CN109571345A - A kind of Intelligent assembly production induction monitoring device - Google Patents
A kind of Intelligent assembly production induction monitoring device Download PDFInfo
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- CN109571345A CN109571345A CN201811549856.9A CN201811549856A CN109571345A CN 109571345 A CN109571345 A CN 109571345A CN 201811549856 A CN201811549856 A CN 201811549856A CN 109571345 A CN109571345 A CN 109571345A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/12—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with storage compartments
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Factory Administration (AREA)
Abstract
The invention discloses a kind of Intelligent assemblies to produce induction monitoring device, the equipment includes that fitter's bench, Intelligent assembly induction monitoring system, loading and unloading system and electric control system, fitter's bench specifically include workbench body, job library, workbench loading and unloading system, tool storage room, image-forming detecting system, power-supply system and anti-static system；It includes kinect body-sensing inductor, projector, display, material indicator light matrix, tool indicator light matrix, buzzing alarm lamp, barcode scanning gun, PLC, industrial personal computer and low-voltage electrical apparatus that Intelligent assembly, which induces monitoring system,；Loading and unloading system includes bracket, the offline system of magazine and brake system；Electric control system is electrically connected with Intelligent assembly induction monitoring system and picks.The device has the advantages that intelligence, wrong-mounting prevention, assembling link monitor entirely, product quality is traceable, customizable, demonstration teaching, application are flexible, and the usage scenario of the device has versatility.
Description
Technical field
The present invention relates to Automated assembly technical field more particularly to a kind of Intelligent assembly production induction monitoring dresses
It sets.
Background technique
Currently, Automated assembly technology is obtained in occasions such as assembly space is open, assembly movement is fixed, rigid components assembly
To being widely applied, assembly space is limited, assembly degree of flexibility height, cable assembly, small complex component assembly, Custom Prosthesis production
It can not then be applied when product assembly, hand assembled just solves the application scenarios limitation of Automated assembly technology, assembly
Platform of the workbench as hand assembled has the functions such as material storage, illumination, antistatic, tool box, power supply, at present mostly
What number assembly shop used is all the traditional fitter's bench for having above-mentioned function.Traditional fitter's bench in use,
Information interaction hardly occurs with operator, material surplus deficiency, feeding mistake, tool improper use, assembling process is occurring
Operator can not be prompted to carry out relevant operation when the problems such as can not recording, cause hand assembled low efficiency and assembling quality unstable
It is fixed.
As user is higher and higher to Product Assembly level requirement, personalized customization demand is more more and more intense, and intelligence is made
Make, the new technologies such as Internet of Things, artificial intelligence are widely used in during Product Assembly, but traditional fitter's bench is novel
The effect that can be played under hand assembled mode is limited, while the application of result of new technology bring can not work in hand assembled
In.
Summary of the invention
Produce induction monitoring device the object of the present invention is to provide a kind of Intelligent assembly, the device have it is intelligent,
The advantage that wrong-mounting prevention, assembling link monitor entirely, product quality is traceable, customizable, demonstration teaching, application are flexible, and should
The usage scenario of device has versatility.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of Intelligent assembly production induction monitoring device, the equipment includes fitter's bench, Intelligent assembly
Induce monitoring system, loading and unloading system and electric control system, in which:
The fitter's bench specifically includes workbench body, job library, workbench loading and unloading system, tool storage room, imaging
Detection system, power-supply system and anti-static system, in which:
Basic module of the workbench body as the fitter's bench, by rack, table top, workbench column, work
Make platform suspension and workbench arrangement components composition, can be extended and configure according to assembly demand；
The job library is made of the PVC magazine of different size, for holding various standard components and structural member, each magazine
Size and location can be adjusted according to assembly method, unique two dimensional code is corresponded on each magazine, can be fast by barcode scanning
Speed understands the characteristic and specification that material is held in each magazine；
The tool storage room is used to place the tool of all kinds of assembly, detection, welding, can be carried out according to different tool demands
It custom-configures, intelligent indicating module is provided in the tool storage room, each step can be prompted to fill using the intelligence indicating module
With used tool, to improve assembly efficiency and reduce error rate；
The power-supply system includes power outlet, compressed air joint, network interface, USB interface and RCD switch, is used for
Power supply is provided for the fitter's bench；
The anti-static system all components according to involved in assembling process provide comprehensive antistatic protection；
The Intelligent assembly induction monitoring system includes kinect body-sensing inductor, projector, display, material indicator light
Matrix, tool indicator light matrix, buzzing alarm lamp, barcode scanning gun, PLC, industrial personal computer and low-voltage electrical apparatus, in which:
The sensor that Intelligent assembly induction monitoring system is transmitted by acquiring and analyzing the kinect body-sensing inductor
Data carry out data-signal output to the export-oriented projector, display, material indicator light matrix, tool indicator light matrix, real
Existing assembling process of products configuration, the guidance of three-dimensional assembly technique animation, the induction of Assembling Production process, paperless work, assembling process
The Intelligent assembly that qualitative data automatic collection, operator manage induces monitoring function, and provides integrated interface to other systems；
The loading and unloading system includes bracket, the offline system of magazine and brake system, the loading and unloading system and magazine feeding
System is docked, and is carried out the online of the offline and full magazine of empty magazine according to actual needs, is realized the smooth transport of material；
The electric control system and the Intelligent assembly induction monitoring system be electrically connecteds, by Ethernet realization with it is described
The communication of the PLC and high-definition camera of Intelligent assembly induction monitoring system, the projector of the Intelligent assembly induction monitoring system,
Display, barcode scanning gun and kinect body-sensing inductor realize the system integration by host interface, in which: the PLC receives institute
The control instruction that the host of electric control system is sent is stated, lights corresponding indicator light, while scanning exterior I/O device state, when
Status information is uploaded to the host when exterior I/O device state changes.
