CN110879574A - Nozzle maintenance device, method and computer storage medium - Google Patents
Nozzle maintenance device, method and computer storage medium Download PDFInfo
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- CN110879574A CN110879574A CN201811033160.0A CN201811033160A CN110879574A CN 110879574 A CN110879574 A CN 110879574A CN 201811033160 A CN201811033160 A CN 201811033160A CN 110879574 A CN110879574 A CN 110879574A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 230000036541 health Effects 0.000 claims abstract description 49
- 238000004519 manufacturing process Methods 0.000 claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000007689 inspection Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000007781 pre-processing Methods 0.000 description 2
- 238000007605 air drying Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32368—Quality control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a suction nozzle maintenance device, which is used for maintaining a plurality of suction nozzles in production equipment, and comprises a control device, wherein the control device comprises: an output unit; a processor; and a memory having stored therein a plurality of program modules executed by the processor and performing the operations of: receiving real-time data of the suction nozzle sent by the production equipment; analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance; and when the suction nozzle needs to be maintained, generating an early warning prompt to an output unit. The invention also provides a nozzle maintenance method and a computer storage medium.
Description
Technical Field
The invention relates to the technical field of industrial internet, in particular to a suction nozzle maintenance device, a suction nozzle maintenance method and a computer storage medium.
Background
In industrial production and assembly processes, a large number of suction nozzles are usually used to suck the product, and the operation performance of the suction nozzles has a large influence on the production yield. The prior art nozzle maintenance methods typically involve periodic maintenance or maintenance when the nozzle has failed. However, the regular maintenance method has the defects of short period and large manpower requirement, and the method of maintaining the suction nozzle after the suction nozzle is failed greatly affects the production efficiency.
Disclosure of Invention
In view of the above, it is desirable to provide a nozzle servicing device, a nozzle servicing method and a computer storage medium to solve the above problems.
A nozzle servicing device for servicing a plurality of nozzles in a production facility, the nozzle servicing device comprising a control device, the control device comprising: an output unit; a processor; and a memory having stored therein a plurality of program modules executed by the processor and performing the operations of: receiving real-time data of the suction nozzle sent by the production equipment; analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance; when the suction nozzle needs to be maintained, an early warning prompt is generated to the output unit to prompt the suction nozzle to be maintained.
A nozzle servicing method for servicing a plurality of nozzles in a production facility, comprising the steps of: receiving real-time data of the suction nozzle sent by the production equipment; analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance; and when the suction nozzle needs to be maintained, generating an early warning prompt to an output unit.
A computer storage medium having stored thereon at least one computer instruction, the instruction being loaded by a processor to perform the steps of: receiving real-time data of the suction nozzle sent by the production equipment; analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance; and when the suction nozzle needs to be maintained, generating an early warning prompt to an output unit.
The suction nozzle maintenance device and the suction nozzle maintenance method receive real-time data of the suction nozzle, analyze the health condition of the suction nozzle and judge whether the suction nozzle needs maintenance or not. Therefore, the suction nozzle maintenance device and the suction nozzle maintenance method can intelligently analyze the health condition of the suction nozzle and send out an early warning prompt, so that the suction nozzle can be maintained in time, the phenomenon that the assembly or the processing procedure of a product is influenced due to the failure of the suction nozzle is avoided, the labor is saved, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic view of an application environment of a nozzle servicing device according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a hardware configuration of the nozzle servicing device shown in FIG. 1.
Fig. 3 is a functional block diagram of a nozzle maintenance control system according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating a nozzle maintenance control method according to an embodiment of the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic view illustrating an application environment of a nozzle servicing device 100 according to an embodiment of the invention. The nozzle care device 100 is communicatively coupled to the production facility 200. The number of the production equipment 200 may be one or more, and the production equipment 200 may be an automatic placement machine, and may also be other assembling equipment or processing equipment including a suction nozzle. The nozzle servicing device 100 is used to service a plurality of nozzles used in the production facility 200. The suction nozzle is provided with an identification mark, in the embodiment, the identification mark is a two-dimensional code, and it can be understood that the identification mark can also be a bar code or other marks capable of being identified.
Referring to fig. 2, fig. 2 is a schematic diagram of a hardware architecture of a nozzle servicing device 100 according to an embodiment of the invention. The nozzle maintenance device 100 includes a control device 10, an automatic cleaning machine 20, and an automatic detection machine 30, and the automatic cleaning machine 20 and the automatic detection machine 30 are both in communication connection with the control device 10. The control device 10 includes a processor 11, a memory 12 and an output unit 13, wherein the memory 12 and the output unit 13 are electrically connected to the processor 11 respectively.
