CN105571406A - Automatic control assembling system for initiating explosive device - Google Patents
Automatic control assembling system for initiating explosive device Download PDFInfo
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- CN105571406A CN105571406A CN201510981031.4A CN201510981031A CN105571406A CN 105571406 A CN105571406 A CN 105571406A CN 201510981031 A CN201510981031 A CN 201510981031A CN 105571406 A CN105571406 A CN 105571406A
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- truss
- encapsulating
- assembling
- leading screw
- motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B3/00—Blasting cartridges, i.e. case and explosive
- F42B3/10—Initiators therefor
- F42B3/195—Manufacture
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- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic control assembling system for an initiating explosive device. The automatic control assembling system is composed of an assembling robot, a sliding assembling table, a glue filling mechanism, a charging mechanism and a composite mechanism. A truss is fixed to the foundation face and provided with a thermal infrared imager used for monitoring the temperature of the assembling area. A protective fence is located on the side face of the truss, the assembling robot is arranged in the protective fence, and the assembling robot is used for grabbing components of the initiating explosive device. The sliding assembling table is located between the protective fence and the truss. The glue filling mechanism, the charging mechanism and the composite mechanism are fixedly connected to the side wall face of the truss. An industrial camera is arranged between the charging mechanism and the glue filling mechanism and used for monitoring and detecting the assembling procedure. Protective covers are laid on pits at the two ends of the sliding assembling table. According to the automatic control assembling system for the initiating explosive device, by means of automatic control over the procedures of feeding, explosive pressing, glue filling and finished product taking, the assembling production is automatically controlled, the assembling precision and efficiency are improved, the production safety factor is high, and the influence on the production efficiency from human factors is lowered.
Description
Technical field
The present invention relates to a kind of Automated assembly and detection system, specifically, relate to a kind of priming system automatic control assembly system.Belong to Machine Design and automation field.
Background technology
Medicine block, glue otherwise dangerous materials, primarily of housing, medicine block, glue and blanking cover composition, are encased in housing according to technological process by instrument, complete the assembling of priming system by priming system successively.Existing assembling line is encased in housing by medicine block by instrument by operating personnel, and then after completing encapsulating, screwing blanking cover assembly technology flow process, taken away the priming system assembled by operating personnel.Existing priming system assembly line has defect: 1) in the process of filling medicine block, operating personnel's on-site manual completes the filling of medicine block, the filling of glue and takes finished product away, the isolation distance of operating personnel and priming system ensures limited, and operating personnel also may occur operate miss situation, potential safety hazard can be brought to production.2) because the filling of housing and medicine block mainly adopts manual installation adjustment to realize, wherein the position error that causes of human factor and environmental factor is comparatively large, have impact on assembly quality and assembly precision.3) in the powder charge stage, operating personnel need repeatedly to place housing and medicine block, then carry out encapsulating assembly technology flow process, to be assembled complete after take finished product away again; The time of assembling single product is longer, and labour intensity is large, causes efficiency of assembling low.The deficiency of existing existence is unfavorable for that priming system assembling line realizes automatically producing and enhancing productivity, ensure safety and assembly quality, and reduces production cost.
Summary of the invention
In order to avoid the deficiency that prior art exists, the present invention proposes a kind of priming system automatic control assembly system.By automation material loading, pressing, encapsulating, get the flow process of finished product, realize automatically controlling Assembling Production, improve production safety coefficient, ensure that operating personnel and erecting yard are isolated, and improve assembly precision and efficiency, reduce the impact of human factor on production efficiency.
