CN115816060A - Visual auxiliary assembly system for graphite assembly - Google Patents
Visual auxiliary assembly system for graphite assembly Download PDFInfo
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- CN115816060A CN115816060A CN202211510415.4A CN202211510415A CN115816060A CN 115816060 A CN115816060 A CN 115816060A CN 202211510415 A CN202211510415 A CN 202211510415A CN 115816060 A CN115816060 A CN 115816060A
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 title claims abstract description 78
- 229910002804 graphite Inorganic materials 0.000 title claims abstract description 77
- 239000010439 graphite Substances 0.000 title claims abstract description 77
- 230000000007 visual effect Effects 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 123
- 238000001514 detection method Methods 0.000 claims abstract description 67
- 239000000463 material Substances 0.000 claims abstract description 51
- 238000004519 manufacturing process Methods 0.000 claims abstract description 17
- 238000001179 sorption measurement Methods 0.000 claims description 80
- 239000008188 pellet Substances 0.000 claims description 30
- 239000000446 fuel Substances 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000002574 poison Substances 0.000 claims description 15
- 231100000614 poison Toxicity 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 239000011148 porous material Substances 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 5
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 1
- 239000003758 nuclear fuel Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 15
- 238000009434 installation Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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Abstract
The invention discloses a vision-assisted assembly system for a graphite assembly, which comprises a core block feeding mechanism, a first end plug caching mechanism, a second end plug caching mechanism, a third end plug caching mechanism, a feeding station, an assembly station, a blanking station, an assembly carrying and vision device, a truss carrying system, a vision identification and detection station, a platform, an outer cover and a control system. The invention adopts automatic means such as automatic material arranging, automatic positioning, automatic carrying, visual identification and detection, collision detection, assembly depth detection and the like to realize full-automatic visual auxiliary assembly of the core block, the end plug and the graphite assembly, and improves the intelligent level and the production efficiency of the assembly production of the air-cooled micro-reactor fuel assembly in the nuclear power industry in China.
Description
Technical Field
The invention relates to the field of gas-cooled micro-reactor production in nuclear power industry, in particular to a vision-assisted assembly system for a graphite assembly.
Background
In the field of gas-cooled micro-reactor production in the domestic nuclear power industry, the graphite assembly has low assembly production efficiency and poor product quality consistency, and is mainly shown in the following steps: 1. the assembly precision of the core block and the graphite assembly hole channel is high, the manual assembly efficiency is low, the problems of unqualified core block assembly clamping stagnation and rework exist, the assembly condition detection and the collision protection in the assembly process are lost, and the like; 2. the consistency of the screwing depth value and the number of rotation turns of the assembly of the end plug and the graphite assembly is poor; 3. the automation degree of the assembly process is low, and the production requirement cannot be met.
Disclosure of Invention
The invention aims to provide a vision-assisted assembly system for a graphite assembly, which realizes full-automatic vision-assisted assembly of a core block, an end plug and the graphite assembly and improves the intelligent level and the production efficiency of the assembly production of the air-cooled micro-reactor fuel assembly in the nuclear power industry in China.
The technical scheme for realizing the purpose of the invention is as follows: a visual auxiliary assembly system for graphite components comprises a core block feeding mechanism, a platform and a control system, wherein a first end plug caching mechanism, a second end plug caching mechanism, a third end plug caching mechanism, a feeding station, an assembly station, a blanking station, a component carrying and visual device, a truss carrying system and a visual identification and detection station are mounted on the platform; the first end plug caching mechanism, the second end plug caching mechanism and the third end plug caching mechanism are used for loading, caching and positioning various end plugs; the feeding station is used for feeding and positioning the graphite assembly body; the assembling station is used for automatically and accurately assembling various core blocks, end plugs and the graphite assembly body; the blanking station is used for caching the blanking of the assembled graphite assembly; the assembly carrying and vision device is used for automatically carrying the graphite assembly from a feeding station to an assembling station and from the assembling station to a discharging station; the truss handling system is used for automatic handling and automatic assembly of various core blocks and end plugs; the visual identification and detection station is used for identifying the specifications of the core block and the end plug, detecting the verticality and judging whether assembly conditions are met; the control system is arranged in the platform and controls each device to execute in order according to the production flow.
Compared with the prior art, the invention has the remarkable effects that:
(1) According to the visual auxiliary assembly system for the graphite assembly, the assembly carrying and visual device automatically carries out visual identification on the end hole channel of the graphite assembly, the visual identification and detection station automatically carries out specification identification and verticality detection on the core block and the end plug, and the truss carrying system realizes automatic adsorption, carrying and assembly of the core block and the end plug, so that full-automatic assembly of the graphite assembly is realized;
(2) According to the vision-aided assembling system for the graphite assembly, detection means such as a six-dimensional torque sensor (90) and a collision detection mechanism are adopted, so that anti-collision protection in the assembling process is realized;
(3) According to the visual auxiliary assembly system for the graphite assembly, the system for carrying the graphite assembly, recognizing end hole channels and carrying a truss adopts a unified coordinate reference point, so that the assembly precision is ensured;
(4) The full-automatic visual auxiliary assembly of the core block, the end plug and the graphite assembly is realized by adopting automatic means such as automatic material arranging, automatic positioning, automatic carrying, visual identification and detection, collision detection, assembly depth detection and the like, and the intelligent level and the production efficiency of the assembly production of the gas-cooled micro-reactor fuel assembly in the nuclear power industry in China are improved.
The invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a graphite assembly vision-aided assembly system.
Fig. 2 is a top view of a graphite assembly vision aid assembly system (with the housing removed).
Fig. 3 is a schematic three-dimensional view of a graphite assembly vision-aided assembly system (with the housing removed).
Fig. 4 is a three-dimensional structure diagram of the housing.
Fig. 5 is a three-dimensional structure diagram of the assembly handling and vision apparatus.
Fig. 6 is a three-dimensional structure schematic diagram of a feeding station.
Fig. 7 is a schematic three-dimensional structure diagram of an auxiliary clamping tool of a graphite assembly at an assembly station.
Fig. 8 is a schematic three-dimensional structure diagram of the core block feeding mechanism.
Fig. 9 is a schematic three-dimensional structure diagram of a material arranging mechanism in the core block feeding mechanism.
