74 results about "Assembly automation" patented technology

The invention discloses a clamp automatic assembly station cooperative control method, and particularly relates to the technical field of precision assembly automation. On the basis of the three-dimensional characteristic model of the forceps holder assembly, assembly parameter extraction, precision threshold calculation, state signal collection, action matching analysis and time sequence strategy adjustment are sequentially executed, and the high-precision and high-stability automatic assembly process is achieved through multi-station cooperative control; constructing an assembly model by extracting geometrical characteristics of a clamping jaw, a connecting pin and a driving arm; dynamically comparing the action state of the assembly station with the assembly result, and calculating a matching coefficient; if the matching is insufficient, a delay or advance control instruction is sent, and the assembly rhythm is adjusted; and finally, the assembly quality is confirmed through error comparison, and an assembly completion state is output or manual reinspection is triggered. The method can effectively avoid multi-station action conflict and mistaken assembly, improves the assembly precision and beat flexibility, and is suitable for an automatic high-precision assembly line of miniature clamp products.

The invention belongs to the field of aircraft digital assembly automatic drilling and riveting, and particularly discloses an automatic drilling and riveting machine actuator normal alignment method and system.The method comprises the steps that firstly, the original distance from the end face of a presser foot to the plane around a to-be-machined hole is collected through a sensor; then, a KF-MAF algorithm combining Kalman filtering and moving average filtering is adopted to suppress dynamic noise, and accurate distance information is obtained; then, the deviation between the feeding direction of an actuator and the normal direction of the surface of the hole to be machined is calculated, and the angle error amount of a target hole site is obtained through a bilinear interpolation method; and finally, an actuator is controlled to rotate to compensate errors, the position of the center point of the tool is kept unchanged, the axis of the drill bit coincides with the local surface of the workpiece in the normal direction, and normal alignment is achieved. According to the method, the needed original information is less and easy to obtain, alignment can be accurately and rapidly completed, and the drilling precision is guaranteed.

The invention relates to the technical field of one-way valve assembling equipment, in particular to an automatic one-way valve assembling system which can achieve automatic feeding and assembling of all components of a one-way valve, is high in automation degree, reduces the manual assembling workload, is high in working efficiency and can guarantee the consistency of the quality after assembling. And the assembly requirements of the existing industry are met. Specifically, a plurality of assembling bases are arranged on the workbench, automatic assembling operation of a plurality of one-way valves can be carried out at the same time through rotation of the workbench, and the assembling efficiency is higher; the valve seat feeding device is used for feeding a valve seat to an assembling seat, the valve clack feeding device is used for feeding a valve clack and assembling the valve clack into the valve seat, the valve clack is a steel ball, the valve deck assembling device is used for feeding a valve deck into the valve seat and pressing and assembling the valve deck, and the valve deck assembling device is used for assembling the valve deck. The sealing element feeding device feeds sealing elements to the outer side wall of the valve seat and compresses the sealing elements, and the sealing elements comprise gaskets and sealing rings which are sequentially arranged on the outer side wall of the valve seat in a pressed mode.

The invention provides an online detection device and method for an electromagnetic pilot valve. The online detection device for the electromagnetic pilot valve comprises a main conveying line, a plurality of conveying line branches working in parallel and detection subsystems corresponding to the conveying line branches. The main conveying line is used for linking a plurality of detection subsystems and butting a plurality of conveying line branches working in parallel; the plurality of conveying line branches working in parallel are used for simultaneously conveying to-be-detected electromagnetic pilot valves to each detection subsystem station; the detection subsystem comprises a feeding and discharging robot and a detection assembly, and the feeding and discharging robot is used for transferring the to-be-detected electromagnetic pilot valve from the main conveying line to each conveying line branch and grabbing the to-be-detected electromagnetic pilot valve to move among different detection stations; the detection assembly is used for executing various types of tests on the to-be-detected electromagnetic pilot valve, the problem that the detection rhythm and efficiency cannot be matched with an automatic assembly line can be solved, seamless butt joint with the automatic assembly line is achieved, and the production efficiency is improved.

