CN114434142A - Man-machine cooperation interactive assembly system - Google Patents
Man-machine cooperation interactive assembly system Download PDFInfo
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- CN114434142A CN114434142A CN202111607579.4A CN202111607579A CN114434142A CN 114434142 A CN114434142 A CN 114434142A CN 202111607579 A CN202111607579 A CN 202111607579A CN 114434142 A CN114434142 A CN 114434142A
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- 230000002452 interceptive effect Effects 0.000 title claims abstract description 29
- 239000000463 material Substances 0.000 claims abstract description 70
- 238000000034 method Methods 0.000 claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 17
- 230000033764 rhythmic process Effects 0.000 claims abstract description 4
- 239000002216 antistatic agent Substances 0.000 claims description 18
- 239000011265 semifinished product Substances 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 17
- 239000000047 product Substances 0.000 claims description 15
- 238000012806 monitoring device Methods 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 10
- 239000011521 glass Substances 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000007599 discharging Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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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
- B23P19/001—Article feeders for assembling machines
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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
- B23P19/04—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 assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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Abstract
The invention provides a man-machine cooperation interactive assembly system, which comprises a feeding unit and an assembly unit, wherein the feeding unit is connected with the assembly unit; the feeding unit is used for storing various different materials by a plurality of different containers, automatically transferring each material to the assembling unit and controlling the transferring rhythm according to the assembling progress of the assembling unit; the assembling unit is used for receiving the materials from the feeding unit and guiding the assembling of the materials in an operation process. The invention assists assembly in a man-machine integration mode, can improve the assembly accuracy and reduce the assembly procedures.
Description
Technical Field
The invention relates to the field of automatic production lines, in particular to a man-machine cooperation interactive assembly system.
Background
The electronic control system of the engine is affected by the limited cab space, is basically installed on a chassis or an assembly but is basically fixed through bolts, but the condition of wrong assembly and neglected assembly can occur when the bolts are installed manually, so that a man-machine cooperation interactive assembly system is needed for realizing the engine.
The Chinese invention patent with the publication number of CN111515673A discloses an electromechanical equipment assembling system based on man-machine cooperation and an assembling method thereof, wherein the assembling system comprises at least one machine table, a manual assembling station, a feeding station and a discharging station, the manual assembling station is arranged close to one end of the machine table, and an operator is positioned at the manual assembling station; the feeding and discharging platform is arranged on the machine table and can move on the machine table so as to switch between a feeding station and a discharging station; the multi-dimensional assembly platform is arranged on the machine table and can rotate relative to the machine table; the three-dimensional warehouse is arranged at the other end of the machine table relative to the manual assembly station; the in-line transfer robot is arranged between the three-dimensional warehouse and the machine platform; the robot cooperation robot is arranged on one side of the machine table and close to the human tooling assembly station, and can convey the cabin on the feeding and discharging platform to the multidimensional assembly platform.
However, the efficiency of the above patent is still to be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a man-machine cooperation interactive assembly system which assists assembly in a man-machine co-fusion mode, can improve the assembly accuracy and reduce the assembly procedures.
In order to achieve the above object, the present invention provides a human-computer cooperation interactive assembly system, which comprises a feeding unit and an assembly unit; the feeding unit is used for storing various different materials by a plurality of different containers, automatically transferring each material to the assembling unit and controlling the transferring rhythm according to the assembling progress of the assembling unit; the assembling unit is used for receiving the materials from the feeding unit and guiding the assembling of the materials in an operation process.
Preferably, the assembling unit comprises an error correction module, the error correction module is adapted to monitor a semi-finished product formed in each assembling step in the assembling process in real time, and compare the semi-finished product with a reference product to determine whether the semi-finished product is qualified, and if the semi-finished product is not qualified, perform error correction prompt.
Preferably, the error correction module comprises a first image monitoring device, and the first image monitoring device is suitable for acquiring a photo of the semi-finished product or an operation process video of each assembly step in real time and playing the photo or video to an assembler and/or a quality supervisor in real time.
Preferably, the assembling unit comprises an AR visual guidance module, the AR visual guidance module comprises AR glasses, and the assembling operation is guided through an assembling guidance video played by the AR glasses worn by an assembler; the first image monitoring device is adapted to identify a product and an assembly step being assembled so as to play an assembly guidance video corresponding to the product and the assembly step.
