CN208230717U - The automatic loading and unloading device and stamping equipment of press machine - Google Patents
The automatic loading and unloading device and stamping equipment of press machine Download PDFInfo
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- CN208230717U CN208230717U CN201820550193.1U CN201820550193U CN208230717U CN 208230717 U CN208230717 U CN 208230717U CN 201820550193 U CN201820550193 U CN 201820550193U CN 208230717 U CN208230717 U CN 208230717U
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Abstract
This application provides a kind of automatic loading and unloading device of press machine, automatic loading and unloading device is used to be press machine upper and lower raw material automatically, which includes: rack, and the side of press machine is arranged in；Feeding platform is arranged on the rack, for stacking raw material；Material fetching mechanism, for taking out the raw material on feeding platform；Feeding robot is connect with material fetching mechanism, and the raw material of taking-up is placed on press machine for controlling material fetching mechanism；Blanking bench, for collecting the presswork after stamped machine punching press.The application identifies the position of raw material using vision positioning system, to improve the positioning accuracy of raw material, product qualification rate is improved, while realizing the automatic loading/unloading of raw material using material fetching mechanism and feeding robot, the utilization rate and production efficiency for improving equipment, reduce production cost.
Description
Technical field
The application belongs to the automatic loading and unloading device of stamping equipment technical field more particularly to a kind of press machine and punching press is set
It is standby.
Background technique
Punching press is common processing technology in industrial production, and stamping material is mostly aluminium alloy, plastics, and shape is sheet type.
In process of production, the workpiece of needs is first subjected to mark on raw material, on every block of raw material can multiple workpieces of mark simultaneously,
It recycles press machine to carry out punching press, is separated into single workpiece and waste material.Currently, using manually monolithic raw material is placed on
Punching press is carried out on press machine, due to artificial loading and unloading, is easy to fatigue, working efficiency is low；In feeding process, aligning accuracy is not
Height, product qualification rate reduce；And utilization rate of equipment and installations is low, only worker's working can just produce.
Summary of the invention
This application provides a kind of automatic loading and unloading device of press machine and stamping equipments, artificial in the prior art to solve
Loading efficiency is low, and utilization rate of equipment and installations is low, and positioning accuracy is not high, the low technical problem of product qualification rate.
In order to solve the above technical problems, the technical solution that the application uses is: provide a kind of press machine it is automatic on
Blanking device, the automatic loading and unloading device are used to be the press machine upper and lower raw material automatically, the automatic loading and unloading device packet
It includes:
The side of the press machine is arranged in rack；
Feeding platform is arranged in the rack, for stacking the raw material；
Material fetching mechanism, for taking out the raw material on the feeding platform；
Feeding robot is connect with the material fetching mechanism, puts the raw material of taking-up for controlling the material fetching mechanism
It sets on the press machine；
Blanking bench, for collecting the presswork after the press machine punching press.
In order to solve the above technical problems, another technical solution that the application uses is: a kind of stamping equipment is provided, it is described
Stamping equipment includes: press machine and described in any item automatic loading and unloading devices above, and the automatic loading and unloading device is for being
Automatically raw material, the press machine are used to carry out punching press to the raw material placed thereon the press machine up and down.
The beneficial effect of the application is: be in contrast to the prior art, a kind of press machine provided by the present application it is automatic
Handling equipment, to improve the positioning accuracy of raw material, improves product and closes using the position of vision positioning system identification raw material
Lattice rate；On the other hand, the automatic loading/unloading that raw material is realized using feeding robot and material fetching mechanism, improves the utilization rate of equipment
And production efficiency, reduce to artificial dependence, reduces production cost.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the schematic perspective view of automatic loading and unloading device provided by the present application；
Fig. 2 is that the application automatic loading and unloading device is press machine feeding state schematic perspective view；
Fig. 3 is that automatic loading and unloading device is press machine feeding state schematic side view in Fig. 2；
Fig. 4 is the schematic top plan view of feeding platform in Fig. 1；
Fig. 5 is the schematic side view of material fetching mechanism in Fig. 1；
Fig. 6 is the flow diagram that teaching is carried out to vision positioning system；
Fig. 7 is vision positioning system feedback position information so that feeding robot adjusts position of the raw material on press machine
Flow diagram；
Fig. 8 is the flow diagram of the automatic loading/unloading method of the another embodiment of the application.
