated assembly tooling adapted to the core components of the cotton picker spindle; S2. Use an automatic grasping and positioning robot to grasp the dust cover and needle sleeve of the core components of the cotton picker spindle, and the automatic grasping and positioning robot sequentially places the dust cover and the needle sleeve into the integrated assembly tooling; S3. The integrated assembly tooling fixes the dust cover and the needle sleeve; S4. The automatic grasping and positioning robot grasps the spindle needle, adjusts the position of the spindle needle to align it with the inlet of the needle sleeve, and the automatic grasping and positioning robot presses the spindle needle into the needle sleeve in a vertical posture, and the spindle needle and the needle sleeve form an intermediate product; S5. The integrated assembly tooling releases the fixation of the intermediate product, and under the action of the pressing force of the mechanical arm of the automatic grasping and positioning robot, the intermediate product moves downward until the needle sleeve is pressed into the dust cover, realizing the intelligent assembly of the cotton picker spindle.

2. The intelligent assembly process of a cotton picker spindle according to claim 1, characterized in that: The dust cover in the integrated assembly tooling is located directly below the needle sleeve, and the dust cover and the needle sleeve are coaxially arranged.

3. An intelligent assembly process for the picker spindle of a cotton picker according to claim 1, characterized in that: During the pressing process, a sensor is used to monitor the displacement and pressing force of the spindle needle in real time, draw a relationship curve graph of the displacement and the pressing force, compare the measured curve graph with the predicted curve graph to obtain a curve deviation graph, and predict the assembly quality of the cotton picker spindle based on the curve deviation graph.

4. The intelligent assembly process of a cotton picker spindle according to claim 1, characterized in that: In S5, after the integrated assembly tooling releases the fixation of the intermediate product, it limits the intermediate product so that the intermediate product can only move in the vertical direction under the action of the pressing force.

5. The intelligent assembly process of a cotton picker spindle according to claim 3, characterized in that: The sensor includes a six-axis force sensor, a strain gasket and a piezoelectric film sensor. The six-axis force sensor is arranged at the end of the servo press push rod of the automatic grasping and positioning robot. The strain gasket is arranged on the tapered surface of the inner hole of the needle sleeve, and the piezoelectric film sensor is arranged on the lip seal surface of the dust cover.

6. An intelligent assembly device for the picker spindle of a cotton picker, characterized in that: It includes an integrated assembly tooling and an automatic grasping and positioning robot. The integrated assembly tooling includes a base (1). In the middle of the top of the base (1), a dust cover limiting component is arranged. The top of the base (1) is connected with a needle sleeve limiting component through a guide rod (4) and a spring (5). The needle sleeve limiting component is located directly above the dust cover limiting component. The dust cover limiting component and the needle sleeve limiting component are positioned through a positioning structure.

7. An intelligent assembly device for cotton picker spindles according to claim 6, characterized in that: The dust cover limiting component includes a first die base (2) movably connected to the top of the base (1). At the top end of the first die base (2), a placement groove adapted to the dust cover is arranged. A vacuum suction cup (15) is arranged in the inner cavity at the bottom end of the placement groove. Through holes (17) adapted to the spindle needle are arranged at the bottom end of the first die base (2) and in the middle of the base (1). Hydraulic telescopic rods one (16) are symmetrically arranged at the top of the first die base (2), and the hydraulic telescopic rods one (16) are located below the needle sleeve limiting component.

8. The intelligent assembly device for cotton picker spindles according to claim 6, characterized in that: The needle sleeve limiting component includes a second die holder (3) movably connected to the top end of the guide rod (4). The second die holder (3) is connected to the guide rod (4) through a spring (5). An electromagnet (23) is arranged at the top end of the guide rod (4). When the electromagnet (23) is energized, the electromagnet (23) and the second die holder (3) are magnetically attracted to each other. A hole groove adapted to the needle sleeve is arranged in the middle of the second die holder (3), and needle sleeve fixing components are arranged on both sides of the hole groove.

9. The intelligent assembly device for the picker spindle of a cotton picker according to claim 6, characterized in that: The positioning structure includes a signal receiver (21) arranged at the bottom of the needle sleeve limiting component and a signal transmitter (10) arranged at the top of the dust cover limiting component. The signal transmitter (10) is adapted to the signal receiver (21).

10. The intelligent assembly device for the picker spindle of a cotton picker according to claim 6, characterized in that: The intelligent assembly device for the cotton picker spindle is applied to the intelligent assembly process of the cotton picker spindle described in Claim 1.

Images