CN114178822A - Visual inspection-based dismounting system - Google Patents
Visual inspection-based dismounting system Download PDFInfo
- Publication number
- CN114178822A CN114178822A CN202111471193.5A CN202111471193A CN114178822A CN 114178822 A CN114178822 A CN 114178822A CN 202111471193 A CN202111471193 A CN 202111471193A CN 114178822 A CN114178822 A CN 114178822A
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- dismounting
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- positioning
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- 238000011179 visual inspection Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000000007 visual effect Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 239000000463 material Substances 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 22
- 238000003825 pressing Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000012216 screening Methods 0.000 description 10
- 239000002994 raw material Substances 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The disassembly and assembly system based on visual detection comprises a disassembly and assembly component, wherein the disassembly and assembly component is slidably adjusted and set in an xy double-axis direction and comprises a visual detection piece, a disassembly and assembly mechanism and a press-mounting mechanism, and the disassembly and assembly mechanism and the press-mounting mechanism are arranged corresponding to the visual detection piece; the operation steps are as follows: the visual inspection product has the attributes of A: a residual part needing to be disassembled and assembled exists on the product; visual inspection product attributes are B: the product does not have a residual part needing to be disassembled and assembled; the product attribute is A, the position of the dismounting assembly is adjusted to a loading groove corresponding to the dismounting mechanism, the dismounting mechanism carries out dismounting and mounting of the residual part and then resets, the position of the dismounting assembly is adjusted to a loading groove corresponding to the press-mounting mechanism, the corresponding loading groove carries out press-mounting of the product with the residual part dismounted, and then the product resets; the product attribute is B, the position of the dismounting assembly is adjusted to a loading groove corresponding to the press-mounting mechanism, and press-mounting of the product with the residual part dismounted is carried out corresponding to the loading groove; the disassembling and assembling component moves to the next loading groove.
Description
Technical Field
The invention relates to an automatic production technology and automatic production equipment, in particular to a visual inspection-based dismounting system.
Background
In the automatic production technology, the automatic production equipment generally comprises a conveying line and a working device which is correspondingly arranged, wherein products or parts are correspondingly conveyed through the conveying line, and work required by production is carried out when the products or the parts reach a working station of the working device; however, there are some needs to be improved in some cases of the current automated setting mode: like the doing of a product, some products are after the raw materials are prepared, still remain the portion of needing to dismantle on some raw materials, if be used for the shell portion of suit raw materials, dismouting shell portion need be carried out earlier this moment, press fitting process again, but most raw materials are five residual formulas, therefore the setting mode in present stage includes the screening when feeding, carry out the screening out of the raw materials that need dismouting process through manual work or visual inspection mode, the manual work is directly elected, visual inspection then needs to correspond to set up and snatch the manipulator and snatch the raw materials that need the dismouting process to nonconforming article storage point, the raw materials that are sieved need to dismantle the portion through the dismouting and carry out the material loading again, there is the screening process, influence automatic preparation efficiency, dispose the manual work or the equipment that the screening process corresponds simultaneously, further increase in production cost.
Therefore, it is necessary to provide a visual inspection-based dismounting system to solve the above problems.
Disclosure of Invention
The invention aims to provide a visual inspection-based dismounting system.
The technical scheme is as follows:
a disassembly and assembly system based on visual detection comprises a feeding assembly and a disassembly and assembly, wherein the disassembly and assembly is arranged corresponding to the feeding assembly, the feeding assembly comprises a carrier table provided with a loading groove, the disassembly and assembly is slidably adjusted and set in an xy double-axis direction and comprises a visual detection piece, a disassembly and assembly mechanism and a press-fitting mechanism, and the disassembly and assembly mechanism and the press-fitting mechanism are arranged corresponding to the visual detection piece;
the operation steps are as follows:
1) the dismounting component reaches a loading slot position;
2) the visual detection piece is used for carrying out visual detection on the product in the current loading groove and judging the product attribute;
2-1) visually inspecting the product attributes as A: a residual part needing to be disassembled and assembled exists on the product;
2-2) visually inspecting the product attribute as B: the product does not have a residual part needing to be disassembled and assembled;
3) selecting an operation program:
3-1) the product attribute is A, and the operation program comprises:
3-1-1) adjusting the position of the dismounting assembly to a loading groove corresponding to the dismounting mechanism, dismounting the residual part by the dismounting mechanism, and then resetting;
3-1-2) adjusting the position of the dismounting assembly to a loading groove corresponding to the press-mounting mechanism, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
3-2) the product attribute is B, and the operation program comprises:
adjusting the position of the dismounting assembly to a loading groove corresponding to the press-mounting mechanism, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
4) and finishing the working procedure corresponding to the current loading slot, and moving the dismounting assembly to the next loading slot.