Specific embodiment
This application provides a kind of automatic loading and unloading device of press machine, method and stamping equipments, to solve the prior art
Middle artificial loading inefficiency, utilization rate of equipment and installations is low, and positioning accuracy is not high, the low technical problem of product qualification rate.
Below by the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model of the application protection
It encloses.
Fig. 1-3 is please referred to, Fig. 1 is the schematic perspective view of automatic loading and unloading device provided by the present application, and Fig. 2 is this Shen
Please automatic loading and unloading device be press machine feeding state schematic perspective view, Fig. 3 be in Fig. 2 automatic loading and unloading device be punching press
Machine feeding state schematic side view.
The application provides a kind of automatic loading and unloading device 10 of press machine 30, for being the automatic raw material up and down of press machine 30
20, which includes rack 100, feeding platform 200, material fetching mechanism 300, feeding robot 400, blanking bench
500 and vision positioning system 600.
Wherein, the side of press machine 30 is arranged in rack 100, and feeding platform 200 is provided in rack 100.Rack 100 can be by
Multiple crossbearers, vertical frame and/or oblique frame are spliced, or are formed by multiple board material splices.
Referring to Fig. 4, and please continue to refer to Fig. 1, Fig. 4 be feeding platform in Fig. 1 schematic top plan view.
Feeding platform 200 is used to stack raw material 20, including board 210, baffle 220 and cylinder 230, board 210 are fixed on machine
On frame 100, more than one piece raw material 20 is laterally stacked thereon.Baffle 220 is fixed in rack 100, and is located at opposite the two of board 210
Side, the distance between two baffles 220 are equal or slightly larger than the size of raw material 20, for the raw material being placed on board 210
20 carry out coarse positioning.Cylinder 230 is vertical with the raw material 20 being placed on board 210 between two baffles 220, for pushing
The raw material 20 being placed on board 210 is mobile.
Wherein, board 210 includes two guide rods 211 parallel with rack 100 and along 220 length direction of baffle, raw material 20
It is placed on guide rod 211, since guide rod 211 and the contact area of raw material 20 are smaller, thus between guide rod 211 and raw material 20
Friction is small, so that cylinder 230 pushes raw material 20 lighter.
Specifically, cylinder 230 contains two output shafts 231 and push plate 232, two output shafts 231 and the fixed company of push plate 232
It connects, push plate 232 contacts between two side baffles 220, and with raw material 20.When material fetching mechanism 300 draws raw material 20, cylinder
230 output shafts 231 push forward push plate 232, so that the raw material 20 being located at before push plate 232 moves forward to fixed position, at this time
Material fetching mechanism 300 is contacted with raw material 20, and cylinder 230 loses heart, and is held in place, material fetching mechanism 300 takes the raw material being in contact with it away
20, after the completion of to be punched, material fetching mechanism 300 again moves into fixed position, pushes raw material 20 to move forward by cylinder 230, so as to take
Material structure 300 can pinpoint feeding every time, reduce the adjusting complexity of feeding robot 400.
In another embodiment, feeding platform 200 can also use board, baffle and the elevator of vertical direction, and board is used
In vertical stacking raw material 20, elevator is fixed in rack 100, and output shaft is connect with board, and raw material 20 is carried on board,
When the raw material 20 on board is removed, elevator pushes board to rise, so that the height of raw material 20 is maintained at fixed on board
Position, so that material fetching mechanism 300 pinpoints feeding.Baffle is distributed in the opposite sides of board, for the original being placed on board
Material 20 carries out coarse positioning, and for preventing raw material 20 to be scattered.