The processor 11 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, respectively, and includes one or more Central Processing Units (CPUs), microprocessors, digital Processing chips or graphics processors, or a combination of various control chips.
The memory 12 is used for storing various data in the control device 10, such as program codes, and the like, and realizes high-speed and automatic access of programs or data in the operation process of the control device 10.
The Memory 12 may be, but is not limited to, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an electronically Erasable rewritable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, magnetic disk storage, magnetic tape storage, or any other medium readable by a computer capable of carrying or storing data.
The output unit 13 is used to output information to a user, for example, to output calculation or processing results, audio, text, images, animation, and the like of the control device 10.
The automatic cleaning machine 20 is used for automatically cleaning the suction nozzle, and in the present embodiment, the automatic cleaning machine 20 is used for cleaning the suction nozzle using high-pressure water and then air-drying the suction nozzle.
The automatic detection machine 30 is used for automatically detecting the cleanliness of the cleaned suction nozzle. In the present embodiment, the automatic detection machine 30 includes an identification unit 31 and an image capturing unit 32, the identification unit 31 is used for reading the identification mark of the suction nozzle and acquiring the identification information of the suction nozzle, and the identification unit 31 is, for example, a two-dimensional code recognition camera. The image capturing unit 32 is used for acquiring an image of the suction nozzle, the image capturing unit 32 is, for example, a CCD camera, and the image is a high-definition image.
Referring to fig. 2 and fig. 3, fig. 3 is a schematic block diagram of a maintenance control system 2 according to an embodiment of the present invention. The maintenance control system 2 is applied to the control device 10. The maintenance control system 2 may comprise a functional module consisting of a plurality of program code sections. Program code for various program segments of the maintenance control system 2 may be stored in the memory 12 and executed by the processor 11 to implement the functions of the maintenance control system 2 described above.
In the present embodiment, as shown in fig. 3, the maintenance control system 2 may be divided into a plurality of functional modules according to the functions performed by the maintenance control system, and the functional modules may include a data acquisition module 21, a model building module 22, an analysis module 23, an early warning module 24, a control module 25, and a detection module 26.
The data acquisition module 21 is configured to acquire data of a plurality of nozzles in the production equipment 200, where the data of the nozzles includes identification information of the nozzles, the number of times of material suction, and at least one or more of a material throwing rate, a good yield of placing parts, and a vacuum value.
The model building module 22 is used for building a health cycle model of the mouthpiece. In this embodiment, the model establishing module 22 is configured to preprocess acquired data of the plurality of suction nozzles in the process from continuous use to failure, determine a failure mode, and establish a health cycle model. The preprocessing comprises one or more of data quality analysis, missing value processing, extreme value processing and influence factor screening. When the failure mode is determined, the correlation coefficient of Pearson between the suction times and the vacuum value is 0.971 by analyzing the correlation between the suction times and the vacuum value of the suction nozzle, so that the suction times and the vacuum value are obviously correlated, and the vacuum value can be determined to be used as the failure mode; in addition, the material throwing rate and the part placing yield are determined simultaneously to serve as failure modes. The health cycle model defines a health cycle by the material suction times of the suction nozzle, and one or more of the material throwing rate, the part placing yield and the vacuum value are used as reference values for judging the failure of the suction nozzle. The model building module 22 is further configured to continuously receive data from the nozzle to train the health cycle model, and update the health cycle model such that the health cycle model changes according to the change of the factor.
The analysis module 23 is used for analyzing the health condition of the suction nozzle according to the real-time data and the health cycle model of the suction nozzle, and judging whether the suction nozzle needs to be maintained.
In at least one embodiment, the analysis module 23 is configured to analyze at least one of a material suction frequency, a material throwing rate, and a placement yield of the suction nozzle, compare the analyzed result with the health cycle model, and thereby analyze a health condition of the suction nozzle and determine whether the suction nozzle needs to be maintained.
The early warning module 24 is configured to generate an early warning prompt to the output unit 13 when the analysis module 23 determines that the suction nozzle needs to be maintained, so as to prompt the suction nozzle to need to be maintained.
The control module 25 is used for controlling the automatic cleaning machine 20 to clean the suction nozzle and controlling the automatic detection machine 30 to obtain the image of the cleaned suction nozzle.
The detection module 26 is configured to receive and analyze the image of the suction nozzle sent by the automatic detection machine 30, and determine whether the suction nozzle is qualified for cleaning.
