CN104786036A - Automobile instrument automatic pointer pressing system - Google Patents

Automobile instrument automatic pointer pressing system Download PDF

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Publication number
CN104786036A
CN104786036A CN201410847181.1A CN201410847181A CN104786036A CN 104786036 A CN104786036 A CN 104786036A CN 201410847181 A CN201410847181 A CN 201410847181A CN 104786036 A CN104786036 A CN 104786036A
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CN
China
Prior art keywords
pressing
pointer
visual analysis
instrument
module
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Application number
CN201410847181.1A
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Chinese (zh)
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CN104786036B (en
Inventor
戴翔
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宁波大正工业机器人技术有限公司
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Publication of CN104786036A publication Critical patent/CN104786036A/en
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Publication of CN104786036B publication Critical patent/CN104786036B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B25B27/0035Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for motor-vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25BTOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B25B27/02Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same
    • B25B27/026Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for connecting objects by press fit or detaching same fluid driven

Abstract

The invention discloses an automobile instrument automatic pointer pressing system which comprises a main control system, a pointer pressing device controlled by the main control system and a clamping device used for clamping an instrument panel. The main control system comprises a main controller, a control module, a man-machine interface and a vision analyzing and positioning system; the pointer pressing device comprises a three-shaft servo moving platform on a rack, a pointer pressing machine head arranged on the moving platform and a material supply device arranged on the moving platform; the control module controls a picking and pressing mechanism in the pointer pressing device to take pointers according to instrument pointer position and state data, obtained by the vision analyzing and positioning system, in the material supply device, and the pointer pressing angle and the pointer pressing depth of the pointer pressing device are controlled according to the motor shaft coordinate position, obtained by the vision analyzing and positioning system, of an instrument panel with pointers to be pressed and angle and position data input from the man-machine interface and required by placemen of the pointers. By means of the vision analyzing and positioning system, zero-scale individual difference positions are corrected, pointing directions of instruments are kept consistent. Pointer pressing precision and production efficiency are greatly improved through the automatic pointer pressing system.

Description

A kind of automobile instrument automatic pressing needle system

Technical field

The present invention relates to instrument assembly equipment, particularly relate to a kind of automatic assembly equipment of automobile meter pointer.

Background technology

At present in the instrument such as automobile and motorcycle manufacturing enterprise, the pointer compacting inside instrument mostly adopts mechanical-pneumatic mode or the compacting of mechanical, hand-driven manual type.Artificial compacting labour intensity is large, production efficiency is low, and pneumatic compacting is due to the characteristic of gas, press down speed upon actuation, and interlude cannot stop, so pointer and step motor position is asymmetric or pointer do not put well in also can subdue, cause stepper motor to damage like this, produce the phenomenon such as to do over again.The parameter consistency of pointer hole and motor shaft there are differences, and each motor for instrument initial angle residing when pointer is suppressed is also not quite identical, adopt artificial or direct pneumatic compacting be all difficult to ensure the pointer angle of compacting and the degree of depth completely the same.In addition, artificial or direct pneumatic compacting is adopted all not support, by operator, date section inquiry qualification rate, wrong content etc., to cause the blank of intelligent management system data and the later stage more cannot be reviewed.

Notification number is that the Chinese utility model patent of CN203178837U discloses a kind of automatic pressing needle system, comprise automatic pressing machine and main control system, described main control computer comprises microprocessor, drive control module, pressure control module, position control module, memory modules and touch display, and described microprocessor and described drive control module, described pressure control module, described position control module, described memory modules and described touch display are all electrically connected.This utility model can accurately control dynamics and the degree of depth ensures that pointer is pressed into optimum position, improves the precision of assembling, and can automatically report an error, can record every data, provide voucher of tracing to the source.Although this technical scheme has position control module to carry out position control, the position of this technical scheme only can control Z-direction, i.e. the pressing degree of depth, and it lacks and is difficult to ensure that pointer is aimed at motor for instrument shaft position in the axial control of XY.In addition, the angle of this technical scheme also uncontrollable pointer makes each pointer in instrument, have unified initial angle.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of automobile instrument automatic pressing needle system, it is detected the gauge pointer in feeding device by a visual analysis navigation system, and the qualified pointer of automatic search carries out pickup and instrument calibration needle shaft position individual difference; By this visual analysis navigation system, pressing state is monitored, Fast Calibration needle shaft position; By this vision positioning analysis system compensation zero graduation individual difference position, pressing angle is set every block list index is pointed to unanimously.Pressing precision and production efficiency is effectively improved by this automatic pressing needle system.