The fitter's bench uses modularized design, can be equipped with custom fit tooling and man-machine according to customer demand
Cooperate robot mounting interface.
The Assembling Production process induction specifically includes: the upper work of detection operator, pause and completion date realize body
Movement locus acquisition, display and playback, judgement assembly action correctness, feeding position real-time prompting and result judgement, tool position
Set real-time prompting and result judgement, tool playback management, assembly situation judgement in place, assembling process failure alarms and assembling process
Control.
Described device further includes Work seat, and the Work seat is based on ergonomic design, can easily be according to behaviour
Make the adjustment that personnel's height, fitter's bench height, angle of assembling carry out height, gradient, corner, promotes operator's assembly
The comfort of work.
As seen from the above technical solution provided by the invention, above-mentioned apparatus has intelligence, wrong-mounting prevention, assembling link
The advantage that full monitoring, product quality be traceable, customizable, demonstration teaching, application are flexible, and the usage scenario of the device has
There is versatility.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is Intelligent assembly provided in an embodiment of the present invention production induction monitoring device overall structure diagram.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
The embodiment of the present invention is described in further detail below in conjunction with attached drawing, is implemented as shown in Figure 1 for the present invention
The Intelligent assembly production induction monitoring device overall structure diagram that example provides, the equipment mainly includes assembler
Make platform, Intelligent assembly induction monitoring system, loading and unloading system and electric control system, wherein the concrete composition and function of each component
Are as follows:
The fitter's bench specifically includes workbench body, job library (place standard component, components), above and below workbench
Material system, tool storage room (placing all kinds of assembly, detection, welding tool), image-forming detecting system (fitted position precision, welding matter
Amount detection etc.), power-supply system and anti-static system, provide assembly manipulation platform, material storage, on-line checking, testing number factually
When input, man-machine collaboration, maloperation remind etc. functions, in which:
Basic module of the workbench body as the fitter's bench, by rack, table top, workbench column, work
Make platform suspension and workbench arrangement components composition, can be extended and configure according to assembly demand；In the specific implementation, the work playscript with stage directions
Modularized design can be used in body, and since workbench body variant is varied, each task always has a suitable job
Platform model, can choose and carry out expanding operating platform ontology using column and suspension, and each workbench body can be configured to full
Sufficient particular requirement also supports subsequent new configuration, and height adjustment is to compensate the important means of employee's physical difference, such as employee's body
Height, age, gender and physical mobility, simple height adjustment mechanism also support employee periodically between different work position
Conversion, such as electronic height adjusting system realize it is this conversion only need several seconds, workbench body can according to assembly needs
It is automatically configured, to guarantee to assemble in a short period of time and using the workbench customized；
The job library is made of the PVC magazine of different size, and PVC magazine anti-scratch, anti-impact force are functional and resistance to
Corrosion, for the job library for holding various standard components and structural member, the size and location of each magazine can be according to assembly method
It is adjusted, unique two dimensional code is corresponded on each magazine, can be quickly understood in each magazine by barcode scanning and hold material
Characteristic and specification；
The workbench loading and unloading system is made of mechanical structure, conveyer system, PVC magazine, is a kind of expansible mould
Block docks for the fitter's bench and part carriers, removable delivery vehicle, material transferring line, realizes the flat of material
Steady transmission；
The tool storage room is used to place the tool of all kinds of assembly, detection, welding, can be carried out according to different tool demands
It custom-configures, can ensure that clearly placement tool, to adapt to the different occasions such as cleaning, welding, accuracy detection, Standard,
Furthermore tool balancer, suspension sliding block and retractable spiral hose with snap-action shaft coupling are for cooperating Heavy-duty Tools and pneumatic
Equipment work.Intelligent indicating module is provided in the tool storage room, a part of the intelligence indicating module as control system,
Each step can be prompted to assemble used tool using the intelligence indicating module, to improve assembly efficiency and reduce error rate；
The image-forming detecting system is made of mounting structure, industry camera, light-source system, for measuring the size of assembly