The invention relates to the technical field of traction motor maintenance, and discloses a worktable for dismounting and overhauling a rail transit traction motor, which comprises a platform base, a first turntable and a second turntable are rotationally arranged on the platform base, a clamping unit is fixed on the first turntable, and a locking structure is arranged at the bottom of the first turntable; a liftable rotor jacking mechanism is arranged on the second turntable; a first ejector rod is arranged on the long-end ejector mechanism, a second ejector rod is arranged on the short-end ejector mechanism, the first ejector rod and the second ejector rod are coaxially arranged, shaft sleeves are arranged at the ends of the first ejector rod and the second ejector rod, and the diameter of each shaft sleeve is larger than the outer diameter of a central shaft of a traction motor rotor. And the shaft sleeve is internally provided with an ejector head matched with a process hoisting hole in the end part of the rotor central shaft. The maintenance workbench can accurately position the stator and the rotor of the traction motor so as to conveniently disassemble and assemble the stator and the rotor, and can be matched with a robot so as to realize disassembly and assembly automation.

The invention provides a low-turbine shaft nut tightening method and a related device. According to the method, a camera is used for collecting nut-shaft head end face image data, and the image data are transmitted to a nut tightening angle real-time measurement module by means of a visual processing technology. The module comprises a feature extraction sub-module, an error fusion sub-module and an included angle calculation sub-module, a nut and shaft head locking groove boundary equation is extracted in sequence, a center line equation is screened based on a theoretical circle center value, and then the minimum angle difference of the nut and the shaft head locking groove is obtained. According to the minimum angle difference, the nut is automatically tightened through the tightening shaft to complete assembling, and meanwhile result visualization is achieved. The problems of invisibility, difficulty in alignment, low efficiency and the like in the assembly process are solved, automatic visual detection and automatic assembly in an invisible space are achieved, workers can conveniently check the assembly condition in real time, assembly automation integration is promoted, and the method has important significance in the field of low-turbine shaft nut assembly.

The invention relates to the technical field of motor assembly automation equipment, and provides a motor shell and stator core gluing device which comprises a gluing mechanism, a shell conveying mechanism and a stator conveying mechanism. The gluing mechanism comprises a feeding conveying assembly and a gluing assembly; the feeding conveying assembly comprises a feeding linear module and a material disc, and the material disc is connected to the feeding linear module. The shell conveying mechanism comprises a shell conveying belt and a first transferring part, and the first transferring part is used for transferring a motor shell located on the shell conveying belt to the material disc; and the stator conveying mechanism comprises a stator conveying belt and a second transfer part, the stator conveying belt is used for conveying stator iron cores, and the second transfer part is used for transferring the stator iron cores located on the stator conveying belt to the inner cavity of the motor shell located in the charging tray. The gluing and assembling device has the effect of improving the gluing and assembling efficiency between the motor shell and the stator iron core.

The utility model discloses a gyrotron component loading platform belongs to gyrotron component assembly automation production equipment technical field, this gyrotron component loading platform includes loading frame, is provided with a plurality of material disc on loading frame, is provided with a plurality of circular grooves on every material disc, every material disc is matched with a gyrotron component, and a plurality of circular grooves are used for installing all different cylindrical rotator parts in single gyrotron component, when actually using, the manipulator can find the required part according to the preset program quickly, accurately and take, can satisfy the requirement of automation production, realizes the efficient automation assembly of gyrotron component. Compared with the need in manual assembly in a large number of tooling fixtures to find and take parts, greatly shorten the taking time, improve the assembly efficiency. Avoid the use of a large number of tooling fixtures in traditional manual assembly, reduce the cost of making new tooling fixtures due to new pipe type development, reduce the production cost of gyrotron.

The invention relates to the technical field of light touch switch assembling machines, in particular to a light touch switch assembling machine which comprises a die frame, a stamping die arranged on the die frame, a tray conveying mechanism arranged on the rear side of the die frame and a winding conveying mechanism arranged on the side of the die frame, and a discharging base is installed on the stamping die; the two ends of the discharging base penetrate to the two sides of the stamping die. The positioning mechanism comprises a material guiding seat installed on the material discharging seat and further comprises a feeding station oppositely arranged at the feeding end of the material guiding seat, and the feeding station is connected with the discharging end of the material disc conveying mechanism and is close to the feeding end of the winding conveying mechanism at the same time. The accuracy of the assembly position is obviously improved, the reject ratio is reduced, the assembled light touch switch can be smoothly and reliably discharged from the material returning hole, and the assembly automation degree, the production efficiency and the product yield of equipment are greatly improved.