Specifically, elevator is the spiral lift of servo motor driving, and servo motor is for receiving control command
When, driving spiral lift promotes the height of board.In other embodiments, elevator is also possible to mould group, electric cylinders, servo electricity
The mode of machine driving ball-screw provides the power for increase board.
Referring to Fig. 5, and please continue to refer to Fig. 1, Fig. 5 be material fetching mechanism in Fig. 1 schematic side view.
Material fetching mechanism 300 is arranged in feeding robot 400, drives material fetching mechanism 300 from feeding by feeding robot 400
Raw material 20 is drawn on platform 200.In embodiments herein, material fetching mechanism 300 includes pick-up component 310 and control assembly (figure
In be not shown).
Wherein, pick-up component 310 is for drawing the raw material 20 being placed on feeding platform 200, control assembly and pick-up component
310 electrical connections, for sending control signal to pick-up component 310.
Specifically, control assembly sends control signal to pick-up component 310, control is drawn when receiving control command
Component 310 draws raw material 20, and then drives raw material 20 mobile.
Further, pick-up component 310 includes bracket 311 and multiple vacuum chucks 312, and multiple vacuum chucks 312 are distributed
It is arranged on bracket 311, for drawing raw material 20.Specifically, bracket 311 includes upper bracket 3111 and lower bracket 3112, upper branch
Frame 3111 is connect with feeding robot 400, and lower bracket 3112 is connect with vacuum chuck 312, and vacuum chuck 312 is evenly distributed on down
On bracket 3112, for making 20 uniform force of raw material of its absorption, prevent from falling.
Material fetching mechanism 300 further comprises guide rod cylinder 320, and 320 one end of guide rod cylinder is connect with upper bracket 3111, another
End is connect with lower bracket 3112.Specifically, in the present embodiment, guide rod cylinder 320 includes guide rod part 321 and cylinder portion
322, wherein guide rod part 321 is set in inside cylinder portion 322.Guide rod part 321 is connect with lower bracket 3112, cylinder portion
322 connect with upper bracket 3111.When cylinder portion 322 is inflated, guide rod part 321 is moved to the direction far from cylinder portion 322
It is dynamic, so that lower bracket 3112 be driven to move down；When cylinder portion 322 is deflated, guide rod part 321 is to close to cylinder portion 322
Direction is mobile, so that lower bracket 3112 be driven to move up.I.e. when guide rod part 321 is moved with respect to cylinder portion 322, lower is driven
Frame 3112 is mobile relative to upper bracket 3111.In other embodiments, it is also possible to guide rod part 321 to connect with upper bracket 3111,
Cylinder portion 322 is connect with lower bracket 3112, when guide rod part 321 is moved with respect to cylinder portion 322, drives lower bracket 3112
It is mobile relative to upper bracket 3111.
Pick-up component 310 is when drawing raw material 20 in order to prevent, while drawing multiple raw materials 20, so that punching press is made mistakes,
After pick-up component 310 draws raw material 20, control assembly further sends control command to pick-up component 310, drives cylinder portion
322 control guide rod parts 321 drive lower bracket 3112 frequently to shake, so that being adhered on the raw material 20 of the absorption of vacuum chuck 312
Redundance 20 fall, to efficiently separate out a raw material 20 to 30 feeding of press machine.
In embodiments herein, raw material 20 is drawn using multiple vacuum chucks 312, it can also be using sponge sucker etc.
Other vacuum plants realize the absorption to raw material 20.