The quality testing of precision and welding process；Wherein, the dimensional accuracy of the measurement assembly is to carry out automatic identification to characteristic size；
The quality testing of the welding process refers to for the assembly work step comprising welding procedure, to the line face of welding after the completion of welding
Color, welding quality are detected automatically, and be will test result and be uploaded in the Intelligent assembly induction monitoring system automatically；
The power-supply system includes power outlet, compressed air joint, network interface, USB interface and RCD switch, is used for
Power supply is provided for the fitter's bench；
The anti-static system all components according to involved in assembling process provide comprehensive antistatic protection；
In the specific implementation, above-mentioned fitter's bench can use modularized design, there is good scalability and flexibility,
Custom fit tooling and man-machine collaboration robot mounting interface can be equipped with according to customer demand.Such as automation is required
Relatively high link can be equipped with small-sized man-machine collaboration robot.
The Intelligent assembly induction monitoring system includes kinect body-sensing inductor (comprising colour TV camera, infrared photography
Machine, depth (infrared) camera, microphone), projector, display, material indicator light matrix, tool indicator light matrix, buzzing
Alarm lamp, barcode scanning gun, PLC, industrial personal computer and low-voltage electrical apparatus, in which:
The sensor that Intelligent assembly induction monitoring system is transmitted by acquiring and analyzing the kinect body-sensing inductor
Data carry out data-signal output to the export-oriented projector, display, material indicator light matrix, tool indicator light matrix, real
Existing assembling process of products configuration, the guidance of three-dimensional assembly technique animation, the induction of Assembling Production process, paperless work, assembling process
The Intelligent assembly that qualitative data automatic collection, operator manage induces monitoring function, and provides integrated interface to other systems.
For example, user can be zero involved in each assembly work step of flexible configuration according to assembling process of products process
The information such as part, standard component, tool, assembly movement, three-dimensional assembly animation, examination criteria, spread-sheet data requirement, as software
The input information of the other functions of system；According to installation step, display and desktop projection three-dimensional assemble animation over the display, can be with
Full animation is played before operation, and the assembly animation of corresponding work step can also be played in assembling process.Three-dimensional assembly animation
The information such as upper display assembly parts title, tool, assembly technical requirement；Then it by kinect body-sensing inductor, captures and analyzes
Operator's body action within the scope of fitter's bench is acted, the fortune of the resources such as relevant people, machine, object, method, ring in assembling process is monitored
Market condition realizes the induction of Assembling Production process.
Here, the Assembling Production process induction specifically includes: the upper work of detection operator, pause and completion date, reality
Appear body movement locus acquisition, display with reset, judgement assembly action correctness, feeding position real-time prompting and result judgement,
Tool location real-time prompting and result judgement, tool playback management, assembly situation judgement in place, assembling process failure alarms and dress
With process control.
In the specific implementation, assembling technology procedure table can be electronic, it is preset in corresponding processing step, operator
Color video frequency image within the scope of colour imagery shot shooting visual angle and bat can be passed through by number generator, mouse, touch screen typing
Picture is taken the photograph, entire production process is recorded, process of producing product is recorded, can be played with real-time display and backtracking, for filling
It is traced with procedure quality.
Operator's management function includes authentication, sends work, report work management.Authentication realize operator's information and
Mission bit stream binding, operator know current fittage by way of input employee coding or dataller's card.It grasps simultaneously
The operation of the report work after task is got and completes can be carried out by making personnel.
In addition, being carried out for information such as the parts information of assembly, operator's information, assembly duration, online inspection results
Record, the source for subsequent quality information tracing.Intelligent assembly induction monitoring system can also provide workshop manufacture and execute
Management system is the management information system integrated interface of representative, and integrated content includes fittage list, operator's information, work order
Deng.Quality data collection system integration interface is provided, realizes mass number acquisition system automatic collection electronic digital indicator, digital display thousand
The measurement data of the detecting instruments such as ruler is divided to be passed in system.