The technical solution adopted for the present invention to solve the technical problems is: comprise assembly robot unit, slidable fit platform, encapsulating mechanism, powder charge mechanism, composite structure, truss, thermal infrared imager, industrial camera, protective cover, truss is fixed on ground basal plane, truss is equipped with thermal infrared imager, is used for monitoring the temperature of assembly section; Guard rail is positioned at the side of truss, and assembly robot is arranged on middle part in guard rail, and assembly robot is used for capturing priming system part; Slidable fit platform is between guard rail and truss, and installation parallel with truss, encapsulating mechanism, powder charge mechanism, composite structure are connected on truss side wall respectively, industrial camera is arranged on truss side wall, between powder charge mechanism and encapsulating mechanism, industrial camera is used for monitor and detection assemble flow; Protective cover is laid on slidable fit platform two ends and is positioned at above melt pit, and when sliding table moves, protective cover shrinks superimposed thereupon;
Described assembly robot unit comprises assembly robot, conversion support, optoelectronic switch, adapter, end effector, sucker, encapsulating head rack, encapsulating head, arc-shaped claws, vision camera, vision camera is arranged on assembly robot end effector place, and vision camera captures the part of priming system for identifying; Conversion support is fixed on middle part on guard rail madial wall, multiple adapter is equidistantly fixed on the top of conversion support, end effector is connected with sucker and is placed in the snap ring of adapter end, and optoelectronic switch is fixed on the side being positioned at end effector in the middle of adapter; Two encapsulating head racks are separately fixed on guard rail madial wall, and be mounted opposite, multiple arc-shaped claws is arranged on encapsulating head rack inner sidewall upper portion, encapsulating head is placed in arc-shaped claws, assembly robot captures the end that encapsulating head is arranged on encapsulating mechanism, carries out filling glue to priming system;
Described slidable fit platform comprises sliding table, circular index dish, fixture, guide rail, guide rail is fixed in the melt pit of truss side, circular index dish is connected by base slider and guide rail, double-deck fixture, between sliding table and circular index dish, sliding table has assembling circular hole and part switching groove, glue cleaning circular groove;
Described encapsulating mechanism comprises glue blending device, leading screw, the first motor, encapsulating mechanism is connected with truss by support, leading screw is rack-mount, first motor is positioned at leading screw top, first motor output shaft is connected with leading screw one end, and the leading screw other end is connected with glue blending device, and encapsulating head is arranged on the end of glue blending device, encapsulating head is used for the mixing of glue built with wind wheel, be expressed in the housing of priming system by vavuum pump by the glue in encapsulating head;
Described powder charge mechanism comprises the second motor, the 3rd motor, linkage, ball bearing, leading screw, powder charge mechanism is arranged on truss wall by linkage, second motor is positioned at leading screw top, second motor output shaft is connected with leading screw, ball bearing is arranged in the middle of leading screw end and sucker, powder charge mechanism captures the medicine block that sliding table is placed in part switching groove by sucker, the 3rd motor is arranged on above linkage, and the 3rd motor drive link mechanism makes powder charge mechanism horizontal direction move;
Described composite structure comprises screw device, torque sensor, gas conduit, end cap, pressing disk, pressing disk is connected with screw device respectively with end cap, the pressing disk bottom surface of screw device end has multiple alignment pin and blanking cover locating hole points of engagement to locate, torque sensor is positioned at above pressing disk, torque sensor be used for Real-time Collection feedback screw moment information, gas conduit one end is connected with end cap, and the gas conduit other end is connected with compressor; Linear electric motors are fixed on composite structure, and linear electric motors drive composite structure to slide along the upright guide rail on truss.
The center line of encapsulating mechanism, powder charge mechanism, composite structure and slidable fit platform axes normal.
Described truss adopts alloy in lightweight Steel material.
Beneficial effect
The priming system automatic control assembly system that the present invention proposes, compared with prior art:
1. protect operator and apparatus for production line safety; Ensured that operating personnel and priming system are isolated simultaneously, operating personnel still by monitor window telemonitoring production line assembly work situation, reduce labour intensity, and what effectively prevent maloperation appearance may and prevent induced detonation from occurring.
2. Assembling Production efficiency gets a promotion; Priming system assembly system achieves automation material loading, pressing, encapsulating, gets the flow process of finished product, eliminates the time that operating personnel assemble repeatedly, reduces the impact of human factor on production efficiency.
3. assembly precision is improved; Assembling process by arrange industrial camera and thermal infrared imager checkout equipment carry out on-site supervision, by assembly robot coordinate auxiliary equipment complete material loading and assemble flow, ensure and improve assembly precision.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of priming system automatic control assembly system of the present invention is described in further detail.
Fig. 1 is priming system automatic control assembly system schematic diagram of the present invention.
Fig. 2 is assembly robot schematic diagram of the present invention.
Fig. 3 is the vision camera schematic diagram of assembly robot of the present invention.
Fig. 4 is slidable fit platform structural representation of the present invention.
Fig. 5 a, Fig. 5 b are sliding table schematic diagram of the present invention.
Fig. 6 a, Fig. 6 b are clamp structure schematic diagram of the present invention.
Fig. 7 a, Fig. 7 b are circular index dish schematic diagram of the present invention.
Fig. 8 is conversion support schematic diagram of the present invention.