Feeding robot 400 can be set in rack 100, also can be set outside rack 100.In the present embodiment
In, please continue to refer to Fig. 1 and Fig. 2, feeding robot 400 connects material fetching mechanism 300 and is arranged in rack 100, is used for from feeding
Raw material 20 is drawn on platform 200, and raw material 20 is placed on press machine 30.In the present embodiment, which is six
Axis robot has multi-faceted freedom degree, can flexibly control the movement and rotation of material fetching mechanism 300, and material fetching mechanism 300 is fixed
On the end flange of feeding robot 400.Feeding robot 400 may be that other can provide the mechanism of six degree of freedom,
For connecting material fetching mechanism 300, and feeding structure 300 is controlled to 30 feeding of press machine.
Blanking bench 500 can be set in rack 100, also can be set outside rack 100.In the present embodiment, it asks
With continued reference to Fig. 1-3, punching press is completed when feeding robot 400 drives material fetching mechanism 300 that raw material 20 is placed on press machine 30
Afterwards, feeding robot 400 removes presswork, is placed on blanking bench 500, and blanking bench 500 is for collecting stamped machine 30
Presswork after punching press, after the presswork on blanking bench 500 is stacked to certain amount, manually taking away makes for subsequent production
With.
Wherein, automatic loading and unloading device 10 further includes punching press cache bit 700, and punching press cache bit 700 is arranged in rack 100
On, for placing punching press semi-finished product.Specifically, a raw material 20 may include multiple workpieces, carry out punching press to raw material 20
When, punching press can be performed in multiple times.Material fetching mechanism 300 draws raw material 20 first and carries out first time feeding to press machine 30, wait rush
After 30 punching press of press, takes out punching press semi-finished product and be placed on punching press cache bit 700, material fetching mechanism 300 is drawn raw material 20 again and given
Press machine 30 carries out second of feeding, until removing presswork after the punching press of all workpieces on completion single piece of material 20
It is placed on blanking bench 500.Specifically, stamping products include multiple workpieces and waste material, the processing after stamped 30 punching press of machine
Part and waste material mutually bond, and do not depart from, and are separated in subsequent handling.
The position of the raw material 20 for identification of vision positioning system 600, and feedback position information is to feeding robot 400, on
Expect that robot 400 receives the location information of feedback, and then adjust position of the raw material 20 on press machine 30, thus to press machine 30
Accurate feeding is carried out, the qualification rate of product is improved.
Vision positioning system 600 can be set on press machine 30, also can be set on automatic loading and unloading device 10.?
In the present embodiment, Fig. 1 and Fig. 2 are please referred to, vision positioning system 600 is arranged on press machine 30, for shooting automatic loading/unloading
Raw material 20 on device 10, so as to adjust position of the raw material 20 on press machine 30.It is first when carrying out punching press to homogeneous raw material 20
It first needs to carry out teaching to vision positioning system 600, vision positioning system 600 is made to obtain preset position coordinates.
Referring to Fig. 6, Fig. 6 is the flow diagram for carrying out teaching to vision positioning system.
To vision positioning system carry out teaching the following steps are included:
S10: positioning pin is set on press machine.
Two positioning pins, positioning pin preference rule shape are fixed on press machine by the way of mechanical.
S20: corresponding positioning pin forms location hole on raw material.
The position of corresponding workpiece and positioning pin is formed and location hole similar in positioning pin shape on raw material.
S30: raw material is placed on press machine, makes location hole and detent fit, by determining for vision positioning system identification
The centre coordinate in position hole, as preset position coordinates.
In subsequent production, for when printing workpiece on raw material, needing corresponding on raw material with a batch of raw material
Telltale mark is printed at the position of location hole, and the center of telltale mark is overlapped with the center of location hole, the quantity of telltale mark
At least two, it is preferable that telltale mark is identified using the shape of rule convenient for vision positioning system, and it is fixed to simplify vision
The computation complexity of position system.
Referring to Fig. 7, Fig. 7 is vision positioning system feedback position information so that feeding robot adjusts raw material in press machine
On position flow diagram.