Fig. 10 is a schematic three-dimensional structure diagram of an end plug buffering mechanism.
Fig. 11 is a schematic three-dimensional structure of the end plug buffering mechanism (with the mounting plate removed).
Fig. 12 is a three-dimensional schematic of a truss handling system.
Fig. 13 is a schematic three-dimensional structure diagram of an assembly tool in the truss handling system.
Fig. 14 is a schematic three-dimensional structure diagram of an adsorption tool in an assembly tool.
Fig. 15 is a schematic three-dimensional structure diagram of an adsorption tool in an assembly tool.
Fig. 16 is a schematic three-dimensional structure diagram of an adsorption tool in an assembly tool.
Fig. 17 is a schematic three-dimensional structure diagram of a tightening tool in an assembly tool.
Fig. 18 is a schematic three-dimensional structure diagram of a tightening tool in an assembly tool.
Fig. 19 is a schematic three-dimensional structure diagram of a visual identification and inspection station.
Fig. 20 is a schematic three-dimensional structure of the visual recognition and inspection station (with the shield removed).
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present application, it should be noted that "up", "down", "front", "back", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of a described object is changed, the relative positional relationships may be changed.
With reference to fig. 1, 2 and 3, a vision-assisted graphite assembly assembling system includes a core block feeding mechanism 6, a first end plug buffer mechanism 2, a second end plug buffer mechanism 3, a third end plug buffer mechanism 4, a feeding station 14, an assembling station 15, a blanking station 11, an assembly carrying and vision device 13, a truss carrying system 12, a vision identification and detection station 10, a platform 1, an outer cover 17 and a control system. The pellet feeding mechanism 6 realizes the feeding preparation work of various pellets such as fuel pellets, poison pellets and the like through a vibrating disc, a straight vibrating material channel and a material arranging mechanism; the first end plug caching mechanism 2, the second end plug caching mechanism 3 and the third end plug caching mechanism 4 can realize the feeding caching and positioning of various end plugs; the loading station 14 is used for loading and positioning the graphite assembly; the assembly station 15 realizes automatic accurate assembly of various core blocks, end plugs and the graphite assembly body; the blanking station 11 is used for blanking caching of the graphite assembly; the assembly carrying and vision device 13 realizes the carrying of the graphite assembly and the vision scanning of the end pore canal; the truss handling system 12 realizes automatic handling and automatic assembly of various core blocks and end plugs; the visual recognition and detection station 10 is used for recognizing the specifications of the core block and the end plug, detecting the verticality and judging whether the assembling conditions are met; the platform 1 is used as the equipment installation carrier; the control system is arranged in the platform 1 and controls the devices to be executed in order according to the production flow. The invention adopts automatic means such as automatic material arranging, automatic positioning, automatic carrying, visual identification and detection, collision detection, assembly depth detection and the like to realize full-automatic visual auxiliary assembly of the core block, the end plug and the graphite assembly, and improves the intelligent level and the production efficiency of the assembly production of the air-cooled micro-reactor fuel assembly in the nuclear power industry in China.
With reference to fig. 2, 8 and 9, the feeding mechanism 6 includes a feeding frame 50, a first vibrating tray 48, a second vibrating tray 49, a first straight vibrating channel 51, a second straight vibrating channel 47, a first material arranging mechanism 5, a second material arranging mechanism 9 and a top cover 52, the top cover 52 is mounted on the top of the feeding frame 50, the first vibrating tray 48 and the second vibrating tray 49 are mounted on the upper portion inside the feeding frame 50, the first material arranging mechanism 5 and the second material arranging mechanism 9 are mounted above the platform 1, the first straight vibrating channel 51 is mounted between the first vibrating tray 48 and the first material arranging mechanism 5, and the second straight vibrating channel 47 is mounted between the second vibrating tray 49 and the second material arranging mechanism 9. The first vibration disk 48 and the second vibration disk 49 are arranged outside the platform 1, so that the vibration loading and shaking are prevented from influencing the structure of each detection and execution machine on the platform 1. The first material arranging mechanism 5 comprises a first support 61, a base 58, an air cylinder 59, a second support 55, a connecting block 60, a moving block 57, a cylindrical core block 56 and a limiting plate 54, wherein the air cylinder 59 is connected with the base 58 through the second support 55, a piston plate of the air cylinder 59 is connected with the moving block 57 through the connecting block 60, the moving block 57 moves left and right in the base 58, the limiting plate 54 is fixed above the base 58, and the base 58 is connected with the platform 1 through the first support 61. After the cylindrical core blocks 56 move to the first material arranging mechanism 5 through the first straight material vibrating channel 51, the air cylinder 59 drives the moving block 57 to move rightwards, and the cylindrical core blocks 56 are pushed to the V-shaped grooves of the limiting plates 54 to realize positioning. The second material arranging mechanism 9 has the same structural form as the first material arranging mechanism 5, and is not described in detail. When the system needs to load the cylindrical core blocks 56, the top cover 52 is manually opened to place the cylindrical core blocks 56 in the first vibrating disk 48 and the second vibrating disk 49. First ya keli observation window 7, second ya keli observation window 8 are equipped with respectively on first vibration dish 48 and the second vibration dish 49, and when the system normally worked, the workman patrols the inside behavior through first ya keli observation window 7, second ya keli observation window 8, adopts current mature technology about first shake material way 51 always, does not describe here again tired.