Preferably, a second image monitoring device is respectively arranged above each container and used for identifying the type and specification of the materials in the container and positioning the materials so as to guide the cooperative robot to grab the materials of the corresponding type along the correct grabbing path.
Preferably, the cooperative robot is provided with a flexible gripper, the flexible gripper comprises two clamping jaws and a sucker, and the parts of the clamping jaws and the sucker, which are in contact with the material, are made of antistatic silica gel.
Preferably, the feeding unit comprises an anti-static material platform, a plurality of grooves are formed in the table top of the anti-static material platform, anti-static material trays are placed in the grooves respectively, and different materials are stored in the anti-static material trays respectively.
Preferably, said feeding unit comprises at least one automatic screw feeder to provide mounting screws adapted to the gripping characteristics of said cooperative robot; the number of the automatic screw feeding machines corresponds to the number of the types of the screws, and one automatic screw feeding machine provides one screw; each of the containers and automatic screw feeders are disposed around the cooperative robot.
Preferably, the assembling unit comprises an assembling workbench, and at least one material buffer area is arranged on the assembling workbench and used for receiving the material from the feeding unit; the number of the material buffer areas corresponds to the number of the types of the materials.
Preferably, the assembly workbench is provided with a part buffer area and a screw buffer area, the part buffer area is used for receiving parts to be assembled next, the screw buffer area is used for receiving screws to be used for assembling next, and only one screw is stored in the screw buffer area at any time.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the invention assists assembly in a man-machine integration mode, can improve assembly accuracy and reduce assembly procedures.
2. The invention can guide an assembler to assemble through the animation video, and effectively reduces the probability of errors in manual assembly.
3. The flexible gripper is arranged at the tail end of the robot, the working mode is flexible, different materials can be adapted, and man-machine cooperation interactive assembly of different objects can be met through a small amount of improvement.
4. The invention can reduce the assembly process based on the man-machine cooperation interactive assembly mode, can detect the assembly quality of the semi-finished product formed in each assembly step in real time, and feeds back whether the assembly is correct or not to workers in real time, thereby realizing intelligent error correction.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic plan view of one embodiment of the present invention;
FIG. 3 is a schematic view of an arrangement of an anti-static material tray on an anti-static material platform according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a flexible grip according to one embodiment of the present invention;
fig. 5 is an electrical schematic of one embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in FIG. 1, one embodiment of the human-computer cooperation and interaction assembling system of the invention comprises a feeding unit and an assembling unit; the feeding unit is used for storing various different materials by a plurality of different containers, automatically transporting each material to the assembling unit and controlling the transportation rhythm according to the assembling progress of the assembling unit; the assembling unit is used for receiving the materials from the feeding unit and guiding the assembling of the materials in an operation process. In the embodiment, the two units are matched, and the assembly is assisted in a man-machine co-fusion mode, so that the assembly accuracy can be improved, and the assembly procedures are reduced.
In a preferred embodiment of the present invention, the assembling unit includes an error correction module, and the error correction module is adapted to monitor a semi-finished product formed in each assembling step in the assembling process in real time, and compare the semi-finished product with a reference product to determine whether the semi-finished product is qualified, and if the semi-finished product is not qualified, perform an error correction prompt. The assembly accuracy can be further improved through the arrangement of the assembly units, and unqualified products are avoided.
In a preferred embodiment of the present invention, the error correction module comprises a first image monitoring device, which is adapted to obtain a photo of the semi-finished product or a video of the operation process of each assembly step in real time and play the photo or video to the assembler and/or quality supervisor in real time. Further, the photos or videos are projected to the assembling workbench to be played or connected to a display screen to be played.
In a preferred embodiment of the present invention, the assembling unit includes an AR visual guidance module, the AR visual guidance module includes AR glasses, and the assembling operation is guided by an assembling guidance video played by the AR glasses worn by an assembler; the first image monitoring device is adapted to identify a product and an assembly step being assembled so as to play an assembly guidance video corresponding to the product and the assembly step. The embodiment can guide an assembler to assemble through the animation video, and effectively reduces the probability of errors in manual assembly.
In a preferred embodiment of the present invention, the different containers are different in position or different in specification, and the different materials are different in type or different in specification. The feeding unit comprises a cooperative robot adapted to grasp the material in each container and feed it to the assembly unit. Further, if the material meets the assembly standard of the cooperative robot, the cooperative robot directly assembles the material.