In order to solve the problems of the technologies described above, the technical solution used in the present invention is: a kind of automobile instrument automatic pressing needle system, comprises master control system, the pressing device controlled by master control system and the clamping device for clamping instrument board; Described master control system comprises main control computer, control module, man-machine interface and visual analysis navigation system; Described pressing device comprises the motion platform be arranged on a stand, arranges pressing head on the moving platform and feeding device; Described motion platform is a three-axis servo platform; The press mechanism that picks up that gauge pointer position in the feeding device that described control module obtains according to visual analysis navigation system and status data control in described pressing device gets pin, and what obtain according to visual analysis navigation system treats pressing instrument board motor shaft coordinate position and control pressing angle and the pressing degree of depth of described pressing device from the angle position data placed needed for the pointer of man-machine interface input.By this visual analysis navigation system correct zero scale individual difference position, every block table is kept to point to consistent.Pressing precision and production efficiency is substantially increased by this automatic pressing needle system.

Particularly, described control module comprises the servo controller controlled described motion platform and the pressing controller controlled pressing device.

As preferred technical scheme, described visual analysis navigation system comprises and one is arranged on main camera on pressing device, is arranged on and treats auxiliary camera above pressing instrument board and visual analysis module.The pressing job information on diverse location effectively can be obtained by two cameras arranged respectively, and comprehensively analyzed by visual analysis module, pointer in effective acquisition feeding device and treat the location status information of needle shaft on pressing instrument board, improves pressing precision.Using this industrial camera as the visual analysis navigation system in video analysis source, make every pixel resolution be less than 0.05mm, misreport of system rate is lower than 1%.

Particularly, the vision that described visual analysis module comprises the qualified pointer of automatic search seeks the needle shaft correction module of pin module and instrument calibration needle shaft position individual difference.Support that the qualified pointer of vision automatic search carries out picking up and support vision correction instrument needle shaft position individual difference and pressing.Further, in order to support vision correction zero graduation individual difference position, keep every block table to point to consistent, described visual analysis module also comprises correct zero scale individual difference position, keeps each instrument to point to consistent zero correction module.

Feed back to support pressing process maximum pressure and detect and differentiate, describedly pick up in press mechanism the pressure sensor being provided with a pair pressing pressure and carrying out feeding back.

In order to support that the actual pressing degree of depth feedback of pin cap detects and differentiates, after described pressing device is also provided with a pair pressing, carry out the ranging mechanism of pressing degree of depth verification.

Automobile instrument automatic pressing needle system of the present invention be a set ofly integrate three axle servo motion platforms, the machinery of pointer pickup picks up the high accuracy pressing system of press mechanism, visual analysis navigation system, possess instrumented data initialization, automatic searching pointer, automatically lock the advanced functions such as needle shaft, pointer angle and the degree of depth are demarcated arbitrarily, actual pressing height is accurately measured, the pickup of pressing user-defined flow, double-head arrow, two pointer magazine, double tooling platform.

System is using three axle servo motion platforms as pedestal, industrial camera is adopted accurately to catch needle shaft and pointer, and control manipulator by pointer by the angle of technological requirement be highly pressed into needle shaft, support to carry out pressing to the pointer of any amount on combination instrument, possess double-head arrow and analyze pick-up capability, once can complete pointer pickup and the pressing of two or more specification.System has merged instrument simultaneously and has controlled and initialization module, motor is walked after same relative angle, carries out pressing, guarantee that the instrument through excessive positive automobile instrument pressing equipment has consistent pointer angle.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

Fig. 2 is structural representation of the present invention, removes upper cover with show internal structure in figure.