Referring to fig. 4, a flowchart of a nozzle servicing method applied to the nozzle servicing device 100 according to an embodiment of the invention is shown. The nozzle servicing method is only an example, as there are many ways to implement the method. The nozzle servicing method to be described next can be performed by the module shown in fig. 2. One or more steps, methods or sub-flows, etc., represented by each block in fig. 4 are performed by an example method. The exemplary method begins at step S310.
In step S310, data of the plurality of nozzles sent by the production equipment 200 in the process of continuous use to failure is received.
The data acquisition module 21 receives data of the plurality of suction nozzles sent by the production equipment 200 in the process from continuous use to failure, wherein the data comprises the suction times of each suction nozzle and at least one or more of the throwing rate, the placing yield and the vacuum value.
Step S320, establishing a health cycle model of the suction nozzle.
The model establishing module 22 establishes a health cycle model of the suction nozzle according to data of the plurality of suction nozzles in the process of continuous use to failure, and stores the health cycle model in the memory 12. The health cycle model defines a health cycle by the material suction times of the suction nozzle, and one or more of the material throwing rate, the part placing yield and the vacuum value are used as reference values for judging the failure of the suction nozzle.
The step of establishing the health cycle model of the suction nozzle specifically comprises the following steps: preprocessing data of the suction nozzles which are continuously used until the suction nozzles fail, determining failure modes and establishing a health cycle model.
Step S330, receiving real-time data of the nozzles sent by the production equipment 200.
Specifically, the data acquisition module 21 receives real-time data of the suction nozzle sent by the production equipment 200, where the real-time data includes identification information of the suction nozzle, the number of times of suction, and at least one or more of the material throwing rate, the part placing yield, and the vacuum value.
Step S340, analyzing the health condition of the suction nozzle according to the real-time data and the health cycle model of the suction nozzle, and judging whether the suction nozzle needs maintenance. If yes, go to step S350; if not, the process returns to step S330.
Specifically, the analysis module 23 analyzes the health condition of the suction nozzle according to the real-time data and the health cycle model of the suction nozzle, and determines whether the suction nozzle needs maintenance. The analysis module 23 analyzes the stage of the suction nozzle in the health cycle according to at least one of the material throwing rate, the part placing yield and the vacuum value of the suction nozzle, and if at least one of the material throwing rate, the part placing yield and the vacuum value of the suction nozzle shows that the suction nozzle fails or is about to fail, the suction nozzle is judged to need maintenance; otherwise, the suction nozzle is judged not to need maintenance.
Step S350, generating an early warning prompt to the output unit 13 to prompt the nozzle to be maintained.
Specifically, the warning module 24 generates a warning prompt to the output unit 13 to prompt the nozzle to be maintained. The output unit 13 can display the early warning or send voice or light reminding to the user after receiving the early warning prompt, so that the user or the automatic suction nozzle replacement equipment can replace the suction nozzle needing to be maintained.
And step S360, controlling the automatic cleaning machine 20 to clean the replaced suction nozzle.
Specifically, the control module 25 controls the automatic cleaning machine 20 to clean the suction nozzle.
In step S370, the automatic inspection machine 30 is controlled to acquire an image of the cleaned suction nozzle.
Specifically, the control module 25 controls the automatic inspection machine 30 to acquire an image of the cleaned suction nozzle.
And step S380, receiving and analyzing the image of the suction nozzle, and judging whether the suction nozzle is qualified for cleaning.
Specifically, the detection module 26 receives and analyzes the image of the suction nozzle sent by the automatic detection machine 30, and determines whether the suction nozzle is qualified for cleaning. If yes, the process is terminated, the suction nozzle may be mounted on the production equipment 200 again, and if no, the process proceeds to step S360, and the control module 25 continues to control the automatic cleaning machine 20 to clean the suction nozzle.
It is understood that the health cycle model can be created and stored in the memory 12 by the model creation module 22, or created and stored in the memory 12 by other devices, and therefore, in other embodiments, steps S310 to S320 can be eliminated.
It is understood that in other embodiments, steps S360-S380 may be eliminated, and likewise, the automatic cleaning machine 20 and the automatic inspection machine 30 may be eliminated, and the replaced nozzles may be cleaned and inspected manually.
The nozzle maintenance device 100 and the method thereof determine whether the nozzle needs maintenance by establishing a health cycle model of the nozzle, receiving real-time data of the nozzle, and analyzing the health condition of the nozzle. Therefore, the nozzle maintenance device 100 and the method can intelligently analyze the health condition of the nozzle and send out an early warning prompt, so that the influence on the assembly or production process of a product due to the failure of the nozzle is avoided, the maintenance period of the nozzle is more reasonable, the labor is saved, and the production efficiency is improved.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by hardware instructions of a computer program, and the program may be stored in a computer-readable storage medium, and when executed, may include the processes of the above embodiments of the methods.