In a preferred embodiment of the invention, the cooperative robot is provided with a flexible gripper, the flexible gripper comprises two clamping jaws and a sucker, and the parts of the clamping jaws and the sucker, which are in contact with the material, are made of antistatic silica gel. The flexible tongs are installed at the tail end of the robot, the working mode is flexible, different materials can be adapted, and man-machine cooperation interactive assembly of different objects can be met through a small amount of improvement. In some embodiments, the cooperative robot may be a single arm six axis robot.
In a preferred embodiment of the present invention, a second image monitoring device is respectively disposed above each container for identifying the type and specification of the material in the container and positioning the material to guide the cooperative robot to grasp the material of the corresponding type along the correct grasping path, thereby avoiding errors and improving the accuracy of assembly.
In a preferred embodiment of the present invention, the feeding unit may further include an anti-static material platform based on the above embodiment, wherein a plurality of grooves are disposed on a table of the anti-static material platform, anti-static material trays are respectively disposed in the grooves, and different materials are respectively stored in the anti-static material trays. Thereby avoiding the influence of static electricity on the material. Preferably, the colors of the two adjacent anti-static material trays are dark and light, so that specific distinguishing is facilitated.
In a preferred embodiment of the present invention, the feeding unit is based on the above embodiment, and the feeding unit further comprises at least one automatic screw feeder to provide mounting screws adapted to the gripping characteristics of the cooperative robot; the number of the automatic screw feeding machines corresponds to the number of the types of the screws, and one automatic screw feeding machine provides one screw; each container and automatic screw feeder are arranged around a cooperative robot. With this arrangement, automation in assembly is achieved.
In a preferred embodiment of the present invention, the assembling unit comprises an assembling workbench, and at least one material buffer area is arranged on the assembling workbench and used for receiving the material from the feeding unit; the number of the material buffer areas corresponds to the number of the types of the materials. Furthermore, the assembly workbench is provided with a part buffer area and a screw buffer area, the part buffer area is used for receiving parts to be assembled next, the screw buffer area is used for receiving screws to be used for assembling next, and only one screw is stored in the screw buffer area at any time. In addition, at least two sets of flexible tools are arranged on the assembling workbench, and each flexible tool is used for fixing different assembling products. Furthermore, a code scanning gun is arranged on the assembling workbench and used for scanning a bar code on the part.
According to the embodiment of the invention, the assembly procedures can be reduced based on a man-machine cooperation interactive assembly mode, the assembly quality of the semi-finished product formed in each assembly step can be detected in real time, whether the assembly is correct or not is fed back to workers in real time, and intelligent error correction is realized.
In order to better illustrate the technical solution of the present invention, the following specific application examples are provided for illustration, but the following embodiments are not intended to limit the present invention.
Referring to fig. 2-5, the present embodiment provides a human-machine cooperation and interaction assembly system, which may include material area hardware and assembly area hardware.
In the material area, in order to facilitate the robot to grab, different kinds of parts required for assembly are arranged around the robot and placed in corresponding material trays according to categories. A2D industrial camera is arranged above each material tray and used for identifying and positioning materials in the trays and finally grabbing the materials by a robot. The clamping jaw adopts a mode of 'two-finger flexible clamping jaw + sucking disc', can grab parts with different sizes, shapes and weights, and does not cause any damage to workpieces due to the fact that the whole clamping jaw is made of flexible materials. The various screws required by assembly are charged by the automatic screw feeding machine and then grabbed by the robot, and the screw feeding position is fixed, so that visual identification and positioning are not required.
1) Antistatic material platform:
the material platform is fixed, and corresponding recess is arranged to the mesa so that material tray quick assembly disassembly and location. A total of 6 trays of 400mm 300mm and 1 tray of 600mm 400mm antistatic material, 3 of which are dark-coloured bottom surfaces for visual positioning. A2D industrial camera and a matched light source are fixed above each material tray and used for identifying and positioning parts in the trays.
2) Automatic screw material loading machine:
the screws of 4 different models required by assembly are supplied by automatic screw feeders, 5 automatic screw feeders are fixed on the same platform in total, one of the automatic screw feeders is used for standby, and the brand is good.