Fig. 3 is the module map of master control system and visual analysis navigation system in the present invention.

Fig. 4 is the structural representation of pressing device in the present invention.

Fig. 5 is the enlarged drawing at A place in Fig. 4.

Fig. 6 is the structural representation of pressing device in the present invention.

Fig. 7 is the enlarged drawing at B place in Fig. 6.

Fig. 8 is the structural representation of clamping device in the present invention.

Fig. 9 is the structural representation of clamping device in the present invention.

Figure 10 is the structural representation of grip block mechanism in the present invention.

Figure 11 is the structural representation of feeding device in the present invention.

Wherein: stand 1, master control system 2, main control computer 21, control module 22, servo controller 221, pressing controller 222, human-computer interaction interface 23, display 231, input keyboard 232, motion platform 3, X-axis servo slide table mechanism 31, Y-axis servo slide table mechanism 32, Z axis servo slide table mechanism 33, Z-direction altitude calibration mechanism 34, pressing device 4, load board 41, pressing head 42, head rack 421, head body 422, Timing Belt wheels 423, head stepper motor 425, angle-tracking unit 426, pick up press mechanism 427, negative pressure sucker axle 4271, negative pressure cylinder 4272, fixed mount 4273, link 4274, pressure sensor 4275, paw mechanism 428, paw cylinder 4281, paw push pedal 4282, vertical slide rail 4283, paw connecting rod 4284, paw slide block 4285, horizontal slide rail 4286, paw 4287, paw groove 4288, ranging mechanism 429, head cylinder 43, buffer 44, block 45, feeding device 5, feed cylinder 51, guide plate 52, feeding platform 53, roller 54, visual analysis navigation system 6, main camera 61, auxiliary camera 62, visual analysis module 63, vision seeks pin module 631, needle shaft correction module 632, zero correction module 633, clamping device 7, panoramic table 71, assembly station 711, clamping station 712, revolution detent mechanism 713, back-up block mechanism 72, support cylinder 721, voussoir 722, back-up block 723, grip block mechanism 73, clamp bracket 731, gripper cylinder 732, connecting rod 733, gripper jaw 734, device for revolving and driving 74, upper cover 8, treat pressing instrument board 9.

Detailed description of the invention

Below by specific embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is further described specifically:

See Fig. 1, Fig. 2 and Fig. 3, a kind of automobile instrument automatic pressing needle system, comprises master control system 2, the pressing device 4 controlled by master control system 2 and motion platform 3, feeding device 5 and for clamping the clamping device 7 treating pressing instrument board 9.This master control system 2 comprises the main control computer 21 be arranged on a stand 1, the control module 22 be arranged in main control computer 21, and visual analysis navigation system 6.This main control computer 21 comprises the human-computer interaction interface 23 being arranged on and stand 1 comprising display 231 and input keyboard 232.This control module 22 comprises the servo controller 221 controlled motion platform 3 and the pressing controller 222 controlled pressing device 4.This motion platform 3 is a three-axis servo platform, and it comprises X-axis servo slide table mechanism 31, Y-axis servo slide table mechanism 32, Z axis servo slide table mechanism 33 and Z-direction altitude calibration mechanism 34.