Fig. 9 is end effector of robot adapter base structure figure of the present invention.
Figure 10 is encapsulating fast replacing device schematic diagram of the present invention.
Figure 11 is industrial camera side view of the present invention.
Figure 12 is encapsulating structural scheme of mechanism of the present invention.
Figure 13 is glue blending device of the present invention and encapsulating working head enlarged drawing.
Figure 14 is linkage schematic diagram of the present invention.
Figure 15 is composite structure schematic diagram of the present invention.
Figure 16 is truss schematic diagram of the present invention.
In figure:
1. assembly robot 2. vision camera 3. guard rail 4. conversion support 5. end effector 6. sucker 7. optoelectronic switch 8. adapter 9. industrial camera 10. encapsulating head rack 11. encapsulating head 12. arc-shaped claws 13. sliding table 14. circular index dish 15. fixture 16. guide rail 17. part switching groove 18. assembles glue blending device 23. powder charge mechanism 24. of circular hole 19. glue cleaning circular groove 20. protective cover 21. encapsulating mechanism 22. leading screw 25. first motor 26. second motor 27. the 3rd motor 28. linkage 29. ball bearing 30. composite structure 31. screw device 32. torque sensor 33. truss 34. thermal infrared imager 35. gas conduit 36. end cap 37. pressing disk
Detailed description of the invention
The present embodiment is a kind of priming system automatic control assembly system.
Consult Fig. 1 ~ Figure 16, this example priming system automatic control assembly system is made up of assembly robot unit, slidable fit platform, encapsulating mechanism, powder charge mechanism, composite structure, truss, thermal infrared imager, industrial camera, protective cover; Truss 33 adopts alloy in lightweight Steel material, is fixed on ground basal plane by foundation bolt.Thermal infrared imager 34 is arranged on truss 33, is used for monitoring the temperature of whole assembly section, avoids that temperature is too high causes security incident.Guard rail 3 is fixed on the side of truss 33, and assembly robot 1 is arranged on middle part in guard rail 3, and assembly robot 1 is for capturing priming system part.Slidable fit platform is arranged between guard rail 3 and truss 33, and installation parallel with truss 33; Encapsulating mechanism 21, powder charge mechanism 23, composite structure are connected on truss 33 side wall surface respectively, and industrial camera 9 is arranged on truss 33 side wall surface between charging machine structure 23 and encapsulating mechanism 21, and industrial camera 9 is used for monitor and detection assemble flow; Protective cover 20 is laid on above the melt pit at slidable fit platform two ends, and when sliding table 13 moves, protective cover 22 shrinks superimposed thereupon, makes slidable fit platform be in the covering protection of protective cover 22; Protective cover 22 is used for water proof and dust proof and operation safety protection.
Assembly robot unit comprises assembly robot 1, conversion support 4, optoelectronic switch 7, adapter 8, end effector 5, sucker 6, encapsulating head rack 10, encapsulating head 11, arc-shaped claws 12, vision camera 2, vision camera 2 is arranged on assembly robot 1 end effector place, and vision camera 2 is used for identifying the part of priming system.Conversion support 4 is arranged on middle part on guard rail 3 madial wall, multiple adapters 8 are equidistantly fixed on the top of conversion support 4, end effector 5 be connected with sucker 6 be placed on adapter 8 end snap ring in, the vision camera 2 of assembly robot 1 carries out identification part, is captured the part of priming system by end effector 5 and sucker 6.Whether optoelectronic switch 7 is fixed in the middle of adapter 8, is positioned at the side of end effector 5, be used for detecting end effector 5 and accurately taken off.Two encapsulating head racks 10 are separately fixed on guard rail madial wall, and two encapsulating head racks 10 are mounted opposite; Multiple arc-shaped claws 12 is arranged on encapsulating head rack 10 inner sidewall upper portion, and encapsulating head 11 is placed in arc-shaped claws 12, and assembly robot 1 captures the end that encapsulating head 11 is arranged on encapsulating mechanism 21, carries out the filling of glue to priming system.