The utility model relates to the field of sensor production and assembly equipment, and discloses a sensor core upper plate seat assembly mechanism which is characterized in that an installation substrate and a turntable mechanism are arranged in an equipment rack, and a plurality of assembly jigs which are driven by the turntable mechanism and are used for placing and assembling product parts are arranged on the turntable mechanism; a core body feeding mechanism and a plate base assembling mechanism which are used for feeding core bodies and assembling plate bases in sequence are further arranged in the equipment rack, and the core body feeding mechanism comprises a core body supply mechanism, a core body feeding detection mechanism arranged on the core body supply mechanism in a striding mode and a core body transferring and implanting mechanism for transferring the core bodies between the assembling jig and the core body supply mechanism; the plate base assembling mechanism comprises a plate base feeding mechanism, a plate base transferring and installing mechanism used for transferring and placing plate bases between the plate base feeding mechanism and the assembling jig, and a plate base detecting mechanism located within the plate base transferring and moving range of the plate base transferring and installing mechanism. The assembly automation degree of the sensor core and the plate base is high, the assembly speed is high, the efficiency is high, and the assembly quality is stable.

The invention provides automatic assembling and pressing robot equipment for file tray plastic plates, and belongs to the technical field of office supply assembling. Comprising a workbench, a first rectangular groove is formed in the middle of the top of the workbench, assembling assemblies are arranged on the surfaces of the two sides of the first rectangular groove, a feeding assembly is arranged on the top of the first rectangular groove, and each assembling assembly comprises a first motor. Through the arrangement of the assembling assembly and the feeding assembly, a fifth rotating rod can drive a partition wheel to rotate, a partition plate on the lowest portion in a plate box loses limitation and then falls into a first rectangular groove, then a first motor works to drive a rotating strip to swing left and right, meanwhile, an electromagnet is powered on to attract a connecting column into an arc-shaped groove, and the plate box is assembled. And then a rotating strip rotates to insert a connecting column into a hole in the partition plate, so that the file tray connected through the connecting column can be firmer, meanwhile, through cooperation between the assembling assembly and the feeding assembly, file tray assembling automation is achieved, manpower is saved, and the working efficiency is improved.

The invention provides an automatic assembling device and method for a shell assembly, and the device comprises a feeding positioning module which is used for bearing and positioning a shell and an optical window; the rotating platform is arranged on one side of the feeding positioning module and used for driving the shell to rotate; the adhesive dispensing module comprises an adhesive dispensing valve body and an adhesive injection head and is used for coating an adhesive on the bonding surface of the shell or the optical window; the visual centering system comprises a CCD (Charge Coupled Device) image acquisition device which is used for acquiring outer circle outline images of the shell and the optical window and carrying out fitting calculation to realize coaxial positioning of the shell and the optical window; the robot assembling unit is used for assembling the window into the shell under the guidance of the visual centering system and ensuring the coaxiality of the window and the shell; the control system is used for coordinating actions of all the modules and achieving automatic gluing, centering and assembling of the shell and the optical window. According to the method provided by the invention, the assembly precision and the product consistency are effectively improved, the manual operation intensity and the skill dependence are reduced, and the production efficiency is effectively improved.

The utility model discloses pump head assembly automation equipment which comprises a bottom plate, the upper side of the bottom plate is fixedly connected with an assembly lathe, the outer side of the assembly lathe is provided with a lifting groove, the inner side of the lifting groove is connected with a lifting block in a sliding mode, the upper side of the lifting block is fixedly connected with a connecting frame, and the upper side of the connecting frame is fixedly connected with a pump head. The left side of the lifting block is fixedly connected with a fixing plate, the left side of the fixing plate is provided with an assembly placing unit, the assembly placing unit comprises a supporting plate, the supporting plate is fixedly connected to the left side of the fixing plate, the upper side of the supporting plate is rotatably connected with a rotating shaft, and the upper end of the rotating shaft is fixedly connected with a rotating plate. Through arrangement of the rotating disc, the rotating shaft, the supporting plate, the sliding groove, the sliding block, the connecting plate, the mounting block, the containing boxes, a top plate and a pressing plate, the multiple containing boxes can conveniently contain pump head assemblies in a classified mode, the multiple containing boxes are controlled to rotate, workers can conveniently and rapidly find the needed assemblies, assembling is convenient, and operation is easy.