3) A cooperative robot:
the project adopts a roaming i10 cooperative type robot. After receiving the assembly order, the robot picks up the parts or screws from the material table or the automatic wire feeding machine through visual guidance, the parts or screws are respectively placed in a part cache region or a screw cache region for an operator to take, and if the picked parts accord with the assembly standard of the robot, the robot directly assembles.
4) Flexible tongs:
the robot tail end picking mechanism adopts a flexible gripper and comprises two clamping jaws and a sucker, wherein the clamping jaws and the sucker are made of antistatic silica gel. Two sets of flexible grippers are designed to grip different types of parts, and the replacement of the grippers can be realized by a quick replacement device of a male gripper.
A part buffer area and a screw buffer area are arranged at the position of the assembling area close to the robot side, and in the assembling process, the robot can perform blanking after picking up parts or screws so as to be convenient for operators to take. And the wire harness and the cable tie used in the assembling process are taken from the material rack above the assembling workbench. Two kinds of tools are arranged on the assembling table and respectively correspond to two assembling states. The two 2D industrial cameras are arranged above the two tools respectively, the display is arranged beside the two tools, real-time monitoring can be carried out on the assembling process, and therefore AR assembly guidance and intelligent error correction are achieved.
1) Manual screwing operation table:
a material box and a screw box with built-in anti-static cushions are additionally arranged on an original operating platform and serve as a part cache region and a screw cache region, wherein the screw cache region can only allow one screw to be stored at any time so as to avoid misassembly. The wire harness and the rolling belt used in the assembling process are stored in a material rack above the operating platform and are taken by an operator during assembling. Two sets of universal flexible tools are additionally arranged on the operating platform and used for fixing different products and can be quickly plugged and pulled out.
2) Sweep a yard rifle:
a handheld code scanning gun is additionally arranged on the operating platform and used for scanning the bar code on the valuable part.
3) Intelligent error correction:
A2D industrial camera and a matched light source are respectively arranged above the two sets of assembling tools, the assembling result can be detected after each assembling step is finished, and the assembling process and the assembling result can be displayed on the table board through projection or directly displayed on a display screen.
4) AR visual guidance:
the assembly guide of an operator can be carried out through the AR glasses in the assembly process, and after a camera above the tool identifies a product which is currently assembled, an assembly guide video of the current product can be played in the AR glasses.
The method and the device have the advantages that the man-machine integration mode is used for assisting assembly, so that the assembly accuracy can be improved, and the assembly procedures are reduced; the assembly is guided by the animation video, so that the probability of errors in manual assembly is effectively reduced; the flexible gripper is arranged at the tail end of the robot, the working mode is flexible, different materials can be adapted, and man-machine cooperation interactive assembly of different objects can be met through a small amount of improvement; meanwhile, the assembly quality of the semi-finished product formed in each assembly step can be detected in real time, whether the assembly is correct or not is fed back to workers in real time, and intelligent error correction is achieved.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (18)
1. A man-machine cooperation interactive assembly system is characterized by comprising a feeding unit and an assembly unit; the feeding unit is used for storing various different materials by a plurality of different containers, automatically transferring each material to the assembling unit and controlling the transferring rhythm according to the assembling progress of the assembling unit; the assembling unit is used for receiving the materials from the feeding unit and guiding the assembling of the materials in an operation process.
2. The human-machine cooperation interactive assembly system according to claim 1, wherein the assembly unit comprises an error correction module, the error correction module is adapted to monitor a semi-finished product formed in each assembly step in the assembly process in real time and compare the semi-finished product with a reference product to determine whether the semi-finished product is qualified, and if the semi-finished product is not qualified, an error correction prompt is performed.
3. The human-computer cooperative interactive assembly system according to claim 2, wherein the error correction module comprises a first image monitoring device, and the first image monitoring device is adapted to acquire a photo of the semi-finished product or an operation process video of each assembly step in real time and play the photo or video to an assembler and/or a quality monitor in real time.
4. The human-computer cooperative interactive assembly system of claim 3, wherein the photo or video is projected to an assembly workbench or accessed to a display screen for playing.
5. The human-computer cooperative interactive assembly system of claim 3, wherein the assembly unit comprises an AR visual guidance module, the AR visual guidance module comprises AR glasses, and the assembly operation is guided through an assembly guidance video played by the AR glasses worn by an assembler; the first image monitoring device is adapted to identify a product and an assembly step being assembled so as to play an assembly guidance video corresponding to the product and the assembly step.
