CN204639550U - The automatic pressing machine of a kind of automobile instrument - Google Patents

The automatic pressing machine of a kind of automobile instrument Download PDF

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Publication number
CN204639550U
CN204639550U CN201420864173.3U CN201420864173U CN204639550U CN 204639550 U CN204639550 U CN 204639550U CN 201420864173 U CN201420864173 U CN 201420864173U CN 204639550 U CN204639550 U CN 204639550U
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CN
China
Prior art keywords
pressing
stand
clamping
feeding
automatic
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201420864173.3U
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Chinese (zh)
Inventor
戴翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DAZHENG INDUSTRIAL ROBOT TECHNOLOGY Corp
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DAZHENG INDUSTRIAL ROBOT TECHNOLOGY Corp
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Priority to CN201420864173.3U priority Critical patent/CN204639550U/en
Application granted granted Critical
Publication of CN204639550U publication Critical patent/CN204639550U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses the automatic pressing machine of a kind of automobile instrument, comprise stand, the pressing device be arranged on stand, be arranged on clamping device on stand and main control computer; Also comprise a visual analysis navigation system and be arranged on the feeding device below described pressing device; Described pressing device is arranged on stand by a motion platform, and described pressing device comprises two pressing heads that the submission changing of the relative positions is done, and described pressing head is provided with 10 press mechanisms; Described clamping device comprises one and is arranged on panoramic table on stand, and described panoramic table comprises an assembly station and a clamping station that mutually can turn round switching; Described visual analysis navigation system comprises the main camera be arranged on described pressing device.It effectively saves pressing interval time by double clamping device, and with can the pressing device of three axle movements coordinate, effectively improve the automation of pressing, improve the pressing production efficiency of automobile instrument panel.

Description

The automatic pressing machine of a kind of automobile instrument
Technical field
The utility model relates to instrument assembly equipment, particularly relates to a kind of automatic assembly equipment of automobile meter pointer.
Background technology
At present in the instrument such as automobile and motorcycle manufacturing enterprise, the pointer compacting inside instrument mostly adopts mechanical-pneumatic mode or the compacting of mechanical, hand-driven manual type.Artificial compacting labour intensity is large, production efficiency is low, and pneumatic compacting is due to the characteristic of gas, press down speed upon actuation, and interlude cannot stop, so pointer and step motor position is asymmetric or pointer do not put well in also can subdue, cause stepper motor to damage like this, produce the phenomenon such as to do over again.The parameter consistency of pointer hole and motor shaft there are differences, and each motor for instrument initial angle residing when pointer is suppressed is also not quite identical, adopt artificial or direct pneumatic compacting be all difficult to ensure the pointer angle of compacting and the degree of depth completely the same.In addition, artificial or direct pneumatic compacting is adopted all not support, by operator, date section inquiry qualification rate, wrong content etc., to cause the blank of intelligent management system data and the later stage more cannot be reviewed.
Notification number is that the Chinese utility model patent of CN203171219U discloses a kind of pressing machine automatically, and comprise bracing frame, balancing stand, described balancing stand is moving up and down to be arranged on support frame as described above; Drive unit, described drive unit is fixed on described balancing stand upper end; Screw mandrel, described screw mandrel upper end is fixedly connected with described drive unit, and described screw mandrel and support frame as described above are rotationally connected; Loading detector, described loading detector is fixed on described balancing stand lower end; Position locator, described position locator is fixed on described loading detector; Combination needles collector, described combination needles collector is fixed on described loading detector lower end; Instrument fixed disk, described instrument fixed disk correspondence to be arranged on below described combination needles collector and to be fixed on balancing stand.This technical scheme comprises screw mandrel and treats that the instrument fixed disk of pressing instrument board is relative fixing with the presser of combination needles collector with clamping, and instrument fixed disk can only treat pressing instrument board by clamping one at every turn, the pointer that presser can only pick up a pointer or a kind of specification at every turn carries out pressing, the operating efficiency of pressing machine is low, is difficult to meet carry out quick pressing operation to each gauge pointer in a combination instrument dish.In addition, combination needles collector is difficult to the requirement meeting automatic seeking pin and pickup, can not correct picking up the pointer needle shaft individual difference after pin, causes pressing precision to be difficult to control, the problem of qualification rate and inefficiency.