See Fig. 4 ~ Fig. 7, this pressing device 4 is fixed on this motion platform 3 by a load board 41, carries out the exact position of control realization pressing device 4 on XYZ axle move by the servomotor of servo controller 221 pairs of motion platform XYZ axles.This pressing device 4 comprises the ranging mechanism 429 being slidably connected in load board 41 two pressing heads 42 and being arranged in the middle of two pressing heads 42.This pressing head 42 comprises head frame 421, the head body 422 be arranged in the consistent through axial bore of head rack 421, be arranged on this head rack 421 for drive this head body 422 to rotate angle-adjusting mechanism, be arranged on this head body 422 lower end for picking up gauge pointer and the picking up press mechanism 427 and be positioned this and pick up paw mechanism 428 below press mechanism 427 of pressing.This angle-adjusting mechanism comprises being arranged on head stepper motor 425 in head frame 421 and Timing Belt wheels 423 and being arranged on head rack 421 and is connected to the angle of head body 422 upper end with combining device 426 by synchronous wheels.This angle is with combining device 426 for feeding back the rotational angle information of head body 422.This is picked up press mechanism 427 and comprises the negative pressure cylinder 4272 be fixed on by a fixed mount 4273 on head body 422 lower end, be arranged on the negative pressure sucker axle 4271 of this negative pressure cylinder 4272 tailpiece of the piston rod and be arranged on the pressure sensor 4275 between this negative pressure cylinder 4272 tailpiece of the piston rod and negative pressure sucker axle 4271 by a link 4274.This paw mechanism 428 be arranged on pick up press mechanism 427 fixed mount 4273 an extension on.This paw mechanism 428 comprises the paw cylinder 4281 be fixed on this fixed mount 4273 extension, to be fixed on fixed mount 4273 extension and the vertical slide rail 4283 be positioned below paw cylinder 4281, be slidably connected at the paw push pedal 4282 on this vertical slide rail 4283, two symmetrically hinged with both sides, paw push pedal 4282 bottom respectively paw connecting rods 4284, be arranged on the horizontal slide rail 4286 on before fixed mount 4273 extension bottom, to be hinged on respectively on two paw connecting rod 4284 other ends and the paw slide block 4285 be slidably connected on horizontal slide rail 4286 and two paws 4287 being separately fixed at these two paw slide block 4285 lower ends.This negative pressure sucker axle 4271 is positioned before fixed mount 4273 extension, paw cylinder 4281 in this paw mechanism 428, paw push pedal 4282, paw connecting rod 4284 and vertical slide rail 4283 are all positioned after fixed mount 4273 extension, two paw slide blocks 4285 of paw mechanism 428 are positioned below fixed mount 4273 extension, and two paws 4287 extend to the below of negative pressure sucker axle 4271.Be provided with a paw groove 4288 in the inner side of paw 4287, this paw groove 4288 is a right-angle notch.Paw cylinder 4281 piston rod that this paw push pedal 4282 upper end and paw cylinder 4281 extend downwards is connected, by this paw cylinder 4281 promote paw push pedal 4282 so that by two paw connecting rods 4284 control two paws 4287 transversely slide rail 4286 make opening and closing movement.These two pressing heads 42 carry out switching in staggered mobile up and down respectively by respective head cylinder 43.This head cylinder 43 is arranged in load board 41, and is provided with buffer 44 between this load board 41 and head rack 421.

See Fig. 8, Fig. 9 and Figure 10, the back-up block mechanism 72 that this clamping device 7 comprises the panoramic table 71 be arranged on stand 1, is arranged on the grip block mechanism 73 on panoramic table 71 and is arranged on below panoramic table 71.This panoramic table 71 is provided with the assembly station 711 and clamping station 712 that on the stand 1 by being arranged on below this panoramic table 71, single-revolution detent mechanism 713 is located.This revolution detent mechanism 713 comprises an alignment pin driven by positioning cylinder.This grip block mechanism 73 be arranged on panoramic table 71 comprises the hinged connecting rod 733 of clamp bracket 731, gripper cylinder 732, one end and gripper cylinder 732 piston rod, the gripper jaw 734 hinged with connecting rod 733 other end.To treat on the clamping station 712 that pressing instrument board 9 is placed on panoramic table and start gripper jaw 734 by gripper cylinder 732 to compress.In the present embodiment, this gripper jaw 734 is along treating that pressing instrument board 9 periphery is provided with 5.This back-up block mechanism 72 is positioned at the below of panoramic table 71 assembly station 711.This back-up block mechanism 72 comprises a support cylinder 721, one and supports the voussoir 722 that cylinder 721 piston rod is connected and the back-up block 723 driven by voussoir 722.