The invention discloses a method for manufacturing a lightweight automobile conformal wire harness by using multi-material micro 3D printing, and relates to the technical field of automobile wire harness structure manufacturing, and the method comprises the following steps: S10, carrying out three-dimensional modeling on an automobile structure needing wire harness arrangement, and processing a curved surface model substrate matched with the surface of an automobile; and S20, at least two materials used for printing the automobile wire harness structure are attached to the curved surface of the model substrate on the curved surface model substrate matched with the automobile surface to print the automobile wire harness structure. Complete conformal and tight fitting of the automobile wire harness and the automobile structure can be realized, the bending and form sudden change part is not easy to break, the bending stress is small, wiring can be completed in a narrow space, the automation degree of wire harness production and assembly can be effectively improved, the manual participation process is greatly reduced, the labor cost is reduced, and the production efficiency is improved. And the workpieces do not need to be frequently switched, manufacturing process parameters do not need to be adjusted, batch production can be further facilitated, the production speed is higher, and automation can be better achieved.

This invention discloses an automated production line for power unit testing and assembly, belonging to the field of automated power unit assembly technology. It includes: a piston storage bracket with a coordinate measuring machine (CMM) mounted on one side; a conveyor belt located in the unloading area of ​​the CMM; a heating device, an assembly turning device, and a cleaning device arranged sequentially along the conveyor belt's transmission direction; a tie rod storage bracket located outside the conveyor belt and distributed on the same side as the piston storage bracket; a positioning sleeve clamping mechanism located at the unloading end of the conveyor belt; a gantry robot suspended between the positioning sleeve clamping mechanism and the conveyor belt; and a piston assembly unit located at the output end. This invention enables automated installation of pistons, cylinder liners, connecting rods, and positioning sleeves in a power unit, significantly reducing manual intervention, increasing production cycle time, and reducing the labor intensity of operators.

The utility model provides an automatic nut riveting device for sill assembly, which relates to the field of assembly automation, and is characterized in that the automatic nut riveting device comprises a moving frame, a mounting seat and a riveting gun, a lead screw moving structure is rotatably connected in the moving frame, an electrical box is arranged on one side of the moving frame far away from a motor, the mounting seat is rotatably connected with a lead screw, and the riveting gun is rotatably connected with the lead screw. A limiting sliding rail is fixed to the position, close to the mounting base, of the movable frame and used for being matched with the mounting base to move, an electric push rod A is fixed to one side of the mounting base, sliding rails are arranged on the two sides of the electric push rod A, the hand riveter is located below the electric push rod A, and a mounting plate is fixed to the upper end of the hand riveter. A push rod part of the electric push rod A is fixedly connected with the mounting plate, and a sliding seat is vertically arranged at the upper end of the mounting plate, is in sliding connection with the sliding rail in a matched mode and is used for being matched with height changes to conduct rivet pulling operation. The utility model has the advantages that the workpiece can be quickly positioned and processed, the automatic production is realized, and the overall processing efficiency is improved.

The present application belongs to the field of assembly automation, and discloses a pump body assembling equipment, which comprises a base frame, a grabbing moving assembly, a pressing assembly and a first driving electric cylinder. The base frame is provided with an assembling position, and a shaft impeller is preset in the assembling position. The grabbing moving assembly and the pressing assembly are movably arranged on the base frame. The grabbing moving assembly comprises a first shielding member and a pump shell gripper. The pump shell gripper grabs and moves the pump shell. The pressing assembly comprises a second shielding member and a stamping punch head. The output end of the first driving electric cylinder is located directly above the assembling position, and the output end is provided with a shielding sensor. When the first shielding member moves to the position directly below the shielding sensor, the shielding sensor is triggered, so that the first driving electric cylinder moves the pump shell to the upper surface of the shaft impeller in the assembling position. When the second shielding member moves to the position directly below the shielding sensor, the shielding sensor is triggered, so that the first driving electric cylinder drives the stamping punch head to press the shaft impeller into the interior of the pump shell.