Utility model content
The technical problems to be solved in the utility model is to provide the automatic pressing machine of a kind of automobile instrument, it is by being arranged on a motion platform by pressing device, make pressing device under Systematical control, repeatedly come and go pickup pointer and carry out different size repeatedly pressing operation, effectively improve the operating efficiency to combination instrument dish pressing; In addition, clamping is treated that the clamping device of pressing instrument board is arranged to have the double mechanism comprising an assembly station and a clamping station, make when a station is when carrying out pressing operation, another station carries out clamping operation, its with can the pressing device of three axle movements coordinate, greatly increase the automaticity of automatic pressing, improve the pressing productivity ratio of automobile instrument panel.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: the automatic pressing machine of a kind of automobile instrument, comprises stand, the pressing device be arranged on stand, is arranged on clamping device on stand and main control computer; Also comprise a visual analysis navigation system and be arranged on the feeding device below described pressing device; Described pressing device is arranged on stand by a motion platform, and described pressing device comprises two pressing heads that the submission changing of the relative positions is done, and described pressing head is provided with 10 press mechanisms; Described clamping device comprises one and is arranged on panoramic table on stand, and described panoramic table comprises an assembly station and a clamping station that mutually can turn round switching; Described visual analysis navigation system comprises the main camera be arranged on described pressing device.It effectively saves pressing interval time by double clamping device, and with can the pressing device of three axle movements coordinate, effectively improve the automation of pressing, improve the pressing production efficiency of automobile instrument panel.
In order to improve the production efficiency of pressing further, described clamping device comprises the some grip block mechanisms be arranged on panoramic table; Described grip block mechanism comprises gripper cylinder, the connecting rod hinged with cylinder piston and the gripper jaw hinged with the connecting rod other end.This is arranged on coordinating of some grip block mechanisms on panoramic table and visual analysis navigation system and control system, after being in place until pressing instrument board, the gripper jaw of grip block mechanism is automatically treated pressing instrument board by the driving of gripper cylinder and is carried out flat tight, effectively improves the clamping efficiency treating pressing instrument board.
In order to improve the stability treating pressing instrument board when pressing device carries out pressing, improving pressing precision, being provided with at least one back-up block mechanism in the below of described panoramic table assembly station; Described back-up block mechanism comprises a support cylinder, a voussoir be connected with support cylinder piston and the back-up block driven by voussoir.Carry out driving support accuracy and the rigidity that can control back-up block and panoramic table more accurately to back-up block by wedge structure.
Particularly, avoid the collision of pressing head to limit to effectively improve pressing efficiency, described pressing device comprises at least two pressing heads in staggered action up and down.Further, improve many pointers to pick up and pressing operates to coordinate with two pressing head, improve pressing efficiency further, described feeding device is at least two; Described feeding device comprises a guide plate and by the feeding platform of feed air cylinder driven movement on described guide plate.
In order to effectively obtain assembly station treat pressing instrument board motor shaft position information and pressing state, improve pressing precision, described visual analysis navigation system also comprises one and is arranged on auxiliary camera above assembly station.
Improving the depth accuracy of pressing in order to carry out a step, after described pressing device is also provided with a pair pressing, carrying out the ranging mechanism of pressing degree of depth verification.
The utility model automobile instrument automatic pressing machine be a set ofly integrate three axle servo motion platforms, the machinery of pointer pickup picks up the high accuracy pressing system of press mechanism, visual analysis navigation system, possess instrumented data initialization, automatic searching pointer, automatically lock the advanced functions such as needle shaft, pointer angle and the degree of depth are demarcated arbitrarily, actual pressing height is accurately measured, the pickup of pressing user-defined flow, double-head arrow, two pointer magazine, double tooling platform.