Referring to fig. 10 and 11, the first end plug buffer mechanism 2 includes a base frame 71, a mounting plate 76, a release plate 69, a tightening shaft 70, a compression spring 78, a release cylinder 77, a first guide bearing 81, a second guide bearing 79, a first guide rod 82, a second guide rod 80, a poison end plug 72, a fuel end plug M-type 74, and a fuel end plug N-type 75. The mounting plate 76 is connected with the platform 1 through the base frame 71, the release cylinder 77 is arranged in the mounting plate 76, one ends of a first guide bearing 81 and a second guide bearing 79 are fixed at the inner end of the mounting plate 76, the other ends of the first guide bearing 81 and the second guide bearing 79 are arranged outside the mounting plate 76, a first guide rod 82, a second guide rod 80 and a release cylinder 77 piston rod are connected with the release plate 69, the other end of the first guide rod 82 is arranged in the first guide bearing 81, the other end of the second guide rod 80 is arranged in the second guide bearing 79, the plurality of tightening shafts 70 are arranged in mounting holes of the mounting plate 76 and the release plate 69, and the compression spring 78 is used for driving the tightening shafts 70 to automatically tighten the toxic material end plugs 72, the fuel end plugs M-type 74 and the fuel end plugs N-type 75 and realize positioning in V-shaped grooves of the mounting plate 76. When the system needs to be loaded, the release cylinder 77 drives the plurality of tightening shafts 70 to overcome the reverse pressure of the corresponding compression springs 78 through the release plate 69, and all the tightening shafts 70 move into the mounting plate 76 at the moment, so that the poison end plugs 72, the fuel end plugs M-type 74 and the fuel end plugs N-type 75 can be conveniently and manually loaded; after the feeding is finished, the release cylinder 77 drives the release plate 69 to release all the jacking shafts 70, the jacking shafts 70 perform V-shaped groove positioning on end plugs with different diameters under the action of the compression springs 78, and the smaller the diameter of the end plug is, the larger the movement stroke of the jacking shaft 70 is. The second end plug caching mechanism 3 and the third end plug caching mechanism 4 have the same structural form as the first end plug caching mechanism 2, and are not described again.
Referring to fig. 6, the loading station 14 includes a positioning block 44, a correlation sensor 43, and a graphite assembly 42. When the system needs to be loaded, the graphite assembly 42 is installed in the positioning block 44 to realize accurate positioning, and the correlation sensors 43 are symmetrically installed on two sides of the positioning block 44 to assist the system in detecting whether the graphite assembly 42 exists or not. The blanking station 11 and the loading station 14 have the same structural form and are not described in detail.
With reference to fig. 6 and 7, compared with the feeding station 14, the assembling station 15 is additionally provided with a set of auxiliary clamping tool, the auxiliary clamping tool comprises an installation seat 46, an auxiliary clamping cylinder 45, an auxiliary clamping first clamping jaw 47 and an auxiliary clamping second clamping jaw 48, the auxiliary clamping first clamping jaw 47 and the auxiliary clamping second clamping jaw 48 are installed at the output end of the auxiliary clamping cylinder 45, and the auxiliary clamping cylinder 45 is connected with the platform 1 through the installation seat 46. After the graphite assembly 42 is conveyed to the assembly station 15, the auxiliary clamping tool drives the auxiliary clamping first clamping jaw 47 and the auxiliary clamping second clamping jaw 48 to realize auxiliary clamping on the graphite assembly 42.
Referring to fig. 5, the assembly carrying and vision device 13 includes a horizontal movement mechanism, a lifting mechanism, a vision system, a clamping mechanism and a sensor mechanism, the horizontal movement mechanism includes a first linear module 25, a first guide rail 24, a second guide rail 26, a slider 41 and a movable base 40, the first linear module 25, the first guide rail 24 and the second guide rail 26 are all installed on the platform 1, the movable base 40 is connected with the first guide rail 24 and the second guide rail 26 through the slider 41, and the horizontal movement is realized through the slider connection with the first linear module 25. The lifting mechanism comprises a second linear module 36 and a third bracket 38, and the second linear module 36 is connected with a movable base 40 through the third bracket 38. The vision system comprises a fourth support 28, a fifth support 27, a sixth support 30, a seventh support 37, a first industrial camera 29 and a first vision light source 31, the first industrial camera 29 is connected with the fifth support 27, two sides of the first vision light source 31 are connected with the fifth support 27 through the sixth support 30 and the seventh support 37, and the fifth support 27 is connected with the second linear module 36 through the fourth support 28 in a sliding mode through a sliding block. The clamping mechanism comprises a clamping cylinder 34, a first clamping jaw 32 and a second clamping jaw 33, the first clamping jaw 32 and the second clamping jaw 33 are connected with the output end of the clamping cylinder 34, and the clamping cylinder 34 is connected with the second linear module 36 in a sliding mode through a sliding block. The sensor mechanism comprises a sensor bracket 35 and a sensor 39, and the sensor 39 is connected with a movable base 40 through the sensor bracket 35. The component conveying and vision device 13 can realize the automatic conveying of the graphite components 42 from the feeding station 14 to the assembling station 15 and from the assembling station 15 to the blanking station 11; the visual system of the assembly carrying and visual device 13 is used for detecting the overall dimension and the spatial position coordinate of the end part pore channel of the graphite assembly 42 and providing the spatial coordinate and the overall dimension of the pore channel for the next material assembly; the sensor mechanism of the component conveying and vision device 13 is used for detecting whether the graphite component 42 exists or not and judging whether the graphite component 42 falls, when the graphite component 42 is conveyed among the feeding station 14, the assembling station 15 and the blanking station 11, the sensor 39 is used for detecting whether the graphite component 42 exists or not, when the graphite component is conveyed among the stations, the clamping mechanism clamps the graphite component 42 and lifts the graphite component to a certain height, at the moment, the graphite component 42 is separated from the highest point of the positioning block 44 and the detection range of the sensor 39, and if the graphite component 42 falls off in the conveying process, the sensor 39 detects the graphite component 42 and feeds back the control system and the system alarm prompt.
With reference to fig. 12 and 13, the truss handling system 12 includes an X-axis, a Y-axis, a Z-axis, a rotation axis and an assembly fixture 89, the X-axis includes a first X-axis bracket 84, a second X-axis bracket 88, a first X-axis linear module 83 and a second X-axis linear module 87, the first X-axis linear module 83 is connected to the platform 1 through the first X-axis bracket 84, the second X-axis linear module 87 is connected to the platform 1 through the second X-axis bracket 88, and the first X-axis linear module 83 is parallel to the second X-axis linear module 87. The Y-axis is a Y-axis linear module 85, two ends of the Y-axis linear module 85 are respectively connected with the X-axis first linear module 83 and the X-axis second linear module 87 in a sliding mode, the Z-axis is a Z-axis linear module 86, the rotating shaft comprises a servo motor 94 and a speed reducer 92, the servo motor 94 is connected with the Z-axis linear module 86 in a sliding mode, and the servo motor 94 is installed below the Z-axis through the speed reducer 92. The assembly tool 89 comprises a six-dimensional torque sensor 90, an assembly frame 97, a first screwing tool 93, a second screwing tool 95, a first adsorption tool 91 and a second adsorption tool 96. First screwing tool 93, second screwing tool 95, first adsorption tool 91 and second adsorption tool 96 are all installed on assembly frame 97, assembly frame 97 is connected with the rotation axis output end through six-dimensional torque sensor 90, and when first screwing tool 93, second screwing tool 95, first adsorption tool 91 and second adsorption tool 96 have collision interference in the carrying or assembling process, six-dimensional torque sensor 90 feeds back force values and torque values in real time to control system and gives an alarm prompt. The first tightening tool 93, the second tightening tool 95, the first adsorption tool 91 and the second adsorption tool 96 are freely switched under the action of the rotating shaft according to the assembly requirements.