Slidable fit platform comprises sliding table 13, circular index dish 14, fixture 15, guide rail 16, because the housing of priming system is higher, needs slidable fit platform to be arranged in melt pit.Guide rail 16 is fixed in the melt pit of truss 33 side, circular index dish 14 is connected by base slider and guide rail 16, double-deck fixture 15 is arranged between sliding table 13 and circular index dish 14, fixture 15 adopts double-deck scroll chuck structure to be clamped by the housing of priming system, and adopts circular index dish 14 to realize calibration and the revolution of assembling process priming system.Sliding table 13 there is assembling circular hole 18, the sliding table 13 of assembling circular hole both sides has respectively part switching groove 17, glue cleaning circular groove 19; Wherein, part switching groove 17 is used for temporarily depositing the part captured by assembly robot 1, plays part switching effect; Assembling circular hole 18 is used for placing the housing of priming system, completes the assembling of the filling of medicine block, the perfusion of glue and other part; Glue cleaning circular groove 19 is used for the glue that cleaning components adheres to.Sliding table 13 moves along guide rail 16, is accurately positioned to each assembly station and carries out assembling work.
In the present embodiment, encapsulating mechanism 21, powder charge mechanism 23, composite structure 30 are arranged on directly over slidable fit platform respectively, and the center line of encapsulating mechanism, powder charge mechanism, composite structure and slidable fit platform axes normal.Encapsulating mechanism 21 comprises glue blending device 22, leading screw 24, first motor 25, encapsulating mechanism 21 is connected with truss 33 by support, leading screw 24 is rack-mount, first motor 25 is arranged on leading screw 24 top, first motor 25 output shaft is connected with leading screw 24 one end, leading screw 24 other end is connected with glue blending device 22, encapsulating head 11 is arranged on the end of glue blending device 22, encapsulating head 11 is used for the mixing of glue built with wind wheel, is expressed in the housing of priming system by the glue in encapsulating head 11 by vavuum pump.Powder charge mechanism 23 comprises the second motor 26, the 3rd motor 27, linkage 28, ball bearing 29, leading screw, powder charge mechanism 23 is arranged on truss 33 wall by linkage 28, second motor 26 is fixed on leading screw top ends, second motor 26 output shaft is connected with leading screw, is used for driving leading screw to carry out the movement of vertical direction; Ball bearing 29 is arranged in the middle of leading screw end and sucker 6, powder charge mechanism 23 captures the medicine block that sliding table 13 is placed in part switching groove 17 by sucker 6,3rd motor 27 is arranged on above linkage 28, and the 3rd motor 27 drive link mechanism 28 makes powder charge mechanism 23 horizontal direction move.Composite structure comprises screw device 31, torque sensor 32, gas conduit 35, end cap 36, pressing disk 37, pressing disk 37 is connected with screw device 31 respectively with end cap 36, pressing disk 37 bottom surface of screw device 31 end has multiple alignment pin to be used for carrying out point location with blanking cover, and the locating hole on alignment pin and blanking cover surface is involutory to be installed to blanking cover on the housing of priming system.Torque sensor 32 is arranged on above pressing disk 37, torque sensor 32 be used for Real-time Collection feedback screw moment information.Gas conduit 35 one end is connected with end cap 36, and gas conduit 35 other end is connected with compressor and carries out extracting vacuum to priming system inside.Linear electric motors are fixed on composite structure 30, and linear electric motors drive composite structure 30 to slide along the upright guide rail on truss 33.
Priming system assemble flow:
First use overhead traveling crane to be lifted into by the housing of priming system to be assembled in assembling circular hole on sliding table 13, housing is clamped by double-deck fixture 15 and is corrected, and housing is vertical with sliding table 13.After priming system part is delivered to assigned address by material storage system, assembly robot 1 changes corresponding end effector, and assembly robot 1 is identified by vision camera 2 and captures part, is placed by part in the part switching groove 17 of sliding table 13.
Second motor 26 of the mechanism of powder charge subsequently 23 drives leading screw to move to part switching groove 17 place straight down, medicine block drawn by the sucker 6 of powder charge mechanism 23, sliding table 13 moves to powder charge station, powder charge mechanism 23 is first deep into the inside of priming system housing by the second motor 26 of vertical direction, moved in the direction being parallel to sliding table 13 movement by the 3rd motor 27 coupler link mechanism 28 of horizontal direction again, medicine block is encased in the housing of priming system by the ball bearing 29 that end effector place of powder charge mechanism 23 installs and sucker, after treating that medicine is packaged and filling out, sliding table 13 moves to encapsulating station and carries out encapsulating, encapsulating mechanism 21 moves to straight down above priming system housing under the driving of the first motor 25, by glue pouring machine, glue is transported in glue blending device 22, the enclosure interior that the glue mixed is expressed to priming system by gases at high pressure is filled with again in encapsulating head 11, complete encapsulating flow process.