System is using three axle servo motion platforms as pedestal, industrial camera is adopted accurately to catch needle shaft and pointer, and control manipulator by pointer by the angle of technological requirement be highly pressed into needle shaft, support to carry out pressing to the pointer of any amount on combination instrument, possess double-head arrow and analyze pick-up capability, once can complete pointer pickup and the pressing of two or more specification.System has merged instrument simultaneously and has controlled and initialization module, motor is walked after same relative angle, carries out pressing, guarantee that the instrument through excessive positive automobile instrument pressing equipment has consistent pointer angle.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is structural representation of the present utility model, removes upper cover with show internal structure in figure.
Fig. 3 is the module map of master control system and visual analysis navigation system in the utility model.
Fig. 4 is the structural representation of pressing device in the utility model.
Fig. 5 is the enlarged drawing at A place in Fig. 4.
Fig. 6 is the structural representation of pressing device in the utility model.
Fig. 7 is the enlarged drawing at B place in Fig. 6.
Fig. 8 is the structural representation of clamping device in the utility model.
Fig. 9 is the structural representation of clamping device in the utility model.
Figure 10 is the structural representation of grip block mechanism in the utility model.
Figure 11 is the structural representation of feeding device in the utility model.
Wherein: stand 1, master control system 2, main control computer 21, control module 22, servo controller 221, pressing controller 222, human-computer interaction interface 23, display 231, input keyboard 232, motion platform 3, X-axis servo slide table mechanism 31, Y-axis servo slide table mechanism 32, Z axis servo slide table mechanism 33, Z-direction altitude calibration mechanism 34, pressing device 4, load board 41, pressing head 42, head rack 421, head body 422, Timing Belt wheels 423, head stepper motor 425, angle-tracking unit 426, pick up press mechanism 427, negative pressure sucker axle 4271, negative pressure cylinder 4272, fixed mount 4273, link 4274, pressure sensor 4275, paw mechanism 428, paw cylinder 4281, paw push pedal 4282, vertical slide rail 4283, paw connecting rod 4284, paw slide block 4285, horizontal slide rail 4286, paw 4287, paw groove 4288, ranging mechanism 429, head cylinder 43, buffer 44, block 45, feeding device 5, feed cylinder 51, guide plate 52, feeding platform 53, roller 54, visual analysis navigation system 6, main camera 61, auxiliary camera 62, visual analysis module 63, vision seeks pin module 631, needle shaft correction module 632, zero correction module 633, clamping device 7, panoramic table 71, assembly station 711, clamping station 712, revolution detent mechanism 713, back-up block mechanism 72, support cylinder 721, voussoir 722, back-up block 723, grip block mechanism 73, clamp bracket 731, gripper cylinder 732, connecting rod 733, gripper jaw 734, device for revolving and driving 74, upper cover 8, treat pressing instrument board 9.
Detailed description of the invention
Below by specific embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is further described specifically:
See Fig. 1, Fig. 2 and Fig. 3, the automatic pressing machine of a kind of automobile instrument, comprises master control system 2, the pressing device 4 controlled by master control system 2 and motion platform 3, feeding device 5 and for clamping the clamping device 7 treating pressing instrument board 9.This master control system 2 comprises the main control computer 21 be arranged on a stand 1, the control module 22 be arranged in main control computer 21, and visual analysis navigation system 6.This main control computer 21 comprises the human-computer interaction interface 23 being arranged on and stand 1 comprising display 231 and input keyboard 232.This control module 22 comprises the servo controller 221 controlled motion platform 3 and the pressing controller 222 controlled pressing device 4.This motion platform 3 is a three-axis servo platform, and it comprises X-axis servo slide table mechanism 31, Y-axis servo slide table mechanism 32, Z axis servo slide table mechanism 33 and Z-direction altitude calibration mechanism 34.