With reference to fig. 13, 14, 15 and 16, the first adsorption tool 91 includes an adsorption frame 99, a rotation mechanism, an adsorption seat, a collision detection mechanism and a laser ranging mechanism, the rotation mechanism includes a reduction motor 98, an adsorption floating tightening shaft 109 and a gear transmission mechanism, the reduction motor 98 is installed above the adsorption frame 99, the gear transmission mechanism is installed inside the adsorption frame 99, the adsorption floating tightening shaft 109 is installed below the adsorption frame 99, a mold spring is configured inside the adsorption floating tightening shaft 109 to realize free floating in the Z-axis direction of the whole body, a low-torque rotary joint 104 is configured on the top of the adsorption floating tightening shaft 109 and is connected to a vacuum generator to realize internal vacuum, the torque rotary joint 104 belongs to a slip ring, and mainly realizes dynamic connection between an external static pipeline and a rotary pipeline, and prevents an air pipe from being damaged by torsion; the speed reducing motor 98 drives the adsorption floating tightening shaft 109 to rotate through a gear transmission mechanism, and further drives the torque rotary joint 104 to rotate, the torque rotary joint 104 is connected with the L-shaped detection block 105 through a connecting plate, and the lifting motion of the torque rotary joint 104 drives the L-shaped detection block 105 to move up and down; the first vacuum pressure sensor 103 monitors vacuum pressure in real time, the first vacuum pressure sensor 103 is fixedly connected with the adsorption frame 99 through an L-shaped support, and an alarm is given if pressure is lost. The adsorption seat comprises an adsorption base 110 and an adsorption sucker 111, the adsorption sucker 111 is fixed on a vacuum suction port of the adsorption base 110, the adsorption seat is connected to the tail end of the adsorption floating tightening shaft 109, and the adsorption sucker 111 adsorbs the core blocks through vacuum inside the adsorption floating tightening shaft 109. The collision detection mechanism comprises a Z-direction micro-motion sensor 106, a micro-motion sensor support 108, an L-shaped detection block 105 and a first seat type guide shaft 107, the Z-direction micro-motion sensor 106 is connected with the upper end of the adsorption frame 99 through the micro-motion sensor support 108, the first seat type guide shaft 107 is connected with the upper end of the adsorption frame 99, one side of the bottom of the L-shaped detection block 105 is connected with the low-torque rotary joint 104, the other side of the bottom of the L-shaped detection block 105 is connected with the first seat type guide shaft 107 through a guide hole, the first seat type guide shaft 107 assists the L-shaped detection block 105 to move up and down, and the Z-direction micro-motion sensor 106 monitors whether external pressure causes displacement in the Z-axis direction in real time, so that the Z-axis direction protection and monitoring are provided in the adsorption, detection and assembly processes. The laser ranging mechanism comprises a laser ranging sensor 102 and a ranging sensor support 100, the laser ranging sensor 102 is connected with the lower end of the adsorption frame 99 through the ranging sensor support 100, the laser ranging sensor 102 is used for detecting the stacking height of the pellets in the channel after the pellets are stacked and assembled, judging whether the current stacking and assembling are in place or not, and giving an unqualified alarm to the situation that the pellets are not in place. The first adsorption tool 91 adsorbs the core block through the adsorption sucker 111 installed on the telescopic adsorption floating tightening shaft 109, the end face of the core block is adsorbed and pressed on the adsorption base 110 by utilizing the compression amount of the organ type sucker, and the verticality guarantee of the core block adsorption is realized by guaranteeing the verticality of the end face of the adsorption base 110 and the core shaft. The second adsorption tool 96 has the same structural form and principle as the first adsorption tool 91, and is not described again.
With reference to fig. 13, 17 and 18, the first tightening tool 93 includes a tightening frame 118, a tightening mechanism including a tightening machine 117, a floating tightening shaft 116 and a gear transmission mechanism, the tightening machine 117 is mounted above the tightening frame 118, the gear transmission mechanism is mounted inside the tightening frame 118, the floating tightening shaft 116 is mounted below the tightening frame 118, and the tightening machine 117 is in transmission connection with the floating tightening shaft 116 through the gear transmission mechanism; the floating tightening shaft 116 is internally provided with a mold spring to realize free floating of the whole Z-axis direction, the top of the floating tightening shaft 116 is provided with a low-torque rotary joint and connected with a vacuum generator to realize internal vacuum, and a second vacuum pressure sensor 119 monitors vacuum pressure in real time and gives an alarm if the pressure is lost. The tightening machine 117 drives the floating tightening shaft 116 to perform end plug screwing assembly movement such as torque value, rotation number and the like of a specific tightening strategy through a gear transmission mechanism; the suction tightening base comprises a tightening base 123, a tightening sucker 121 and a tightening pin 120, the tightening sucker 121 is fixed on a vacuum suction port of the tightening base 123, the two tightening pins 120 are connected with the end of the tightening base 123, the tightening base 123 is connected with the tail end of the floating tightening shaft 116, the end plug is sucked by the tightening sucker 121 through vacuum inside the floating tightening shaft 116, the floating tightening shaft 116 drives the two tightening pins 120 to rotate so as to match pin holes of the two tightening pins 120 and two holes at the end of the end plug, and the end plug is driven to screw into hole channel threads of the graphite assembly 42. The displacement detection mechanism comprises a contact type displacement sensor 112, a displacement sensor bracket 113, a second seat type guide shaft 115 and a detection plate 114, wherein the contact type displacement sensor 112 is installed above a tightening frame 118 through the displacement sensor bracket 113, the second seat type guide shaft 115 is installed above the tightening frame 118, one end of the detection plate 114 is connected with a low-torque rotary joint at the top of a floating tightening shaft 116 and moves up and down synchronously with the floating tightening shaft 116, a guide hole at the other end of the detection plate 114 is connected with the second seat type guide shaft 115, and the second seat type guide shaft 115 assists the detection plate 114 to move up and down. The first tightening tool 93 adsorbs the end plug through the tightening sucker 121 arranged on the telescopic floating tightening shaft 116, the end plug end face is adsorbed and pressed on the tightening base 123 by utilizing the compression amount of the organ-type sucker, and the adsorbed verticality of the end plug is ensured by ensuring the verticality of the end plug and the end face of the tightening base 123. The displacement detection mechanism monitors the displacement of the first screwing tool 93 in the Z-axis direction in real time, and provides external feedback for controlling the depth value of the end plug screwed into the end hole channel of the graphite component 42. The second tightening tool 95 has the same structural form and principle as the first tightening tool 93, and is not described again;