After vision positioning system completes teaching, machined for raw material can be carried out.Vision positioning system feedback bit confidence
It ceases so that the process that feeding robot adjusts position of the raw material on press machine includes:
S100: obtaining the image of raw material, and identifies the telltale mark on raw material, determines the central point of telltale mark in vision
Position coordinates in positioning system.
Specifically, vision positioning system persistently takes pictures to process, and identifies the telltale mark on raw material, passes through
Recognizer calculates the position coordinates of the central point and the central point of telltale mark in vision positioning system.
S200: the position coordinates of the central point of telltale mark and the preset position coordinates of vision positioning system are compared
Compared with.
Specifically, the position coordinates of the central point of telltale mark and the preset position coordinates of vision positioning system are compared
Compared with, and the control for generating position coordinates to the preset position coordinates of vision positioning system of the central point of adjustment telltale mark is believed
Breath.
S300: issuing the adjustment information of the position coordinates of the central point of adjustment telltale mark, keeps feeding robot adjustment former
Expect the position on press machine.
In conclusion it should be readily apparent to one skilled in the art that a kind of automatic loading/unloading of press machine provided by the present application fills
It sets, raw material is accurately positioned by the way that vision positioning system is arranged, and feedback position information is so that feeding robot drive takes
Raw material adjustment pose in material mechanism promotes the qualification rate of product so that position precision of the raw material on press machine is higher.Together
When, loading and unloading are carried out with being combined into press machine using material fetching mechanism and feeding robot automatically, reduce to artificial loading and unloading according to
Rely, improves the utilization rate of equipment, and then improve production efficiency.
Please continue to refer to Fig. 2 and Fig. 3, the application also provides a kind of stamping equipment 40, which includes press machine
30, rack 100, feeding platform 200, material fetching mechanism 300, feeding robot 400, blanking bench 500 and vision positioning system 600.
Wherein, rack 100, feeding platform 200, material fetching mechanism 300, feeding robot 400, blanking bench 500 and vision positioning
System 600 has been described in detail in above-described embodiment, and details are not described herein, and specific structure please refers to above-described embodiment.Press machine 30
Positioned at the side of rack 100, for carrying out punching press to the raw material 20 being placed on it, the raw material 20 after 30 punching press of press machine is wrapped
Workpiece (not shown) and waste material (not shown) are included, workpiece and waste material are mutually bonded together, do not depart from, be used for
It is separated in subsequent handling.
Please refer to the flow diagram that 8, Fig. 8 is the automatic loading/unloading method of the another embodiment of the application.
The application also provides a kind of automatic loading/unloading method of stamping equipment, which includes following step
It is rapid:
M10: control material fetching mechanism draws raw material from feeding platform.
Wherein, the structure of material fetching mechanism and feeding platform is described above, and details are not described herein, please refers to above-mentioned implementation
Example.Laterally stacked on feeding platform to have more than one piece raw material, material fetching mechanism receives control information, raw material is drawn from feeding platform.
M20: the signal for receiving vision positioning system feedbacks and controls position of the feeding robot adjustment raw material on press machine
It sets.
Vision positioning system identifies the telltale mark on raw material, and feedback position information is to feeding robot, feeding machine
People receives location information, so as to adjust telltale mark center point coordinate at the preset position coordinates position of vision positioning system.
M30: the presswork after stamped machine punching press is placed on blanking bench by control feeding robot.
Above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to the foregoing embodiments
The application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of automatic loading and unloading device of press machine, which is characterized in that the automatic loading and unloading device is used to be the punching press
Automatically raw material, the automatic loading and unloading device include: machine up and down
The side of the press machine is arranged in rack；
Feeding platform is arranged in the rack, for stacking the raw material；
Material fetching mechanism, for taking out the raw material on the feeding platform；
Feeding robot is connect with the material fetching mechanism, is placed on the raw material of taking-up for controlling the material fetching mechanism
On the press machine；
Blanking bench, for collecting the presswork after the press machine punching press.