See Fig. 4 ~ Fig. 7, this pressing device 4 is fixed on this motion platform 3 by a load board 41, carries out the exact position of control realization pressing device 4 on XYZ axle move by the servomotor of servo controller 221 pairs of motion platform XYZ axles.This pressing device 4 comprises the ranging mechanism 429 being slidably connected in load board 41 two pressing heads 42 and being arranged in the middle of two pressing heads 42.This pressing head 42 comprises head frame 421, the head body 422 be arranged in the consistent through axial bore of head rack 421, be arranged on this head rack 421 for drive this head body 422 to rotate angle-adjusting mechanism, be arranged on this head body 422 lower end for picking up gauge pointer and the picking up press mechanism 427 and be positioned this and pick up paw mechanism 428 below press mechanism 427 of pressing.This angle-adjusting mechanism comprises being arranged on head stepper motor 425 in head frame 421 and Timing Belt wheels 423 and being arranged on head rack 421 and is connected to the angle of head body 422 upper end with combining device 426 by synchronous wheels.This angle is with combining device 426 for feeding back the rotational angle information of head body 422.This is picked up press mechanism 427 and comprises the negative pressure cylinder 4272 be fixed on by a fixed mount 4273 on head body 422 lower end, be arranged on the negative pressure sucker axle 4271 of this negative pressure cylinder 4272 tailpiece of the piston rod and be arranged on the pressure sensor 4275 between this negative pressure cylinder 4272 tailpiece of the piston rod and negative pressure sucker axle 4271 by a link 4274.This paw mechanism 428 be arranged on pick up press mechanism 427 fixed mount 4273 an extension on.This paw mechanism 428 comprises the paw cylinder 4281 be fixed on this fixed mount 4273 extension, to be fixed on fixed mount 4273 extension and the vertical slide rail 4283 be positioned below paw cylinder 4281, be slidably connected at the paw push pedal 4282 on this vertical slide rail 4283, two symmetrically hinged with both sides, paw push pedal 4282 bottom respectively paw connecting rods 4284, be arranged on the horizontal slide rail 4286 on before fixed mount 4273 extension bottom, to be hinged on respectively on two paw connecting rod 4284 other ends and the paw slide block 4285 be slidably connected on horizontal slide rail 4286 and two paws 4287 being separately fixed at these two paw slide block 4285 lower ends.This negative pressure sucker axle 4271 is positioned before fixed mount 4273 extension, paw cylinder 4281 in this paw mechanism 428, paw push pedal 4282, paw connecting rod 4284 and vertical slide rail 4283 are all positioned after fixed mount 4273 extension, two paw slide blocks 4285 of paw mechanism 428 are positioned below fixed mount 4273 extension, and two paws 4287 extend to the below of negative pressure sucker axle 4271.Be provided with a paw groove 4288 in the inner side of paw 4287, this paw groove 4288 is a right-angle notch.Paw cylinder 4281 piston rod that this paw push pedal 4282 upper end and paw cylinder 4281 extend downwards is connected, by this paw cylinder 4281 promote paw push pedal 4282 so that by two paw connecting rods 4284 control two paws 4287 transversely slide rail 4286 make opening and closing movement.These two pressing heads 42 carry out switching in staggered mobile up and down respectively by respective head cylinder 43.This head cylinder 43 is arranged in load board 41, and is provided with buffer 44 between this load board 41 and head rack 421.
See Fig. 8, Fig. 9 and Figure 10, the back-up block mechanism 72 that this clamping device 7 comprises the panoramic table 71 be arranged on stand 1, is arranged on the grip block mechanism 73 on panoramic table 71 and is arranged on below panoramic table 71.This panoramic table 71 is provided with the assembly station 711 and clamping station 712 that on the stand 1 by being arranged on below this panoramic table 71, single-revolution detent mechanism 713 is located.This revolution detent mechanism 713 comprises an alignment pin driven by positioning cylinder.This grip block mechanism 73 be arranged on panoramic table 71 comprises the hinged connecting rod 733 of clamp bracket 731, gripper cylinder 732, one end and gripper cylinder 732 piston rod, the gripper jaw 734 hinged with connecting rod 733 other end.To treat on the clamping station 712 that pressing instrument board 9 is placed on panoramic table and start gripper jaw 734 by gripper cylinder 732 to compress.In the present embodiment, this gripper jaw 734 is along treating that pressing instrument board 9 periphery is provided with 5.This back-up block mechanism 72 is positioned at the below of panoramic table 71 assembly station 711.This back-up block mechanism 72 comprises a support cylinder 721, one and supports the voussoir 722 that cylinder 721 piston rod is connected and the back-up block 723 driven by voussoir 722.