The utility model provides an integrated battery pack structure which is composed of a battery assembly and an electric connection assembly, and the battery assembly is fixedly connected to a circuit board of the electric connection assembly. The electric connection assembly further comprises an output terminal assembly and a conductive sub-assembly, wherein the output terminal assembly is arranged in a terminal through hole in the integrated circuit board in a penetrating manner; the conductive sub-assembly is welded on an end face of the circuit board adjacent to the battery assembly and is used for forming electric connection with positive and negative electrodes of the battery assembly. The integrated battery pack structure is accurately connected with the control circuit board of the electric equipment through the conductive sub-assembly, so that the problem of position deviation of the output end is avoided, and quick assembly is realized. Meanwhile, part of components are integrated in the battery assembly, the external space structure of the integrated circuit board is simplified, the adaptability is improved, assembly automation can be achieved, the production cost is reduced, and the production efficiency is improved.

The application provides an instrument panel buckle assembly system, which comprises a first rack, a positioning mechanism, a picking mechanism, a feeding mechanism and a feeding mechanism. The instrument panel buckle assembly system can realize continuous feeding of the subsequent feeding mechanism through the design of the feeding mechanism, the feeding mechanism, the positioning mechanism and the picking mechanism. The feeding mechanism can clamp and position the buckle body in the positioning groove on each positioning unit. Each picking unit of the picking mechanism lifts the buckle body on the corresponding positioning unit and separates it from the positioning unit. Under the driving of the mechanical hand, the buckle mouth of the buckle body is clamped into the mounting position of the instrument panel, thereby realizing continuous assembly. The instrument panel buckle assembly system can realize feeding, feeding, positioning, picking and assembly, has high automation degree, reduces the problem of high labor intensity caused by manual assembly, and improves production efficiency.

The invention discloses a multidirectional moving assembly robot with a floating leveling lifting platform. The multidirectional moving assembly robot comprises a fixed bottom plate; an assembling mechanical arm assembly is fixedly arranged on the upper surface of the fixed bottom plate, a leveling platform is further arranged on the upper surface of the fixed bottom plate, and a double-shaft deflection module is installed on the bottom face of the leveling platform. A floating leveling assembly is further arranged at the position above the leveling platform, through the synergistic effect of the leveling platform with the double-shaft deflection capacity and the floating leveling assembly with the four horizontal pressing heads, a workpiece with the irregular upper surface can be forced to rapidly reach the horizontal state by means of the simple mechanical downward pressing action, and the leveling precision is improved. Therefore, a reference plane is provided for follow-up precise assembly of the mechanical arm, the automation degree and precision of assembly are improved, and the automatic assembly line is particularly suitable for workpieces such as large structural parts, racks and boxes.

The utility model provides a quick-change tool table for assembling reduction gearboxes, which comprises a rack, a quick-change clamping jaw I and a quick-change clamping jaw II, the quick-change clamping jaw I and the quick-change clamping jaw II are arranged on a table plate at the top of the rack in parallel, the quick-change clamping jaw I is used for clamping components of a transmission shaft integrated part, and the quick-change clamping jaw II is used for clamping the components of the transmission shaft integrated part. The first functional tool, the second functional tool and the third functional tool are arranged at the functional end of the first connecting base, and a first quick-change clamping jaw is in positioning connection with a platen through the first connecting base; the second quick-change clamping jaw is used for clamping transmission shaft integrated parts in different process states and comprises a second connecting base, a fourth functional tool and a fifth functional tool, the fourth functional tool and the fifth functional tool are arranged at the functional end of the second connecting base, the second quick-change clamping jaw is in positioning connection with the platen through the second connecting base, and all the functional tools can achieve different functions. The feeding and discharging device can be compatible with feeding and discharging in the assembly process of the reduction gearbox transmission shaft integrated part, assembly automation is achieved, cost is reduced, and assembly efficiency is improved.