referring to fig. 19 and 20, the vision recognition and inspection station 10 includes a second industrial camera 66, a first recognition and inspection bracket 65, a second vision light source 67, a second recognition and inspection bracket 68, a shroud 63, an unacceptable pellet bin 62 and an unacceptable end plug bin 64. The second industrial camera 66 is connected with the platform 1 through the first recognition and detection bracket 65, the second visual light source 67 is connected with the platform 1 through the second recognition and detection bracket 68, the unqualified pellet material storage box 62, the unqualified end plug material storage box 64 and the protective cover 63 are connected with the platform 1, and the unqualified pellet material storage box 62 and the unqualified end plug material storage box 64 are respectively positioned on two sides of the protective cover 63. After the truss carrying system 12 adsorbs and captures materials such as the cylindrical pellet 56, the poison end plug 72, the fuel end plug M-type 74 and the fuel end plug N-type 75, the materials are carried into the station protective cover 63 for material specification identification and verticality detection, an assembly tool 89 of the truss carrying system 12 drives a motor to drive the pellet or the end plug to rotate, meanwhile, the second industrial camera 66 shoots the side edge and the bottom edge of the cylinder, and the verticality between the side edge and the bottom edge and the verticality between the side edge and the virtual axis of the pellet or the end plug are calculated through processing and analysis of visual software. And (3) rotating the core block or the end plug for a circle, sampling for 8-10 times by the second industrial camera 66, giving the maximum value of the grabbing verticality, and judging whether the core block or the end plug is qualified by the control system. Meanwhile, the coaxiality of the core block or the end plug and the floating core shaft can be calculated through data sampled for multiple times, and a control system judges whether the core block or the end plug can be assembled or not. If the material does not meet the assembly requirements, the truss handling system 12 handles the rejected material into a pellet reject bin 62 and an end plug reject bin 64.
Referring to fig. 1 and 4, the housing 17 includes a housing frame 73, an acrylic plate 21, a first three-color lamp 16, a second three-color lamp 53, a first safety barrier 20, a second safety barrier 23, and an operation terminal region 18. The acrylic plate 21 is arranged on the outer cover frame 73, so that personnel can observe the working condition inside the outer cover conveniently; the first safety light grating 20 is arranged at two ends of the inlet 19 of the feeding station and used for safety protection during the working of the equipment, the second safety light grating 23 is arranged at two ends of the outlet 22 of the discharging station and used for safety protection during the working of the equipment, and the first three-color lamp 16 and the second three-color lamp 53 are arranged at two sides of the outer cover frame 73 and used for displaying the running state; the operation terminal area 18 is arranged at the inlet 19 side of the feeding station and is used for operating equipment such as buttons, a man-machine interface, a keyboard and a mouse.
Referring to fig. 2, the visual reference point 122 is fixed on the platform 1, and serves as a physical reference zero point of the visual system of the module transfer and vision device 13 and a physical coordinate system origin of the truss transfer system 12. The visual reference point mainly functions in that a visual system, a motion mechanism and a truss handling system 12 in the assembly handling and visual device 13 are in a unified coordinate system and use a unified reference origin, and the assembly target of the graphite assembly 42, the core block and the end plug is realized by ensuring the walking precision and the positioning precision of each mechanism and the detection precision of the visual system.
With reference to fig. 1 to 20, a basic implementation flow of the graphite assembly visual aid assembling system is as follows:
in the first step, in the loading stage, a worker selects a loading application button in the operation terminal area 18, the control system automatically closes the first safety grating 20, the worker places a graphite assembly to be assembled on the positioning block 44 of the loading station 14, the control system controls the release cylinder 77 to drive the plurality of tightening shafts 70 through the release plate 69 to overcome the reverse pressure of the corresponding compression springs 78, all the tightening shafts 70 move into the mounting plate 76 at the moment, and the worker finishes loading on the poison end plugs 72, the fuel end plugs M-type 74 and the fuel end plugs N-type 75 on the first end plug caching mechanism 2, the second end plug caching mechanism 3 and the third end plug caching mechanism 4; manually opening top cover 52 to place poison pellets and fuel pellets into first vibratory pan 48 and second vibratory pan 49, respectively;
secondly, in the core block assembling stage, the assembly carrying and vision device 13 carries the graphite assembly 42 from the feeding station 14 to the assembling station 15 and carries out pore visual recognition on the end part of the graphite assembly 42;
the truss carrying system 12 grabs the fuel pellets from the second material arranging mechanism 9 and carries the fuel pellets to the inside of the visual identification and detection station 10 for specification identification and verticality detection, and grabs the poison pellets from the first material arranging mechanism 5 and carries the poison pellets to the inside of the visual identification and detection station 10 for specification identification and verticality detection; if the specifications and verticality of the fuel pellets and the poison pellets meet the assembly requirements, the truss carrying system 12 loads the fuel pellets and the poison pellets into a hole channel at the end part of the graphite assembly 42, and the laser ranging sensor 102 detects the stacking height of the pellets in the hole channel and judges whether the current stacking assembly is qualified; if qualified, turning to the third step, and if not, alarming;
in the third step, in the end plug assembling stage, the truss carrying system 12 grabs the poison end plug 72, the fuel end plug M-type 74 and the fuel end plug N-type 75 from the first end plug caching mechanism 2, the second end plug caching mechanism 3 and the third end plug caching mechanism 4 and carries the poison end plug, the fuel end plug M-type 74 and the fuel end plug N-type 75 to the inside of the visual identification and detection station 10 for specification identification and verticality detection, and if the specification and the verticality of the end plugs meet the assembling requirement, the truss carrying system 12 rotationally loads the poison end plug 72, the fuel end plug M-type 74 and the fuel end plug N-type 75 into an end hole of the graphite assembly 42 for plugging the pellet;
and fourthly, in the blanking stage, the assembly conveying and vision device 13 conveys the graphite assembly 42 from the assembling station 15 to the blanking station 11, and the control system automatically closes the second safety grating 23 to wait for manual blanking.