2. automatic loading and unloading device according to claim 1, which is characterized in that the automatic loading and unloading device further include:
Vision positioning system is mounted on the rack or the press machine, for identification the position of the raw material.
3. automatic loading and unloading device according to claim 1, which is characterized in that the feeding platform include board, baffle and
Cylinder, for the board for carrying the raw material, the baffle is oppositely arranged on the board two sides, for the raw material into
Row positioning, the cylinder is for pushing the raw material mobile.
4. automatic loading and unloading device according to claim 1, which is characterized in that the material fetching mechanism includes:
Pick-up component, for drawing the raw material；
Control assembly is electrically connected with the pick-up component, for sending control signal to the pick-up component.
5. automatic loading and unloading device according to claim 4, which is characterized in that the pick-up component includes:
Bracket, including upper bracket and lower bracket, the upper bracket are connect with the feeding robot；
Multiple vacuum chucks, distribution is arranged on the lower bracket, for drawing the raw material.
6. automatic loading and unloading device according to claim 5, which is characterized in that the material fetching mechanism further comprises:
Guide rod cylinder connects the upper bracket and the lower bracket, for driving the lower bracket mobile.
7. automatic loading and unloading device according to claim 1, which is characterized in that the automatic loading and unloading device further wraps
Punching press cache bit is included, is arranged in the rack, for placing punching press semi-finished product.
8. automatic loading and unloading device according to claim 1, which is characterized in that the presswork includes multiple workpieces
And waste material.
9. automatic loading and unloading device according to claim 8, which is characterized in that multiple described on the presswork plus
Workpiece and the waste material mutually bond.
10. a kind of stamping equipment, which is characterized in that the stamping equipment includes: press machine and such as any one of claim 1-9 institute
The automatic loading and unloading device stated, the automatic loading and unloading device are used to be the press machine upper and lower raw material automatically, the press machine
For carrying out punching press to the raw material placed thereon.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820550193.1U CN208230717U (en) | 2018-04-17 | 2018-04-17 | The automatic loading and unloading device and stamping equipment of press machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820550193.1U CN208230717U (en) | 2018-04-17 | 2018-04-17 | The automatic loading and unloading device and stamping equipment of press machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019200537A1 (en) * | 2018-04-17 | 2019-10-24 | 深圳配天智能技术研究院有限公司 | Vision-based automatic loading and unloading device and method for stamping machine, and stamping equipment |
| CN110508706A (en) * | 2019-09-18 | 2019-11-29 | 福州中澳科技有限公司 | Punching press producing line robot automatic loading and unloading system and its control method |
| CN111086814A (en) * | 2019-12-31 | 2020-05-01 | 上海中冶横天智能科技股份有限公司 | Robot sampling and lofting, labeling and material rack caching system and working method thereof |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
| CN116214517A (en) * | 2023-03-24 | 2023-06-06 | 大连华冶联自动化有限公司 | Loading and unloading method and system applied to impact sample processing center |
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2018
- 2018-04-17 CN CN201820550193.1U patent/CN208230717U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019200537A1 (en) * | 2018-04-17 | 2019-10-24 | 深圳配天智能技术研究院有限公司 | Vision-based automatic loading and unloading device and method for stamping machine, and stamping equipment |
| CN110508706A (en) * | 2019-09-18 | 2019-11-29 | 福州中澳科技有限公司 | Punching press producing line robot automatic loading and unloading system and its control method |
| CN110508706B (en) * | 2019-09-18 | 2024-04-05 | 福州中澳科技集团股份有限公司 | Automatic feeding and discharging system of stamping production line robot and control method thereof |
| CN111086814A (en) * | 2019-12-31 | 2020-05-01 | 上海中冶横天智能科技股份有限公司 | Robot sampling and lofting, labeling and material rack caching system and working method thereof |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
| CN116214517A (en) * | 2023-03-24 | 2023-06-06 | 大连华冶联自动化有限公司 | Loading and unloading method and system applied to impact sample processing center |
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