See Figure 11, this feeding device 5 is arranged on the stand 1 of this clamping device 7 side.This feeding device 5 comprises one and is fixed on guide plate 52, the feeding platform 53 on stand 1 and drives feeding platform 53 along the feed cylinder 51 of guide plate 52 movement.This feeding platform 53 is done to roll with guide plate 52 be connected by being positioned roller 54 on guide plate 52 both sides.In the present embodiment, this feeding device 5 is provided with two.Gauge pointer is that matrix is arranged in pointer magazine, and pointer magazine is placed on below feeding platform 53 being moved to pressing device 4 by feed cylinder 51.

See Fig. 3, this visual analysis navigation system 6 comprises the main camera 61 be arranged on pressing device 4, be arranged on auxiliary camera 62 above clamping device 7 panoramic table 71 assembly station 711 and visual analysis module 63.This visual analysis module 63 comprises that the vision of the qualified pointer of automatic search seeks pin module 631, needle shaft correction module 632 and the correct zero scale individual difference position of instrument calibration needle shaft position individual difference make each instrument point to consistent zero correction module 633.

During operation, first open gas circuit, open device Host power supply, after display shows login window, log in pressing system with operator's account.In pressing main window, select to treat that the model of pressing instrument board is clicked start pressing button, system power on first or anxious stop after automatically first can carry out back to zero operation by Z-direction altitude calibration mechanism 34, then enter normal pressing state.To treat that the clamping station 712 of pressing instrument board 9 at clamping device 7 carries out clamping by grip block mechanism 73, after the signal detection that puts in place, grip block mechanism 73 automatically holds tightly and treats pressing instrument board 9, the display 231 of human-computer interaction interface 23 ejects confirmation and treats that whether pressing instrument board 9 outward appearance is normal, the panoramic table 71 performing clamping device 7 after confirming rotates, and makes to treat that pressing instrument board 9 enters assembly station 71.The pressing head 42 of pressing device 7 moves to the top of feeding device 5 by three axle servo motion platforms 3, main camera 61 in visual analysis navigation system 6 obtains the pointer position of the gauge pointer in array in feeding device 5 and has pin needleless status information, and seeks pin module 631 by the vision in visual analysis module 63 and needle shaft correction module 632 carries out analyzing and correcting.In the present embodiment, this pressing head 42 has two, after one A pressing head picks up pin, carries out A/B pressing head and switches, then undertaken picking up pin by B pressing head by head cylinder 43.Before pressing head 42 moves and carries out picking up pin, paw cylinder 4281 makes paw push pedal 4282 promote paw connecting rod 4284 and then drives paw slide block 4285 that paw 4287 is opened, two pressing heads 42 move, the negative pressure sucker axle 4271 of Shi Zhen mechanism 427 rises, move to above feeding device 5 get pin position after, A pressing head switches descending by head cylinder 43, stretch out negative pressure sucker axle 4271, return after suction spindle, paw 4287 is closed, paw mechanism 428 rollback, pointer workpiece is withstood and by the paw groove 4288 automatic calibration pointer position on paw 4287 with negative pressure sucker axle 4271, after A pressing head completes and picks up pin, B pressing head picks up pin in the same way again.42, two the pressing machines after picking up pin that complete move to presetting position, assembly center point and angle of assembling is caught by the auxiliary camera 62 in visual analysis navigation system 6, and measure assembling Z-direction height and position, control pressing head 42 by master control system 2 after being analyzed by visual analysis module 63 and move to destination coordinate position.Switch A pressing head descending, and control three axle servo motion platform 3Z axle servo slide table mechanisms 33 and slowly sent into certain distance, open paw 4287, rollback Z axis servo slide table mechanism 33 1 relative distances, negative pressure sucker axle 4271 moves down to spacing, and Z axis servo slide table mechanism 33 moves down press-in pointer workpiece to certain depth distance, and then A pressing head switches rollback, negative pressure sucker axle 4271 rollback, ranging mechanism 429 moves to top and measures.After A pressing head completes the pressing of one of them pointer, B pressing head completes the pressing of another pointer in the same fashion.After completing pressing, numerical value is compared by master control system, provides the margin of tolerance of practical set.After assembling terminates, panoramic table 71 screws out assembly station 711, and what complete clamping at clamping station 712 treats that pressing instrument board 9 enters assembly station 711 simultaneously, repeats pressing work.