In the specific implementation, Intelligent assembly induces the data of the PLC receiving host transmission in monitoring system and analyzes processing, root
According to analysis and processing result control magazine indicator light, tool indicator light and alarm lamp work, while acquiring exterior I/O signal simultaneously
Packing is uploaded to host.PLC selected by fitter's bench is S7-1200 series of PLC, and basic module integrates two-way network interface, by with
Too net realizes the communication with host application software, supports the various communications protocols such as TCP/IP, MODBUS TCP, PROFINET.?
During inducing software work, host is actively accessed PLC by Ethernet and control instruction is sent to PLC, and PLC analyzes host
The control instruction that sends over simultaneously executes corresponding actions, and when needing to indicate magazine or tool, the indicator light of corresponding position is lighted.When
When assembler does not follow system guide operation, corresponding position indicator light flashing, alarm lamp flashes and issues buzzing alarm；When
When PLC detects that exterior I/O state changes, status information is actively uploaded to host, refers mainly to start, stop key shape
The acquisition of state.
The loading and unloading system includes bracket, the offline system of magazine and brake system, the loading and unloading system and magazine feeding
System is docked, and is carried out the online of the offline and full magazine of empty magazine according to actual needs, is realized the smooth transport of material；
In the specific implementation, foring a continuous workflow, member due to workbench and material transferring line Seamless integration-
Work is not necessarily to the local work in mobile cargo and material, which uses as an independent unit, independently up and down
Material system can be customized according to user demand, which is equipped with wheel, can guarantee the convenience and timeliness of material conveying, and energy
Switch between different Intelligent assembly platforms.
The electric control system and the Intelligent assembly induction monitoring system be electrically connecteds, by Ethernet realization with it is described
The communication of the PLC and high-definition camera of Intelligent assembly induction monitoring system, the projector of the Intelligent assembly induction monitoring system,
Display, barcode scanning gun and kinect body-sensing inductor realize the system integration by host interface (USB, HDMI, VGA etc.),
In: the PLC receives the control instruction that the host of the electric control system is sent, and lights corresponding indicator light, while scanning outer
Status information is uploaded to the host when exterior I/O device state changes by portion's I/O equipment state.
In the specific implementation, the electric control system uses master-slave architecture, realize that part induces assembling function, host is optional
With Dell's desktop computer.
In addition, described device may also include Work seat, the Work seat is based on ergonomic design, can easily
The adjustment that height, gradient, corner are carried out according to operator's height, fitter's bench height, angle of assembling, promotes operator
The comfort of member's assembly work.Since the quality of seat is very big to the comfort and health effect of operator, the seat of high quality
It not only can be adjusted to most suitable perfect position, mitigate the pressure of employee's back, and support can be provided for dynamic sitting posture.Seat
With backrest equipped with liner, the murky of head will not be caused because of back poor blood circulation during the work time, seat omits in advance
Micro- decline promotes personnel to sit straight so that pelvis tilts, and seat is furnished with the backrest of height adjustment, with the inclination containing tension force
Mechanism, user should be able to operate all adjusting selections while sitting.
Above-mentioned apparatus can be used as Workshop manufacturing execution system (MES) and with no paper as assembly station information terminal
Front end machine realizes the Information functions such as assembly technology with no paper, assembling process automatic data collection, component assembly information tracing,
The interface integrated with other workshop information systems has been reserved simultaneously.
It is worth noting that, the content being not described in detail in the embodiment of the present invention belongs to professional and technical personnel in the field's public affairs
The prior art known.
In conclusion described device of the embodiment of the present invention has the advantages that
(1) for multi-varieties and small-batch Product Assembly, be difficult to realize streamlined operation, manual assembly process it is uncontrollable because
Element is relatively more, and process can not be managed, and has gone out that Tracing back of quality questions is relatively difficult, and all of above ask has been solved perfectly in this equipment
Topic；
(2) small enterprise is limited to the pressure of fund, cannot achieve intelligent flowing water assembly in the regular period, to Product Assembly matter
The control of amount is their pain spot, this equipment is at low cost, and product assembly quality control and detection may be implemented；
(3) the teaching function of image can also can both be passed through to newly giveing training into assembly worker using this equipment
It can allow and grasp the required technical ability that is on duty in new employee's short time, the working condition of new employee can also be understood more intuitively.