Furthermore, the visual detection part is correspondingly provided with a positioning assembly, and the positioning assembly is combined with visual detection to form a visual positioning type dismounting structure or a visual positioning type press mounting structure matched with the dismounting mechanism or the press mounting mechanism.
Further, the step 3-1-1) further comprises positioning before disassembly and assembly, the visual detection piece detects the position of the product again, the product is positioned through the cooperation of the positioning assembly, and the rear disassembly and assembly mechanism correspondingly performs disassembly and assembly of the residual part.
Further, the step 3-1-2) and the step 3-2) further comprise positioning before press mounting, the visual detection part detects the position of the product again, the product is positioned through the cooperation of the positioning assembly, and the rear press mounting mechanism correspondingly performs press mounting on the product.
Further, the locating component is including being provided with the locating support of light source, and visual inspection spare includes the CDD camera, and the CDD camera sets up in the detection according to putting up and be connected with the camera lens.
Further, the disassembling and assembling mechanism comprises a disassembling cylinder and a disassembling and assembling pressure head, and the disassembling and assembling pressure head is connected with the material cylinder through a connecting guide pillar and a floating joint; the connecting guide pillar penetrates through the positioning support, and a linear slide rail is arranged at the joint of the connecting guide pillar and the positioning support.
Furthermore, the press-fitting mechanism comprises a charging cylinder, the charging cylinder is connected with an air path block and a vacuum joint, the charging cylinder is further correspondingly provided with a material pressing guide rod, the material pressing guide rod is correspondingly provided with a material pressing guide sleeve, the material pressing guide sleeve is correspondingly provided with a clamping point material inlet block, and the clamping point material inlet block is matched with the vibration disc feeding device for use.
Further, the dismounting assembly further comprises a limiting mechanism, the limiting mechanism comprises an upper limiting block, a press fitting limiting block and a fine adjustment limiting block which are correspondingly arranged, the fine adjustment limiting block is correspondingly provided with a fine adjustment dial indicator, and the press fitting limiting block is correspondingly provided with a fine adjustment nut.
Wherein:
the dismouting subassembly passes through x axle linear driving module and y axle linear driving module and realizes the adjustable that slides in the xy biax direction.
The press-fitting mechanism is correspondingly provided with a vibration disc feeding device for press-fitting feeding.
The carrier table is arranged on the frame and comprises an adjustable fixing table.
The adjustable fixed table is correspondingly provided with an X-direction positioning cylinder and a y-direction positioning cylinder.
The adjustable fixed table is also correspondingly provided with a plurality of jacking mechanisms which are uniformly distributed, and synchronous jacking or synchronous descending is realized through synchronous driving of the jacking driving module.
The carrier platform is correspondingly provided with a feeding trolley, and the feeding trolley is correspondingly provided with a feeding X-direction driving module.
And the grabbing and feeding module is arranged to feed materials into the loading groove corresponding to the feeding and eliminating trolley.
The feeding trolley is also correspondingly provided with a feeding slide rail.
The rack is provided with a protective shell and a waste material storage part correspondingly.
The rack is also provided with a human-computer interaction console.
The dismounting assembly comprises a fine adjustment track and a connecting plate which is connected with the fine adjustment track and used for arranging a press-mounting mechanism and a dismounting mechanism.
Compared with the prior art, the method integrates the disassembling and assembling procedures and the press-fitting procedures, judges whether the disassembling and assembling procedures are needed or not through the vision-based detection, reduces the steps of a screening process, improves the production efficiency, simultaneously reduces equipment and manpower assistance required in the screening procedure in the traditional process and production resource consumption brought by independently arranging the disassembling and assembling equipment after screening by an integrated setting mode, and is convenient for enterprises to optimize the implementation of the production cost.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a second schematic structural diagram of the present invention.