An automatic disc part detection feeding device comprises an input mechanism, an output mechanism, a turnover mechanism located between the output mechanism and a pushing mechanism located on one side of the output mechanism and corresponding to the turnover mechanism in position. The turnover mechanism comprises a turnover mounting seat, a turnover air cylinder fixed on the turnover mounting seat, a part clamping seat in transmission connection with the turnover air cylinder and a height sensor arranged above the part clamping seat, and a part clamping groove is formed in the part clamping seat; the positions, corresponding to the height sensors, of the upper side face and the lower side face of the part clamping base are each provided with a detection opening communicated with the part clamping groove, and the lower surface of the inner side of the part clamping groove and the upper surfaces of the input mechanism and the output mechanism are located on the same horizontal plane. The disc part turnover device has the advantages that disc parts can be turned over quickly, the same faces of the disc parts face upwards in the feeding process so as to meet the requirement of the next automatic assembly step, the structure is simple, the turnover accuracy rate is high, and the assembly automation degree and the assembly efficiency are improved.

The present application relates to the technical field of valve body assembly automation assembly, in particular to a device and method for assembling valve body assembly, which comprises a rack, a movable pressure head and a base, the movable pressure head comprises an outer pressure head for pre-pressing the spring in the valve body assembly and an inner pressure head for separating the clamping leg in the valve body assembly, and the base comprises a positioning support seat for positioning the valve core and a guide sleeve for placing the valve body. The valve body assembly installation position is not easy to deviate or deform, which improves the assembly accuracy; by setting the actuator, the outer pressure head and the inner pressure head, the outer pressure head of the movable pressure head is driven by the driving part to pre-press the spring of the valve body assembly, at the same time, the clamping leg passes through the valve hole of the valve body assembly, the inner pressure head of the movable pressure head is driven by the actuator to separate the clamping leg, the outer pressure head is retracted, the spring is reset, the clamping leg is clamped, the inner pressure head is retracted, the valve body assembly can be quickly assembled, the assembly accuracy is improved, and the valve body assembly is not damaged.

The utility model relates to the production and processing technical field of pump especially is a kind of flexible assembly line, including transmission mechanism, along the transmission direction of transmission mechanism, multiple assembly stations are sequentially arranged, the assembly station is artificial station or automation station, artificial station is used to let staff to the product transmission of transmission mechanism to carry out component assembly, and automation station is used to the product transmission of transmission mechanism to carry out part assembly.The utility model realizes the artificial assembly and automation assembly needed to complete pump assembly in one transmission by artificial station and automatic station cooperation, and it is favorable to promote efficiency.

The universal type product assembly production line equipment comprises a rack, a plurality of conveying modules are arranged on the rack in the conveying direction at intervals, each conveying module comprises a fixing beam, a belt wheel, a first belt, a connecting block, a bearing plate, a guide rail, a sliding block, a supporting plate, a carrying plate, an air cylinder and a supporting block, and a motor is further fixed to the rack; the motor is connected with the belt wheel through a transmission assembly comprising a rotating shaft and a second belt, and the carrier plate is provided with a fixing shell used for containing an assembled object material box. The motor drives the carrier plate to horizontally move to achieve inter-process circulation, the air cylinder drives the carrier plate to longitudinally move to achieve intra-process positioning, and adjacent modules are conveyed in a cross-module mode through horizontal movement of the carrier plate. According to the equipment, the assembly automation degree and the positioning precision are improved, different process requirements are met, stable conveying is guaranteed, and the equipment is suitable for different product assembly production lines by replacing different carriers on the carrier plate.

The invention discloses a regulation and control mechanism capable of avoiding tooth top for gear assembly matching, and belongs to the technical field of mechanical assembly automation. The regulation and control mechanism is provided with a first vertical plate and an air cylinder fixing plate assembled on the outer surface of the first vertical plate; comprising a vertical air cylinder installed on the upper surface of the air cylinder fixing plate, the lower surface of the vertical air cylinder is telescopically connected with a lifting rod, and a gear clamping head is installed on the lower surface of the lifting rod. The device solves the problem that top teeth of an automatic assembly gear set cannot be assembled, the device is provided with a vertical air cylinder, a horizontal air cylinder and a suction head which are supported on a first vertical plate and a second vertical plate, a mounted gear is moved, a signal detected by a contact sensor serves as an input signal, whether the mounted gear and a mounted gear are in a top tooth state or not is judged, and the gear set is assembled. If the gear clamping head is in the tooth jacking state, the control system sends out an instruction, so that the gear clamping head for adsorbing the gear rotates, and the assembly is implemented and completed when the gear teeth of the assembled gear directly face the gear valleys of the assembled gear.