Specific embodiment is to more clearly understand the present invention, do not limit as to the one of right of the present invention, under the prerequisite not departing from present inventive concept, various change can be had, all these to the apparent amendment of described those skilled in the art by be included in this claim scope within.

Claims (9)

1. an automobile instrument automatic pressing needle system, comprises master control system, the pressing device controlled by master control system and the clamping device for clamping instrument board; It is characterized in that: described master control system comprises main control computer, control module, man-machine interface and visual analysis navigation system; Described pressing device comprises the motion platform be arranged on a stand, arranges pressing head on the moving platform and feeding device; Described motion platform is a three-axis servo platform; The press mechanism that picks up that gauge pointer position in the feeding device that described control module obtains according to visual analysis navigation system and status data control in described pressing device gets pin, and what obtain according to visual analysis navigation system treats pressing instrument board motor shaft coordinate position and control pressing angle and the pressing degree of depth of described pressing device from the angle position data placed needed for the pointer of man-machine interface input.
2. pressing system according to claim 1, is characterized in that: described control module comprises the servo controller controlled described motion platform and the pressing controller controlled pressing device.
3. pressing system according to claim 1 and 2, is characterized in that: described visual analysis navigation system comprises and one is arranged on main camera on pressing device, is arranged on and treats auxiliary camera above pressing instrument board and visual analysis module.
4. pressing system according to claim 3, is characterized in that: the vision that described visual analysis module comprises the qualified pointer of automatic search seeks the needle shaft correction module of pin module and instrument calibration needle shaft position individual difference.
5. pressing system according to claim 4, is characterized in that: described visual analysis module also comprises correct zero scale individual difference position, keeps each instrument to point to consistent zero correction module.
6. pressing system according to claim 1 and 2, is characterized in that: describedly pick up in press mechanism the pressure sensor being provided with a pair pressing pressure and carrying out feeding back.
7. pressing system according to claim 1 and 2, is characterized in that: the ranging mechanism of carrying out the verification of the pressing degree of depth be also provided with a pair pressing on described pressing device after.
8. pressing system according to claim 3, is characterized in that: describedly pick up in press mechanism the pressure sensor being provided with a pair pressing pressure and carrying out feeding back.
9. pressing system according to claim 3, is characterized in that: the ranging mechanism of carrying out the verification of the pressing degree of depth be also provided with a pair pressing on described pressing device after.
CN201410847181.1A 2014-12-31 2014-12-31 A kind of automatic pressing system of automobile instrument CN104786036B (en)

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CN105598662A (en) * 2016-03-25 2016-05-25 航天科技控股集团股份有限公司 Automatic pointer pressing device for motormeter, system and method for automatically pressing pointer
CN105651326A (en) * 2016-03-07 2016-06-08 郑州精益达汽车零部件有限公司 Full-automatic pointer pressing detection equipment for automobile instrument panel
CN105643239A (en) * 2016-03-24 2016-06-08 航天科技控股集团股份有限公司 Meter pointer pressure self-positioning mechanism for automobiles and positioning method
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CN109238341A (en) * 2018-11-12 2019-01-18 安徽江淮汽车集团股份有限公司 A kind of zero method of instrument automation pointer school
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