Fig. 3 is a third schematic structural diagram of the present invention.
FIG. 4 is a fourth schematic view of the present invention.
FIG. 5 is a fifth schematic view of the present invention.
FIG. 6 is a sixth schematic view of the present invention.
FIG. 7 is a seventh schematic structural diagram of the present invention.
FIG. 8 is an eighth schematic diagram of the present invention.
Detailed Description
Example (b):
referring to fig. 1 to 8, this embodiment shows a visual inspection-based disassembly and assembly system, which includes a feeding assembly and a disassembly and assembly 100 corresponding to the feeding assembly, wherein the feeding assembly includes a carrier table having a loading slot, and the disassembly and assembly 100 is slidably adjusted and set in an xy biaxial direction, and includes a visual inspection piece 8, a disassembly and assembly mechanism 6 corresponding to the visual inspection piece, and a press-fitting mechanism 5;
the operation steps are as follows:
1) the dismounting component reaches a loading slot position;
2) the visual detection piece is used for carrying out visual detection on the product in the current loading groove and judging the product attribute;
2-1) visually inspecting the product attributes as A: a residual part needing to be disassembled and assembled exists on the product;
2-2) visually inspecting the product attribute as B: the product does not have a residual part needing to be disassembled and assembled;
3) selecting an operation program:
3-1) the product attribute is A, and the operation program comprises:
3-1-1) adjusting the position of the dismounting assembly 100 to a loading groove corresponding to the dismounting mechanism 6, dismounting the residual part by the dismounting mechanism 6, and then resetting;
3-1-2) adjusting the position of the dismounting assembly 100 to a loading groove corresponding to the press-mounting mechanism 5, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
3-2) the product attribute is B, and the operation program comprises:
adjusting the position of the dismounting assembly 100 to a position where the press-mounting mechanism 5 corresponds to the loading groove, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
4) and finishing the working procedure corresponding to the current loading slot, and moving the dismounting assembly to the next loading slot.
The visual detection part 8 is correspondingly provided with a positioning assembly, and the positioning assembly is combined with the visual detection part 8 to form a visual positioning type dismounting structure or a visual positioning type press mounting structure matched with the dismounting mechanism 6 or the press mounting mechanism 5.
And 3-1-1) positioning before disassembly and assembly, detecting the position of the product again by the visual detection piece 8, positioning the product by matching the positioning assembly, and correspondingly disassembling and assembling the residual part by the rear disassembling and assembling mechanism 6.
And 3-1-2) and 3-2) further comprise positioning before press mounting, detecting the position of the product again by the visual detection part 8, positioning the product by matching the positioning component, and correspondingly press mounting the product by the rear press mounting mechanism 5.
The dismounting assembly 100 can be adjusted in a sliding manner in the xy double-axis direction through the x-axis linear driving module 10 and the y-axis linear driving module 11.
The press-fitting mechanism 5 is correspondingly provided with a vibration disc feeding device 3 for press-fitting and feeding.
The carrier table is disposed on the frame 2 and includes an adjustable fixing table 13.
The adjustable fixed table 13 is correspondingly provided with an X-direction positioning air cylinder 15 and a y-direction positioning air cylinder 16.
The adjustable fixing table 13 is also correspondingly provided with a plurality of jacking mechanisms 9, the jacking mechanisms 9 are uniformly distributed, and synchronous jacking or synchronous descending is realized through synchronous driving of the jacking driving module 12.
The carrier table is correspondingly provided with a feeding trolley 18, and the feeding trolley 18 is correspondingly provided with a feeding X-direction driving module 16.
And the grabbing and feeding module 17 is arranged to feed the loading chute corresponding to the feeding and eliminating trolley 18.
The feeding trolley 18 is also correspondingly provided with a feeding slide rail 19.
The frame 2 is provided with a protective casing 21 and a waste storage part 20.
The frame 2 is also provided with a man-machine interaction console 1.
The dismounting assembly 100 comprises a fine adjustment track 4 and a connecting plate 22 connected to the fine adjustment track 4 and used for arranging a press-mounting mechanism 5 and a dismounting mechanism 6.