In addition, functional units in the embodiments of the present invention may be integrated into the same processor, or each unit may exist alone physically, or two or more units are integrated into the same unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units or systems recited in the system claims may also be implemented by one and the same unit or system in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A suction nozzle maintenance device for maintaining a plurality of suction nozzles in a production facility, characterized in that: the nozzle care device includes a control device, the control device including:
an output unit;
a processor; and
a memory having stored therein a plurality of program modules that are executed by the processor and perform the following:
receiving real-time data of the suction nozzle sent by the production equipment;
analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance;
when the suction nozzle needs to be maintained, an early warning prompt is generated to the output unit to prompt the suction nozzle to be maintained.
2. The nozzle servicing device of claim 1, the plurality of program modules further executed by the processor and performing the operations of:
receiving data sent by the production equipment when the suction nozzles are continuously used to a failure process;
establishing the health cycle model of the mouthpiece and storing the health cycle model in the memory.
3. The nozzle servicing device of claim 1, wherein: the real-time data comprises identification information of the suction nozzle, the material suction times and at least one or more of the material throwing rate, the part placing yield and the vacuum value, the health cycle model defines a health cycle by the material suction times of the suction nozzle, and the one or more of the material throwing rate, the part placing yield and the vacuum value are used as reference values for judging failure of the suction nozzle.
4. The nozzle servicing device of claim 1, wherein: suction nozzle maintenance device still includes automatic cleaning machine and automated inspection machine, the automatic cleaning machine the automated inspection machine with maintenance controlling means communication connection, the automated inspection machine includes the recognition cell and gets for the image unit, the recognition cell is used for reading the identification mark of suction nozzle and obtains the identification information of suction nozzle, it is used for obtaining the image of suction nozzle to get for the image unit.
5. The nozzle servicing device of claim 4, wherein: the plurality of program modules are further executed by the processor and perform the following:
controlling the automatic cleaning machine to clean the replaced suction nozzle;
controlling the automatic detection machine to obtain an image of the cleaned suction nozzle;
receiving and analyzing the image of the suction nozzle, and judging whether the suction nozzle is qualified for cleaning;
and when the suction nozzle is judged to be unqualified to be cleaned, controlling the automatic cleaning machine to clean the suction nozzle again.
6. A nozzle maintenance method for performing maintenance on a plurality of nozzles in a production facility, comprising the steps of:
receiving real-time data of the suction nozzle sent by the production equipment;
analyzing the health condition of the suction nozzle according to the real-time data of the suction nozzle and a preset health cycle model, and judging whether the suction nozzle needs maintenance;
and when the suction nozzle needs to be maintained, generating an early warning prompt to an output unit.
7. The nozzle servicing method of claim 6, wherein: the method further comprises the steps of:
receiving data sent by production equipment when a plurality of suction nozzles are continuously used to a failure process;
establishing the health cycle model of the mouthpiece and storing the health cycle model in a memory.
8. The nozzle servicing method of claim 6, wherein: the real-time data comprises identification information of the suction nozzle, the material suction times and at least one or more of the material throwing rate, the part placing yield and the vacuum value, the health cycle model defines a health cycle by the material suction times of the suction nozzle, and the one or more of the material throwing rate, the part placing yield and the vacuum value are used as reference values for judging failure of the suction nozzle.
9. The nozzle servicing method of claim 8, wherein: the method further comprises the steps of:
controlling the automatic cleaning machine to clean the replaced suction nozzle;
controlling an automatic detection machine to obtain an image of the cleaned suction nozzle;
receiving and analyzing the image of the suction nozzle, and judging whether the suction nozzle is qualified for cleaning;
and when the suction nozzle is judged to be unqualified to be cleaned, controlling the automatic cleaning machine to clean the suction nozzle again.
10. A computer storage medium having stored thereon at least one computer instruction, wherein the instruction is executed by a processor and loaded to perform a nozzle servicing method according to any of claims 6-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811033160.0A CN110879574A (en) | 2018-09-05 | 2018-09-05 | Nozzle maintenance device, method and computer storage medium |
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| CN201811033160.0A CN110879574A (en) | 2018-09-05 | 2018-09-05 | Nozzle maintenance device, method and computer storage medium |
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| CN113095521B (en) * | 2021-05-08 | 2022-09-27 | 长鑫存储技术有限公司 | Machine control method, device and system and storage medium |
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Application publication date: 20200313 |