The invention belongs to the technical field of mechanical assembly automation and intelligent control, and particularly relates to a three-stage bolt tightening method based on Kalman filtering and predictive control. The method comprises the steps that a man-machine coupling system state space model is constructed, and bias slowly changing along with time in sensor measurement is added to be a new state variable; collecting a motor rotation angle, a motor angular speed and an output torque containing fixed delay; performing state prediction based on the optimal state estimation value of the previous moment and the actual control input of the current moment by using the man-machine coupling system state space model after dimension expansion, and correcting the predicted value by using the current observation vector to obtain the optimal state estimation value of the current moment; the tightening process is divided into three stages, and smooth switching of the three stages is executed through a state machine provided with a hysteretic interval and a tolerance neighborhood. Accurate, stable and intelligent control over the tightening process is achieved.

The invention relates to the technical field of feeding and assembly automation, in particular to a magazine type rivet feeding device which comprises a stand column, an electric control module is arranged on the stand column, and the stand column is connected with a rivet filling station through a support. The upper end of the rivet filling station is connected with the rivet feeding pipe and used for conveying rivets in the rivet feeding pipe into the rivet filling station, the rivet feeding pipe is connected with an external rivet feeding machine, and the rivet feeding machine is used for conveying the rivets into the rivet feeding pipe; the lower end of the rivet filling station is used for being detachably connected with a riveter magazine, and rivets in the rivet filling station are conveyed into the riveter magazine, so that a rivet feeding pipe from the rivet feeding machine is only connected into the rivet filling station instead of being directly connected into the riveter. The door cylinder drives the door sliding block and the bolt to move outwards, the bolt loses blockage of the nail feeding channel, meanwhile, the door sliding block drives the sliding door cover plate to move outwards, the nail feeding channel in the magazine body is exposed and communicated with the nail feeding channel above, and it can be guaranteed that a nail filling station magazine and a riveter magazine are opened at the same time.

The invention discloses an automatic assembly device for an energy storage battery heat management integration module, and relates to the technical field of energy storage battery component assembly.The automatic assembly device comprises a transverse moving assembly, an electric lifting rod is installed on the top face of the transverse moving assembly, and a supporting plate is fixedly installed at the top end of the electric lifting rod; a rotating switching mechanism is installed in the middle of the supporting plate and used for switching screws, connecting plates are installed at the bottom of the rotating switching mechanism at equal angles, rotating pieces are rotatably installed at the outer ends of the connecting plates, and magnetic attraction heads are installed at the bottom ends of the rotating pieces. According to the energy storage battery heat management integrated module assembling machine, through multi-mechanism collaborative design, the functions of automatic screw switching, precise positioning, efficient feeding, impurity cleaning and the like in the energy storage battery heat management integrated module assembling process are achieved, the assembling automation degree and reliability are remarkably improved, the assembling efficiency is improved, and the assembling efficiency is improved. And the manual intervention cost is reduced, and meanwhile, the assembly precision and efficiency are guaranteed.

The utility model belongs to the technical field of steel pipe machining, and particularly discloses an automatic welding system for a steel pipe assembly, which comprises a base plate and a left sleeve, the left sleeve is fixed on the left side of the top of the base plate, the right sleeve is fixed on the right side of the top of the base plate, and channels are transversely arranged in the centers of the interiors of the left sleeve and the right sleeve respectively. A supporting plate is fixed to the center of the rear portion of the top of the base plate. According to the automatic welding system for the steel pipe assembly, a left sleeve is fixed to the left side of the top of a base plate, a right sleeve is fixed to the right side of the top of the base plate, and a steel pipe and a first starting motor are inserted into the left sleeve and the right sleeve on the two sides of the base plate correspondingly; under the rotation effect of the gear in the center, the gear ring sleeved on the outer side is matched, the two rotating shafts are forced to rotate together in the mode that the gear is meshed with the gear block, then the steel pipe is pushed to rotate in the channel, and the problem that the steel pipe is inconvenient to turn over is solved.