6. The human-computer cooperative interactive assembly system of claim 1, wherein the different containers are different in position or different in specification, and the different materials are different in type or different in specification.
7. Human-machine cooperative interactive assembly system according to claim 1, wherein the feeding unit comprises a cooperative robot adapted to grasp the material in each of the containers and to feed it to the assembly unit.
8. The human-machine cooperative interactive assembly system of claim 7, wherein the cooperative robot directly assembles the material if the material meets the assembly criteria of the cooperative robot.
9. The human-machine cooperative interactive assembly system according to claim 7, wherein a second image monitoring device is respectively arranged above each container for identifying the type and specification of the material in the container and positioning the material so as to guide the cooperative robot to grab the material of the corresponding type along the correct grabbing path.
10. The human-computer cooperative interactive assembly system of claim 7, wherein the cooperative robot has a flexible gripper, the flexible gripper comprises two clamping jaws and a suction cup, and the parts of the clamping jaws and the suction cup which are in contact with the material are antistatic silica gel.
11. The human-computer cooperation interactive assembly system according to claim 7, wherein the feeding unit comprises an anti-static material platform, a plurality of grooves are formed in a table top of the anti-static material platform, anti-static material trays are respectively placed in the grooves, and different materials are respectively placed in the anti-static material trays.
12. The human-machine cooperative interactive assembly system of claim 7, wherein the cooperative robot is a single-arm six-axis robot.
13. The human-computer cooperative interactive assembly system of claim 11, wherein two adjacent anti-static material trays are dark and light in color.
14. The human-machine cooperative interactive assembly system of claim 7, wherein the feeding unit comprises at least one automatic screw feeder to provide mounting screws adapted to the gripping characteristics of the cooperative robot; the number of the automatic screw feeding machines corresponds to the number of the types of the screws, and one automatic screw feeding machine provides one screw; each of the containers and automatic screw feeders are disposed around the cooperative robot.
15. The human-computer cooperative interactive assembly system of claim 1, wherein the assembly unit comprises an assembly workbench, and at least one material buffer area is arranged on the assembly workbench and used for receiving materials from the feeding unit; the number of the material buffer areas corresponds to the number of the types of the materials.
16. The human-machine cooperative interactive assembly system of claim 15, wherein the assembly table is provided with a part buffer area and a screw buffer area, the part buffer area is used for receiving parts to be assembled next, the screw buffer area is used for receiving screws to be used for assembling next, and only one screw is stored in the screw buffer area at any time.
17. The human-computer cooperation and interaction assembly system according to claim 15, wherein at least two sets of flexible tools are arranged on the assembly workbench, and each flexible tool is used for fixing different assembly products.
18. The human-computer cooperative interactive assembly system of claim 15, wherein the assembly workbench is provided with a code scanning gun for scanning a bar code on the part.
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| CN116021250A (en) * | 2023-03-29 | 2023-04-28 | 清华大学 | Intelligent assembly system |
| CN116330305A (en) * | 2023-05-30 | 2023-06-27 | 常州旭泰克系统科技有限公司 | Multi-mode man-machine interaction assembly method, system, equipment and medium thereof |
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| CN110961903A (en) * | 2019-12-27 | 2020-04-07 | 中国电子科技集团公司第十三研究所 | Automatic screw locking system and method |
| CN111805224A (en) * | 2020-08-07 | 2020-10-23 | 上汽通用五菱汽车股份有限公司 | Automatic sleeve replacing system for bolt tightening station |
| CN112363470A (en) * | 2020-11-05 | 2021-02-12 | 苏州工业园区卡鲁生产技术研究院 | User-cooperative robot control system |
| CN214326355U (en) * | 2021-01-13 | 2021-10-01 | 中联重科股份有限公司 | Centralized distribution system for bolt gaskets |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116021250A (en) * | 2023-03-29 | 2023-04-28 | 清华大学 | Intelligent assembly system |
| CN116330305A (en) * | 2023-05-30 | 2023-06-27 | 常州旭泰克系统科技有限公司 | Multi-mode man-machine interaction assembly method, system, equipment and medium thereof |
| CN116330305B (en) * | 2023-05-30 | 2023-10-31 | 常州旭泰克系统科技有限公司 | Multi-mode man-machine interaction assembly method, system, equipment and medium thereof |
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