The positioning assembly comprises a positioning bracket 84 provided with a light source 85, the visual inspection piece 8 comprises a CDD camera 82, and the CDD camera 82 is arranged on the inspection frame 81 and is connected with a camera lens 83.
The dismounting mechanism 6 comprises a dismounting cylinder 61 and a dismounting pressure head 65, wherein the dismounting pressure head 65 is connected with the material cylinder through a connecting guide pillar 63 and a floating joint 62; the connecting guide post 63 penetrates the positioning bracket 84 and a linear slide rail is arranged at the joint.
The press-fitting mechanism 5 comprises a charging cylinder 51, the charging cylinder 51 is connected with an air path block 52 and a vacuum joint 53, the charging cylinder 51 is further correspondingly provided with a material pressing guide rod 54, the material pressing guide rod 54 is correspondingly provided with a material pressing guide sleeve 56, the material pressing guide sleeve 56 is correspondingly provided with a clamping point material feeding block 55, and the clamping point material feeding block 55 is matched with the vibration disc feeding device 3 for use.
The dismounting assembly 100 further comprises a limiting mechanism 7, the limiting mechanism 7 comprises an upper limiting block 71, a press-fitting limiting block 75 and a fine adjustment limiting block 73 which are correspondingly arranged, the fine adjustment limiting block 73 is correspondingly provided with a fine adjustment dial indicator 72, and the press-fitting limiting block 75 is correspondingly provided with a fine adjustment nut 74.
Compared with the prior art, the method integrates the disassembling and assembling procedures and the press-fitting procedures, judges whether the disassembling and assembling procedures are needed or not through the vision-based detection, reduces the steps of a screening process, improves the production efficiency, simultaneously reduces equipment and manpower assistance required in the screening procedure in the traditional process and production resource consumption brought by independently arranging the disassembling and assembling equipment after screening by an integrated setting mode, and is convenient for enterprises to optimize the implementation of the production cost.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A dismouting system based on visual inspection which characterized in that: the device comprises a feeding assembly and a dismounting assembly arranged corresponding to the feeding assembly, wherein the feeding assembly comprises a carrier table provided with a loading groove, the dismounting assembly is slidably adjusted and set in an xy double-axis direction and comprises a visual detection piece, a dismounting mechanism and a press-mounting mechanism, and the dismounting mechanism and the press-mounting mechanism are arranged corresponding to the visual detection piece;
the operation steps are as follows:
1) the dismounting component reaches a loading slot position;
2) the visual detection piece is used for carrying out visual detection on the product in the current loading groove and judging the product attribute;
2-1) visually inspecting the product attributes as A: a residual part needing to be disassembled and assembled exists on the product;
2-2) visually inspecting the product attribute as B: the product does not have a residual part needing to be disassembled and assembled;
3) selecting an operation program:
3-1) the product attribute is A, and the operation program comprises:
3-1-1) adjusting the position of the dismounting assembly to a loading groove corresponding to the dismounting mechanism, dismounting the residual part by the dismounting mechanism, and then resetting;
3-1-2) adjusting the position of the dismounting assembly to a loading groove corresponding to the press-mounting mechanism, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
3-2) the product attribute is B, and the operation program comprises:
adjusting the position of the dismounting assembly to a loading groove corresponding to the press-mounting mechanism, press-mounting the product with the residual part dismounted corresponding to the loading groove, and then resetting;
4) and finishing the working procedure corresponding to the current loading slot, and moving the dismounting assembly to the next loading slot.
2. The visual inspection-based disassembly and assembly system of claim 1, wherein: the visual detection piece is correspondingly provided with a positioning assembly, and the positioning assembly is combined with visual detection to form a visual positioning type dismounting structure or a visual positioning type press mounting structure matched with the dismounting mechanism or the press mounting mechanism.
3. A visual inspection based disassembly and assembly system of claim 2, wherein: and 3-1-1) positioning before disassembly and assembly, detecting the position of the product again by the visual detection piece, positioning the product by matching the positioning assembly, and correspondingly disassembling and assembling the residual part by the rear disassembling and assembling mechanism.
4. A visual inspection based disassembly and assembly system of claim 3, wherein: and 3-1-2) and 3-2) further comprises positioning before press mounting, detecting the position of the product again by the visual detection part, positioning the product by matching the positioning assembly, and correspondingly press mounting the product by the rear press mounting mechanism.