See Figure 11, this feeding device 5 is arranged on the stand 1 of this clamping device 7 side.This feeding device 5 comprises one and is fixed on guide plate 52, the feeding platform 53 on stand 1 and drives feeding platform 53 along the feed cylinder 51 of guide plate 52 movement.This feeding platform 53 is done to roll with guide plate 52 be connected by being positioned roller 54 on guide plate 52 both sides.In the present embodiment, this feeding device 5 is provided with two.Gauge pointer is that matrix is arranged in pointer magazine, and pointer magazine is placed on below feeding platform 53 being moved to pressing device 4 by feed cylinder 51.
See Fig. 3, this visual analysis navigation system 6 comprises the main camera 61 be arranged on pressing device 4, be arranged on auxiliary camera 62 above clamping device 7 panoramic table 71 assembly station 711 and visual analysis module 63.This visual analysis module 63 comprises that the vision of the qualified pointer of automatic search seeks pin module 631, needle shaft correction module 632 and the correct zero scale individual difference position of instrument calibration needle shaft position individual difference make each instrument point to consistent zero correction module 633.
During operation, first open gas circuit, open device Host power supply, after display shows login window, log in pressing system with operator's account.In pressing main window, select to treat that the model of pressing instrument board is clicked start pressing button, system power on first or anxious stop after automatically first can carry out back to zero operation by Z-direction altitude calibration mechanism 34, then enter normal pressing state.To treat that the clamping station 712 of pressing instrument board 9 at clamping device 7 carries out clamping by grip block mechanism 73, after the signal detection that puts in place, grip block mechanism 73 automatically holds tightly and treats pressing instrument board 9, the display 231 of human-computer interaction interface 23 ejects confirmation and treats that whether pressing instrument board 9 outward appearance is normal, the panoramic table 71 performing clamping device 7 after confirming rotates, and makes to treat that pressing instrument board 9 enters assembly station 71.The pressing head 42 of pressing device 7 moves to the top of feeding device 5 by three axle servo motion platforms 3, main camera 61 in visual analysis navigation system 6 obtains the pointer position of the gauge pointer in array in feeding device 5 and has pin needleless status information, and seeks pin module 631 by the vision in visual analysis module 63 and needle shaft correction module 632 carries out analyzing and correcting.In the present embodiment, this pressing head 42 has two, after one A pressing head picks up pin, carries out A/B pressing head and switches, then undertaken picking up pin by B pressing head by head cylinder 43.Before pressing head 42 moves and carries out picking up pin, paw cylinder 4281 makes paw push pedal 4282 promote paw connecting rod 4284 and then drives paw slide block 4285 that paw 4287 is opened, two pressing heads 42 move, the negative pressure sucker axle 4271 of Shi Zhen mechanism 427 rises, move to above feeding device 5 get pin position after, A pressing head switches descending by head cylinder 43, stretch out negative pressure sucker axle 4271, return after suction spindle, paw 4287 is closed, paw mechanism 428 rollback, pointer workpiece is withstood and by the paw groove 4288 automatic calibration pointer position on paw 4287 with negative pressure sucker axle 4271, after A pressing head completes and picks up pin, B pressing head picks up pin in the same way again.42, two the pressing machines after picking up pin that complete move to presetting position, assembly center point and angle of assembling is caught by the auxiliary camera 62 in visual analysis navigation system 6, and measure assembling Z-direction height and position, control pressing head 42 by master control system 2 after being analyzed by visual analysis module 63 and move to destination coordinate position.Switch A pressing head descending, and control three axle servo motion platform 3Z axle servo slide table mechanisms 33 and slowly sent into certain distance, open paw 4287, rollback Z axis servo slide table mechanism 33 1 relative distances, negative pressure sucker axle 4271 moves down to spacing, and Z axis servo slide table mechanism 33 moves down press-in pointer workpiece to certain depth distance, and then A pressing head switches rollback, negative pressure sucker axle 4271 rollback, ranging mechanism 429 moves to top and measures.After A pressing head completes the pressing of one of them pointer, B pressing head completes the pressing of another pointer in the same fashion.After completing pressing, numerical value is compared by master control system, provides the margin of tolerance of practical set.After assembling terminates, panoramic table 71 screws out assembly station 711, and what complete clamping at clamping station 712 treats that pressing instrument board 9 enters assembly station 711 simultaneously, repeats pressing work.