(4) this equipment can also be applied to school, realize the CAI means to Related product assembly teaching.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
1. a kind of Intelligent assembly production induction monitoring device, which is characterized in that the equipment include fitter's bench,
Intelligent assembly induces monitoring system, loading and unloading system and electric control system, in which:
The fitter's bench specifically includes workbench body, job library, workbench loading and unloading system, tool storage room, image checking
System, power-supply system and anti-static system, in which:
Basic module of the workbench body as the fitter's bench, by rack, table top, workbench column, workbench
Suspension and workbench arrangement components composition, can be extended and configure according to assembly demand；
The job library is made of the PVC magazine of different size, for holding various standard components and structural member, each magazine it is big
Small and position can be adjusted according to assembly method, and unique two dimensional code is corresponded on each magazine, can be quick by barcode scanning
Solve the characteristic and specification that material is held in each magazine；
The workbench loading and unloading system is made of mechanical structure, conveyer system, PVC magazine, is a kind of expansible module, is used
It is docked in the fitter's bench and part carriers, removable delivery vehicle, material transferring line, realizes the steady biography of material
It is defeated；
The tool storage room is used to place the tool of all kinds of assembly, detection, welding, can be made by oneself according to different tool demands
Justice configuration, is provided with intelligent indicating module in the tool storage room, each step can be prompted to assemble institute using the intelligence indicating module
The tool used, to improve assembly efficiency and reduce error rate；
The image-forming detecting system is made of mounting structure, industry camera, light-source system, for measuring the dimensional accuracy of assembly
With the quality testing of welding process, and it will test result and be uploaded in Intelligent assembly induction monitoring system automatically；
The power-supply system includes power outlet, compressed air joint, network interface, USB interface and RCD switch, is used for as institute
It states fitter's bench and power supply is provided；
The anti-static system all components according to involved in assembling process provide comprehensive antistatic protection；
The Intelligent assembly induction monitoring system includes kinect body-sensing inductor, projector, display, material indicator light square
Battle array, tool indicator light matrix, buzzing alarm lamp, barcode scanning gun, PLC, industrial personal computer and low-voltage electrical apparatus, in which:
The sensing data that Intelligent assembly induction monitoring system is transmitted by acquiring and analyzing the kinect body-sensing inductor,
Data-signal output is carried out to the export-oriented projector, display, material indicator light matrix, tool indicator light matrix, realizes and produces
The configuration of product assembly technology, the guidance of three-dimensional assembly technique animation, the induction of Assembling Production process, paperless work, assembling process quality
The Intelligent assembly that automatic data collection, operator manage induces monitoring function, and provides integrated interface to other systems；
The loading and unloading system includes bracket, the offline system of magazine and brake system, the loading and unloading system and magazine feeding system
It is docked, carries out the online of the offline and full magazine of empty magazine according to actual needs, realize the smooth transport of material；
The electric control system is electrically connected with Intelligent assembly induction monitoring system, is realized and the intelligence by Ethernet
The communication of the PLC and high-definition camera of assembly induction monitoring system, the projector of the Intelligent assembly induction monitoring system, display
Device, barcode scanning gun and kinect body-sensing inductor realize the system integration by host interface, in which: the PLC receives the electricity
The control instruction that the host of gas control system is sent, lights corresponding indicator light, while scanning exterior I/O device state, works as outside
Status information is uploaded to the host when I/O equipment state changes.
2. Intelligent assembly production induction monitoring device according to claim 1, which is characterized in that
The fitter's bench uses modularized design, can be equipped with custom fit tooling and man-machine collaboration according to customer demand
Robot mounting interface.
3. Intelligent assembly production induction monitoring device according to claim 1, which is characterized in that
The Assembling Production process induction specifically includes: the upper work of detection operator, pause and completion date realize body action
Track acquisition, display and playback, judgement assembly action correctness, feeding position real-time prompting and result judgement, tool location are real
When prompt and result judgement, tool playback management, assembly situation judgement in place, assembling process failure alarms and assembling process control
System.
4. Intelligent assembly production induction monitoring device according to claim 1, which is characterized in that described device further includes
Work seat, the Work seat are based on ergonomic design, can easily be high according to operator's height, fitter's bench
Degree, angle of assembling carry out the adjustment of height, gradient, corner, promote the comfort of operator's assembly work.
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| CN110216470A (en) * | 2019-06-17 | 2019-09-10 | 杭州感探号科技有限公司 | A kind of Intelligent assembly method and system |
| CN110744549A (en) * | 2019-11-11 | 2020-02-04 | 电子科技大学 | Intelligent assembly process based on man-machine cooperation |
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| CN111775120A (en) * | 2020-07-08 | 2020-10-16 | 中国空空导弹研究院 | Novel multifunctional fitter operation center |
| CN112212031A (en) * | 2019-07-10 | 2021-01-12 | 比尔克特韦尔克有限两合公司 | Diaphragm valve |
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Application publication date: 20190405 |