After encapsulating completes, sliding table 13 moves to multi-procedure to carry out vacuumizing and pressing block flow process, composite structure 30 moves to the housing upper face of priming system straight down under the driving of linear electric motors along guide rail, end cap 36 compresses housing upper surface and seals, the air in housing is extracted subsequently, by the air gauge display enclosure interior gas capacity on vavuum pump by vavuum pump.To be achieved meet production requirement after, pressing disk 37 continues to move to enclosure interior under the driving of linear electric motors, is extruded by the medicine block filled, until medicine block flatten.Repetition charge blocks-encapsulating-vacuumize operation process; The last installation being carried out blanking cover by screw device 31, there is multiple alignment pin pressing disk 37 bottom surface of the end effector of screw device 31, is used for carrying out point location with blanking cover, and the locating hole on alignment pin and blanking cover surface is involutory to be installed on the housing of priming system by blanking cover; Torque sensor 32 is arranged on above the pressing disk 37 of screw device 31 end, be used for Real-time Collection feedback screw moment information.The each mechanism in workspace coordinative operation, completes the assembling of priming system jointly.Glue cleaning circular groove 19 on sliding table 13 is used for cleaning the glue that priming system assemble mechanism speckles with, and avoiding glue to cause solidification because not cleaning for a long time, affecting follow-up assembly technology.
Guard rail 3 is used for protecting assembly robot unit, and be provided with watch-dog in assembly section, operating personnel monitor whole assembly technology flow process by remote interface.
Claims (3)
1. a priming system automatic control assembly system, it is characterized in that: comprise assembly robot unit, slidable fit platform, encapsulating mechanism, powder charge mechanism, composite structure, truss, thermal infrared imager, industrial camera, protective cover, truss is fixed on ground basal plane, truss is equipped with thermal infrared imager, is used for monitoring the temperature of assembly section; Guard rail is positioned at the side of truss, and assembly robot is arranged on middle part in guard rail, and assembly robot is used for capturing priming system part; Slidable fit platform is between guard rail and truss, and installation parallel with truss, encapsulating mechanism, powder charge mechanism, composite structure are connected on truss side wall respectively, industrial camera is arranged on truss side wall, between powder charge mechanism and encapsulating mechanism, industrial camera is used for monitor and detection assemble flow; Protective cover is laid on slidable fit platform two ends and is positioned at above melt pit, and when sliding table moves, protective cover shrinks superimposed thereupon;
Described assembly robot unit comprises assembly robot, conversion support, optoelectronic switch, adapter, end effector, sucker, encapsulating head rack, encapsulating head, arc-shaped claws, vision camera, vision camera is arranged on assembly robot end effector place, and vision camera captures the part of priming system for identifying; Conversion support is fixed on middle part on guard rail madial wall, multiple adapter is equidistantly fixed on the top of conversion support, end effector is connected with sucker and is placed in the snap ring of adapter end, and optoelectronic switch is fixed on the side being positioned at end effector in the middle of adapter; Two encapsulating head racks are separately fixed on guard rail madial wall, and be mounted opposite, multiple arc-shaped claws is arranged on encapsulating head rack inner sidewall upper portion, encapsulating head is placed in arc-shaped claws, assembly robot captures the end that encapsulating head is arranged on encapsulating mechanism, carries out filling glue to priming system;
Described slidable fit platform comprises sliding table, circular index dish, fixture, guide rail, guide rail is fixed in the melt pit of truss side, circular index dish is connected by base slider and guide rail, double-deck fixture, between sliding table and circular index dish, sliding table has assembling circular hole and part switching groove, glue cleaning circular groove;
Described encapsulating mechanism comprises glue blending device, leading screw, the first motor, encapsulating mechanism is connected with truss by support, leading screw is rack-mount, first motor is positioned at leading screw top, first motor output shaft is connected with leading screw one end, and the leading screw other end is connected with glue blending device, and encapsulating head is arranged on the end of glue blending device, encapsulating head is used for the mixing of glue built with wind wheel, is expressed in the housing of priming system by vavuum pump by the glue in encapsulating head;
Described powder charge mechanism comprises the second motor, the 3rd motor, linkage, ball bearing, leading screw, powder charge mechanism is arranged on truss wall by linkage, second motor is positioned at leading screw top, second motor output shaft is connected with leading screw, ball bearing is arranged in the middle of leading screw end and sucker, powder charge mechanism captures the medicine block that sliding table is placed in part switching groove by sucker, the 3rd motor is arranged on above linkage, and the 3rd motor drive link mechanism makes powder charge mechanism horizontal direction move;
Described composite structure comprises screw device, torque sensor, gas conduit, end cap, pressing disk, pressing disk is connected with screw device respectively with end cap, the pressing disk bottom surface of screw device end has multiple alignment pin and blanking cover locating hole points of engagement to locate, torque sensor is positioned at above pressing disk, torque sensor be used for Real-time Collection feedback screw moment information, gas conduit one end is connected with end cap, and the gas conduit other end is connected with compressor; Linear electric motors are fixed on composite structure, and linear electric motors drive composite structure to slide along the upright guide rail on truss.