5. The visual inspection-based disassembly and assembly system of claim 4, wherein: the locating component comprises a locating support provided with a light source, the visual detection piece comprises a CDD camera, and the CDD camera is arranged on the detection frame and connected with a camera lens.
6. The visual inspection-based disassembly and assembly system of claim 5, wherein: the disassembling and assembling mechanism comprises a disassembling cylinder and a disassembling and assembling pressure head, and the disassembling and assembling pressure head is connected with the material cylinder through a connecting guide pillar and a floating joint; the connecting guide pillar penetrates through the positioning support, and a linear slide rail is arranged at the joint of the connecting guide pillar and the positioning support.
7. The visual inspection-based disassembly and assembly system of claim 6, wherein: the press-fitting mechanism comprises a charging cylinder, the charging cylinder is connected with a gas path block and a vacuum joint, the charging cylinder is also correspondingly provided with a material pressing guide rod, and the material pressing guide rod is correspondingly provided with a material pressing guide sleeve.
8. The visual inspection-based disassembly and assembly system of claim 7, wherein: the material pressing guide sleeve is correspondingly provided with a stuck point material inlet block which is matched with the vibration disc feeding device for use.
9. The visual inspection-based disassembly and assembly system of claim 8, wherein: the dismounting assembly further comprises a limiting mechanism, and the limiting mechanism comprises an upper limiting block, a press-fitting limiting block and a fine adjustment limiting block which are correspondingly arranged.
10. A visual inspection based disassembly and assembly system of claim 9, wherein: the fine adjustment limiting block is correspondingly provided with a fine adjustment dial indicator, and the press mounting limiting block is correspondingly provided with a fine adjustment nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471193.5A CN114178822A (en) | 2021-12-03 | 2021-12-03 | Visual inspection-based dismounting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471193.5A CN114178822A (en) | 2021-12-03 | 2021-12-03 | Visual inspection-based dismounting system |
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| Publication Number | Publication Date |
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| CN114178822A true CN114178822A (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111471193.5A Pending CN114178822A (en) | 2021-12-03 | 2021-12-03 | Visual inspection-based dismounting system |
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| CN (1) | CN114178822A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7549204B1 (en) * | 2005-11-30 | 2009-06-23 | Western Digital Technologies, Inc. | Methods for picking and placing workpieces into small form factor hard disk drives |
| CN110394621A (en) * | 2019-07-31 | 2019-11-01 | 湖南镭目科技有限公司 | A kind of skateboard tank component assembles and disassembles system automatically |
| CN209716943U (en) * | 2019-01-15 | 2019-12-03 | 杭州纳冠华兴自动化科技有限公司 | High temperature seal automatically assembles and detection system |
| CN113118725A (en) * | 2021-04-07 | 2021-07-16 | 上海弘竣新能源材料有限公司 | Automatic assembling and disassembling equipment for clamping points of graphite boat pieces based on visual detection system |
| CN113184575A (en) * | 2021-04-30 | 2021-07-30 | 聚时科技(上海)有限公司 | Automatic disassembling and assembling system and method for lock button of container in wharf |
-
2021
- 2021-12-03 CN CN202111471193.5A patent/CN114178822A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7549204B1 (en) * | 2005-11-30 | 2009-06-23 | Western Digital Technologies, Inc. | Methods for picking and placing workpieces into small form factor hard disk drives |
| CN209716943U (en) * | 2019-01-15 | 2019-12-03 | 杭州纳冠华兴自动化科技有限公司 | High temperature seal automatically assembles and detection system |
| CN110394621A (en) * | 2019-07-31 | 2019-11-01 | 湖南镭目科技有限公司 | A kind of skateboard tank component assembles and disassembles system automatically |
| CN113118725A (en) * | 2021-04-07 | 2021-07-16 | 上海弘竣新能源材料有限公司 | Automatic assembling and disassembling equipment for clamping points of graphite boat pieces based on visual detection system |
| CN113184575A (en) * | 2021-04-30 | 2021-07-30 | 聚时科技(上海)有限公司 | Automatic disassembling and assembling system and method for lock button of container in wharf |
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Application publication date: 20220315 |