The invention adopts automatic means such as automatic material arranging, automatic positioning, automatic carrying, visual identification and detection, collision detection, assembly depth detection and the like to realize full-automatic visual auxiliary assembly of the core block, the end plug and the graphite assembly, and improves the intelligent level and the production efficiency of the assembly production of the air-cooled micro-reactor fuel assembly in the nuclear power industry in China.
Claims (10)
1. The visual auxiliary assembly system for the graphite assembly is characterized by comprising a core block feeding mechanism (6), a platform (1) and a control system, wherein the platform (1) is provided with a first end plug caching mechanism (2), a second end plug caching mechanism (3), a third end plug caching mechanism (4), a feeding station (14), an assembly station (15), a blanking station (11), an assembly carrying and visual device (13), a truss carrying system (12) and a visual identification and detection station (10), and the core block feeding mechanism (6) is used for feeding preparation work of various graphite core blocks; the first end plug caching mechanism (2), the second end plug caching mechanism (3) and the third end plug caching mechanism (4) are used for feeding, caching and positioning various end plugs; the feeding station (14) is used for feeding and positioning the graphite assembly body; the assembling station (15) is used for automatically and accurately assembling various core blocks, end plugs and the graphite assembly body; the blanking station (11) is used for blanking cache of the assembled graphite assembly; the assembly carrying and vision device (13) is used for automatically carrying the graphite assembly (42) from the loading station (14) to the assembling station (15) and from the assembling station (15) to the unloading station (11); the truss handling system (12) is used for automatic handling and automatic assembly of a plurality of core blocks and end plugs; the visual identification and detection station (10) is used for identifying the specifications of the core block and the end plug, detecting the verticality and judging whether assembly conditions are met; the control system is arranged in the platform (1) and controls each device to execute in order according to the production flow.
2. The graphite assembly visual auxiliary assembly system according to claim 1, wherein the feeding mechanism (6) comprises a feeding frame (50), a first vibrating disk (48), a second vibrating disk (49), a first straight vibrating channel (51), a second straight vibrating channel (47), a first material arranging mechanism (5) and a second material arranging mechanism (9), the feeding frame (50) is placed outside the platform (1), and the first vibrating disk (48) and the second vibrating disk (49) are mounted on the top of the feeding frame (50) to prevent vibrating feeding shaking from influencing the structure of each detection and execution machine on the platform (1); the first material arranging mechanism (5) and the second material arranging mechanism (9) are installed above the platform (1), the first straight vibrating material channel (51) is installed between the first vibrating disc (48) and the first material arranging mechanism (5), and the second straight vibrating material channel (47) is installed between the second vibrating disc (49) and the second material arranging mechanism (9).
3. The graphite assembly visual auxiliary assembly system according to claim 2, wherein each of the first material arranging mechanism (5) and the second material arranging mechanism (9) comprises a first support (61), a base (58), an air cylinder (59), a second support (55), a connecting block (60), a moving block (57), a cylindrical core block (56) and a limiting plate (54), the air cylinder (59) is connected with the base (58) through the second support (55), a piston plate of the air cylinder (59) is connected with the moving block (57) through the connecting block (60), the moving block (57) moves back and forth inside the base (58), the limiting plate (54) is fixed above the base (58), and the base (58) is connected with the platform (1) through the first support (61); when the cylindrical core block (56) moves to the first material arranging mechanism (5) through the first straight material vibrating channel (51), the cylinder (59) drives the moving block (57) to move rightwards, and the cylindrical core block (56) is pushed to the V-shaped groove of the limiting plate (54) to achieve positioning.
4. The graphite assembly visual aid assembly system according to claim 1, wherein the first end plug buffering mechanism (2), the second end plug buffering mechanism (3) and the third end plug buffering mechanism (4) each comprise a base frame (71), a mounting plate (76), a release plate (69), a jacking shaft (70), a compression spring (78), a release cylinder (77), a first guide bearing (81), a second guide bearing (79), a first guide rod (82), a second guide rod (80), a poison end plug (72), a fuel end plug M-type (74) and a fuel end plug N-type (75); the mounting plate (76) is connected with the platform (1) through a base frame (71), a release cylinder (77) is arranged inside the mounting plate (76), one ends of a first guide bearing (81) and a second guide bearing (79) are fixed at the inner end of the mounting plate (76), the other ends of the first guide bearing and the second guide bearing are arranged outside the mounting plate (76), piston rods of the first guide rod (82), the second guide rod (80) and the release cylinder (77) are all connected with a release plate (69), the other end of the first guide rod (82) is arranged inside the first guide bearing (81), the other end of the second guide rod (80) is arranged inside the second guide bearing (79), a plurality of jacking shafts (70) are arranged inside mounting holes of the mounting plate (76) and the release plate (69), and a compression spring (78) is used for driving the jacking shafts (70) to automatically jack a poison end plug (72), a fuel end plug M-type (74) and a fuel end plug N-type (75) and realize positioning in a V-type groove of the mounting plate (76).