2. priming system automatic control assembly system according to claim 1, is characterized in that: the center line of encapsulating mechanism, powder charge mechanism, composite structure and slidable fit platform axes normal.
3. priming system automatic control assembly system according to claim 1, is characterized in that: described truss adopts alloy in lightweight Steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981031.4A CN105571406B (en) | 2015-12-24 | 2015-12-24 | A kind of priming system automatic control assembly system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510981031.4A CN105571406B (en) | 2015-12-24 | 2015-12-24 | A kind of priming system automatic control assembly system |
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| CN105571406A true CN105571406A (en) | 2016-05-11 |
| CN105571406B CN105571406B (en) | 2017-03-29 |
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| CN201510981031.4A Active CN105571406B (en) | 2015-12-24 | 2015-12-24 | A kind of priming system automatic control assembly system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107144181A (en) * | 2017-06-28 | 2017-09-08 | 北京航天三发高科技有限公司 | One kind closes thorax machine and its application method |
| CN108225127A (en) * | 2016-12-15 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of sector medicine block charge system |
| CN108801069A (en) * | 2018-06-20 | 2018-11-13 | 河北远东通信系统工程有限公司 | A kind of priming system automatic assembly system |
| CN111015207A (en) * | 2019-12-06 | 2020-04-17 | 湖北三江航天江河化工科技有限公司 | Automatic assembly system and assembly method for standard test engine |
| CN112960346A (en) * | 2021-02-02 | 2021-06-15 | 成都辰启电子科技有限公司 | Military product production logistics system |
| CN114264201A (en) * | 2021-11-28 | 2022-04-01 | 西安北方庆华机电有限公司 | Initiating explosive device suppression device |
| CN114799863A (en) * | 2022-04-12 | 2022-07-29 | 陕西电器研究所 | Automatic assembly control system of power device |
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| CN203349712U (en) * | 2013-07-16 | 2013-12-18 | 湖北凯龙化工集团股份有限公司 | Automatic charging and packaging production line for seismic explosive columns of emulsion explosives |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108225127A (en) * | 2016-12-15 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of sector medicine block charge system |
| CN107144181A (en) * | 2017-06-28 | 2017-09-08 | 北京航天三发高科技有限公司 | One kind closes thorax machine and its application method |
| CN107144181B (en) * | 2017-06-28 | 2023-05-23 | 北京航天三发高科技有限公司 | Bore closing machine and use method thereof |
| CN108801069A (en) * | 2018-06-20 | 2018-11-13 | 河北远东通信系统工程有限公司 | A kind of priming system automatic assembly system |
| CN111015207A (en) * | 2019-12-06 | 2020-04-17 | 湖北三江航天江河化工科技有限公司 | Automatic assembly system and assembly method for standard test engine |
| CN111015207B (en) * | 2019-12-06 | 2020-11-17 | 湖北三江航天江河化工科技有限公司 | Automatic assembly system and assembly method for standard test engine |
| CN112960346A (en) * | 2021-02-02 | 2021-06-15 | 成都辰启电子科技有限公司 | Military product production logistics system |
| CN114264201A (en) * | 2021-11-28 | 2022-04-01 | 西安北方庆华机电有限公司 | Initiating explosive device suppression device |
| CN114799863A (en) * | 2022-04-12 | 2022-07-29 | 陕西电器研究所 | Automatic assembly control system of power device |
| CN114799863B (en) * | 2022-04-12 | 2023-12-19 | 陕西电器研究所 | Automatic assembling control system of power device |
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| Publication number | Publication date |
|---|---|
| CN105571406B (en) | 2017-03-29 |
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