Specific embodiment is to more clearly understand the utility model, do not limit as to the one of the utility model right, under the prerequisite not departing from the utility model aim, various change can be had, all these to the apparent amendment of described those skilled in the art by be included in this claim scope within.

Claims (10)

1. the automatic pressing machine of automobile instrument, comprises stand, the pressing device be arranged on stand, is arranged on clamping device on stand and main control computer; It is characterized in that: also comprise a visual analysis navigation system and be arranged on the feeding device below described pressing device; Described pressing device is arranged on stand by a motion platform, and described pressing device comprises two pressing heads that the submission changing of the relative positions is done, and described pressing head is provided with 10 press mechanisms; Described clamping device comprises one and is arranged on panoramic table on stand, and described panoramic table comprises an assembly station and a clamping station that mutually can turn round switching; Described visual analysis navigation system comprises the main camera be arranged on described pressing device.
2. automatic pressing machine according to claim 1, is characterized in that: described clamping device comprises the some grip block mechanisms be arranged on panoramic table; Described grip block mechanism comprises gripper cylinder, the connecting rod hinged with cylinder piston and the gripper jaw hinged with the connecting rod other end.
3. automatic pressing machine according to claim 2, is characterized in that: be provided with at least one back-up block mechanism in the below of described panoramic table assembly station; Described back-up block mechanism comprises a support cylinder, a voussoir be connected with support cylinder piston and the back-up block driven by voussoir.
4. the automatic pressing machine according to claim 1 or 2 or 3, is characterized in that: described pressing device comprises at least two pressing heads in staggered action up and down.
5. the automatic pressing machine according to claim 1 or 2 or 3, is characterized in that: described feeding device is at least two; Described feeding device comprises a guide plate and by the feeding platform of feed air cylinder driven movement on described guide plate.
6. the automatic pressing machine according to claim 1 or 2 or 3, is characterized in that: described visual analysis navigation system also comprises one and is arranged on auxiliary camera above assembly station.
7. the automatic pressing machine according to claim 1 or 2 or 3, is characterized in that: the ranging mechanism of carrying out the verification of the pressing degree of depth be also provided with a pair pressing on described pressing device after.
8. automatic pressing machine according to claim 4, is characterized in that: described feeding device is at least two; Described feeding device comprises a guide plate and by the feeding platform of feed air cylinder driven movement on described guide plate.
9. automatic pressing machine according to claim 4, is characterized in that: described visual analysis navigation system also comprises one and is arranged on auxiliary camera above assembly station.
10. automatic pressing machine according to claim 4, is characterized in that: the ranging mechanism of carrying out the verification of the pressing degree of depth be also provided with a pair pressing on described pressing device after.
CN201420864173.3U 2014-12-31 2014-12-31 The automatic pressing machine of a kind of automobile instrument Expired - Fee Related CN204639550U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104786034A (en) * 2014-12-31 2015-07-22 宁波大正工业机器人技术有限公司 Automobile instrument automatic pointer pressing machine
CN106541264A (en) * 2015-09-22 2017-03-29 惠州市德赛西威汽车电子股份有限公司 Gauge pointer assembly system
CN110900145A (en) * 2019-11-27 2020-03-24 航天科技控股集团股份有限公司 Dial zero scale mark picking method for pointer press mounting
CN110900145B (en) * 2019-11-27 2021-09-10 航天科技控股集团股份有限公司 Dial zero scale mark picking method for pointer press mounting

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104786034A (en) * 2014-12-31 2015-07-22 宁波大正工业机器人技术有限公司 Automobile instrument automatic pointer pressing machine
CN106541264A (en) * 2015-09-22 2017-03-29 惠州市德赛西威汽车电子股份有限公司 Gauge pointer assembly system
CN110900145A (en) * 2019-11-27 2020-03-24 航天科技控股集团股份有限公司 Dial zero scale mark picking method for pointer press mounting
CN110900145B (en) * 2019-11-27 2021-09-10 航天科技控股集团股份有限公司 Dial zero scale mark picking method for pointer press mounting

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150916

Termination date: 20191231