5. The graphite assembly vision-aided assembly system of claim 1, wherein the assembly handling and vision device (13) comprises a horizontal motion mechanism, a lifting mechanism, a vision system, a clasping mechanism, and a sensor mechanism, wherein:
the horizontal movement mechanism comprises a first linear module (25), a first guide rail (24), a second guide rail (26), a sliding block (41) and a moving base (40), wherein the first linear module (25), the first guide rail (24) and the second guide rail (26) are all arranged on the platform (1), the moving base (40) is respectively connected with the first guide rail (24) and the second guide rail (26) through the sliding block (41), and the horizontal movement is realized through the connection with the sliding block of the first linear module (25);
the lifting mechanism comprises a second linear module (36) and a third support (38), and the second linear module (36) is connected with the movable base (40) through the third support (38);
the visual system comprises a fourth support (28), a fifth support (27), a sixth support (30), a seventh support (37), a first industrial camera (29) and a first visual light source (31), wherein the first industrial camera (29) is connected with the fifth support (27), the first visual light source (31) is connected with the fifth support (27) through the sixth support (30) and the seventh support (37), and the fifth support (27) is connected with a sliding block of a second linear module (36) through the fourth support (28) and is used for detecting the external dimension and the spatial position coordinate of a pore passage at the end part of the graphite assembly (42);
the clamping mechanism comprises a clamping cylinder (34), a first clamping jaw (32) and a second clamping jaw (33), the first clamping jaw (32) and the second clamping jaw (33) are connected with the clamping cylinder (34), and the clamping cylinder (34) is connected with a sliding block of a second linear module (36);
the sensor mechanism comprises a sensor support (35) and a sensor (39), wherein the sensor (39) is connected with a movable base (40) through the sensor support (35) and is used for detecting whether the graphite component (42) exists or not and judging the falling prevention.
6. The graphite assembly visual auxiliary assembly system according to claim 1, wherein the truss handling system (12) comprises an X-axis, a Y-axis, a Z-axis, a rotating shaft and an assembly tool (89), wherein the X-axis comprises an X-axis first bracket (84), an X-axis second bracket (88), an X-axis first linear module (83) and an X-axis second linear module (87), the X-axis first linear module (83) is connected with the platform (1) through the X-axis first bracket (84), the X-axis second linear module (87) is connected with the platform (1) through the X-axis second bracket (88), and the X-axis first linear module (83) and the X-axis second linear module (87) are parallel; the Y axis is a Y axis linear module (85), and two ends of the Y axis linear module (85) are respectively connected with the X axis first linear module (83) and the X axis second linear module (87) in a sliding manner; the Z axis is a Z axis straight line module (86); the rotating shaft comprises a servo motor (94) and a speed reducer (92), and the servo motor (94) is connected with the Z shaft in a sliding mode through the speed reducer (92); the assembly tool (89) comprises a six-dimensional torque sensor (90), an assembly frame (97), a first screwing tool (93), a second screwing tool (95), a first adsorption tool (91) and a second adsorption tool (96); the first tightening tool (93), the second tightening tool (95), the first adsorption tool (91) and the second adsorption tool (96) are all installed on the assembly frame (97), the assembly frame (97) is connected with the output end of the rotating shaft through the six-dimensional torque sensor (90), and when collision interference exists in the process of carrying or assembling the first tightening tool (93), the second tightening tool (95), the first adsorption tool (91) and the second adsorption tool (96), the six-dimensional torque sensor (90) feeds back force values and torque values to the control system in real time and gives an alarm prompt; the first tightening tool (93), the second tightening tool (95), the first adsorption tool (91) and the second adsorption tool (96) are freely switched under the action of the rotating shaft according to assembly requirements.
7. The graphite assembly visual auxiliary assembly system as claimed in claim 6, wherein the first adsorption tool (91) and the second adsorption tool (96) each comprise an adsorption frame (99), a rotating mechanism, an adsorption seat, a collision detection mechanism and a laser ranging mechanism, the rotating mechanism comprises a speed reduction motor (98), an adsorption floating tightening shaft (109) and a gear transmission mechanism, the speed reduction motor (98) is installed above the adsorption frame (99), the gear transmission mechanism is installed inside the adsorption frame (99), the adsorption floating tightening shaft (109) is installed below the adsorption frame (99), the speed reduction motor (98) is in transmission connection with the adsorption floating tightening shaft (109) through the gear transmission mechanism, a mold spring is arranged inside the adsorption floating tightening shaft (109) to realize free floating in the Z-axis direction of the whole body, a low-torque rotary joint (104) is arranged on the top of the adsorption floating tightening shaft (109) and is connected into a vacuum generator to realize internal vacuum, a first vacuum pressure sensor (103) is fixed on the adsorption frame (99), and the first vacuum pressure sensor (103) monitors vacuum pressure in real time and alarms if pressure is lost; the adsorption seat comprises an adsorption base (110) and an adsorption sucker (111), the adsorption sucker (111) is fixed on a vacuum suction port of the adsorption base (110), the adsorption seat is connected to the tail end of the adsorption floating tightening shaft (109), and the adsorption sucker (111) adsorbs the core block by the vacuum in the adsorption floating tightening shaft (109); the collision detection mechanism comprises a Z-direction micro-sensor (106), a micro-sensor support (108), an L-shaped detection block (105) and a first seat type guide shaft (107), the Z-direction micro-sensor (106) is connected with an adsorption frame (99) through the micro-sensor support (108), the first seat type guide shaft (107) is connected with the adsorption frame (99), one side of the bottom of the L-shaped detection block (105) is connected with a low-torque rotary joint (104), the lifting motion of the torque rotary joint (104) drives the L-shaped detection block (105) to move up and down, a guide hole in the other side of the bottom of the L-shaped detection block (105) is connected with the first seat type guide shaft (107), the first seat type guide shaft (107) assists the L-shaped detection block (105) to move up and down, and the Z-direction micro-sensor (106) is used for monitoring whether external pressure causes displacement in real time in the Z-axis direction; the laser ranging mechanism comprises a laser ranging sensor (102) and a ranging sensor support (100), the laser ranging sensor (102) is connected with the adsorption frame (99) through the ranging sensor support (100), the laser ranging sensor (102) is used for detecting the stacking height of the pellets in the channel after the pellets are stacked and assembled, judging whether the current stacking and assembling are in place or not, and giving an unqualified alarm to the situation that the pellets are not in place.
8. The graphite assembly visual-assisted assembly system of claim 6, wherein the first and second tightening tools (93, 95) each comprise a tightening frame (118), a tightening mechanism, an adsorption tightening seat and a displacement detection mechanism, the tightening mechanism comprises a tightening machine (117), a floating tightening shaft (116) and a gear transmission mechanism, the tightening machine (117) is mounted above the tightening frame (118), the gear transmission mechanism is mounted inside the tightening frame (118), the floating tightening shaft (116) is mounted below the tightening frame (118), the tightening machine (117) is in transmission connection with the floating tightening shaft (116) through the gear transmission mechanism, and the tightening machine (117) drives the floating tightening shaft (116) through the gear transmission mechanism to screw the end plug into an assembly motion; a mold spring is arranged in the floating tightening shaft (116) to realize free floating of the whole body in the Z-axis direction, a low-torque rotary joint is arranged at the top of the floating tightening shaft (116) and is connected with a vacuum generator to realize internal vacuum, a second vacuum pressure sensor (119) is installed on the tightening frame (118), and the second vacuum pressure sensor (119) is used for monitoring vacuum pressure in real time and giving an alarm if the pressure is lost; the adsorption screwing seat comprises a screwing base (123), a screwing sucker (121) and screwing pins (120), the screwing sucker (121) is fixed on a vacuum suction port of the screwing base (123), the two screwing pins (120) are connected with the end part of the screwing base (123), the screwing base (123) is connected to the tail end of the floating screwing shaft (116), the floating screwing shaft (116) is internally vacuumized to realize that the screwing sucker (121) adsorbs the end plug, the floating screwing shaft (116) drives the two screwing pins (120) to rotate to realize that the two screwing pins (120) are matched with pin holes at the end parts of the end plug and drive the end plug to realize screwing in the pore channel threads of the graphite component (42); the displacement detection mechanism comprises a contact type displacement sensor (112), a displacement sensor support (113), a second seat type guide shaft (115) and a detection plate (114), the contact type displacement sensor (112) is installed above a screwing frame (118) through the displacement sensor support (113), the second seat type guide shaft (115) is installed above the screwing frame (118), one end of the detection plate (114) is connected with a low-torque rotary joint at the top of a floating screwing shaft (116) and moves up and down synchronously with the floating screwing shaft (116), a guide hole at the other end of the detection plate (114) is connected with the second seat type guide shaft (115), and the second seat type guide shaft (115) assists the detection plate (114) to move up and down.
9. The graphite assembly vision-aided assembly system of claim 1, wherein the vision recognition and inspection station (10) comprises a second industrial camera (66), a first recognition and inspection bracket (65), a second vision light source (67), a second recognition and inspection bracket (68), a shield (63), a core block reject bin (62), and an end plug reject bin (64); the second industrial camera (66) is connected with the platform (1) through a first recognition and detection support (65), the second visual light source (67) is connected with the platform (1) through a second recognition and detection support (68), the second industrial camera (66) is used for photographing the side edge and the bottom edge of the cylinder, the storage box (62) for unqualified core block materials, the storage box (64) for unqualified end plug materials and the protective cover (63) are connected with the platform (1), and the storage box (62) for unqualified core block materials and the storage box (64) for unqualified end plug materials are respectively positioned on two sides of the protective cover (63); the truss handling system (12) handles the off-grade material into a pellet off-grade material receiver (62) and an end plug off-grade material receiver (64).
10. Visual auxiliary assembly system for graphite components according to claim 1, characterized by further comprising a visual reference point (122) and a housing (17), wherein the visual reference point (122) is fixed on the platform (1) and serves as a physical reference zero point of a visual system in the component handling and visual device (13) and a physical coordinate system origin point of the truss handling system (12);
the outer cover (17) is used for covering the platform (1) and comprises an outer cover frame (73), an acrylic plate (21), a first three-color lamp (16), a second three-color lamp (53), a first safety grating (20), a second safety grating (23) and an operation terminal area (18); the acrylic plate (21) is arranged on the outer cover frame (73) so that personnel can observe the working condition inside the outer cover conveniently; the first safety light grating (20) is arranged at two ends of an inlet (19) of the feeding station and used for safety protection during the working of equipment, the second safety light grating (23) is arranged at two ends of an outlet (22) of the discharging station and used for safety protection during the working of the equipment, and the first three-color lamp (16) and the second three-color lamp (53) are arranged at two sides of the outer cover frame (73) and used for displaying the running state; an operation terminal area (18) is installed on the inlet (19) side of the loading station for equipment operation.
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| CN202211510415.4A CN115816060A (en) | 2022-11-29 | 2022-11-29 | Visual auxiliary assembly system for graphite assembly |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117419623A (en) * | 2023-12-19 | 2024-01-19 | 四川睿杰鑫电子股份有限公司 | PCB hole inspection device and method |
| CN117484177A (en) * | 2023-12-29 | 2024-02-02 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
| CN117532311A (en) * | 2024-01-10 | 2024-02-09 | 杭州沃镭智能科技股份有限公司 | Heat conduction pad assembly device of integrated type linear control brake system |
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2022
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117419623A (en) * | 2023-12-19 | 2024-01-19 | 四川睿杰鑫电子股份有限公司 | PCB hole inspection device and method |
| CN117419623B (en) * | 2023-12-19 | 2024-04-19 | 四川睿杰鑫电子股份有限公司 | PCB hole inspection device and method |
| CN117484177A (en) * | 2023-12-29 | 2024-02-02 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
| CN117484177B (en) * | 2023-12-29 | 2024-04-09 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
| CN117532311A (en) * | 2024-01-10 | 2024-02-09 | 杭州沃镭智能科技股份有限公司 | Heat conduction pad assembly device of integrated type linear control brake system |
| CN117532311B (en) * | 2024-01-10 | 2024-04-05 | 杭州沃镭智能科技股份有限公司 | Heat conduction pad assembly device of integrated type linear control brake system |
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Inventor after: Du Junling Inventor after: Dong Huancheng Inventor after: Zhao Nana Inventor after: Li Zhan Inventor after: Wang Chenglong Inventor after: Tao Tao Inventor after: Guo Hang Inventor after: Xue Haining Inventor after: Bao Jingming Inventor after: Wei Dingchi Inventor after: Xu Zhentao Inventor after: Lu Jiangquan Inventor after: Gu Huan Inventor after: Xu Wei Inventor after: Jiao Han Inventor before: Lu Jiangquan Inventor before: Guo Hang Inventor before: Gu Huan Inventor before: Xu Wei Inventor before: Jiao Han Inventor before: Dong Huancheng Inventor before: Zhao Nana Inventor before: Li Zhan Inventor before: Wang Chenglong Inventor before: Tao Tao |
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