CN114460402A - Automatic plugging test equipment for panel detection - Google Patents
Automatic plugging test equipment for panel detection Download PDFInfo
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- CN114460402A CN114460402A CN202210086294.9A CN202210086294A CN114460402A CN 114460402 A CN114460402 A CN 114460402A CN 202210086294 A CN202210086294 A CN 202210086294A CN 114460402 A CN114460402 A CN 114460402A
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- 238000012360 testing method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000003825 pressing Methods 0.000 claims description 35
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 6
- 238000000034 method Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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Abstract
The invention relates to automatic plugging and unplugging test equipment for panel detection, which comprises a panel positioning device and an automatic plugging and unplugging device, wherein the panel positioning device comprises a panel positioning device and a panel plugging and unplugging device; the automatic plugging device is arranged beside the panel positioning device; the automatic plugging device comprises a second moving assembly, a plug and a six-dimensional force sensor, wherein the six-dimensional force sensor is installed on the second moving assembly, and the other end of the six-dimensional force sensor is connected with the plug. Panel positioner fixes display panel well to fix a position out the accurate positional information of panel socket through the vision locating component fast, the plug device of being convenient for carries out the plug according to positional information fast movement to the assigned position, at the in-process of pegging graft according to the grafting dynamics of six-dimensional force sensor real-time feedback, prevent the grafting action and harm the panel, it is inefficient to have solved artifical plug, the unable control grafting dynamics of grafting in-process, lead to the interface to damage the scheduling problem very easily.
Description
Technical Field
The invention relates to the technical field of panel detection, in particular to automatic plugging and unplugging test equipment for panel detection.
Background
At present, the requirement of the panel industry for automatic detection is higher and higher, a bonding IC is a vital process in the whole panel industry, and the process effect directly determines the stability of a panel picture. Consequently, the picture of nation's final control panel is lighted and is detected one indispensable procedure in the production process, and original detection mode is population grafting panel interface, and the extravagant manpower of inefficiency serious leads to the interface to damage very easily for the unable control grafting dynamics of grafting in-process simultaneously.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an automatic plugging test apparatus for panel detection, which quickly locates a panel socket position by a panel positioning device, quickly drives a plug to plug and unplug by the automatic plugging device, and monitors plugging force in real time by a six-dimensional force sensor.
The embodiment of the invention is realized by adopting the following scheme: the automatic plugging test equipment for panel detection comprises a panel positioning device and an automatic plugging device; the automatic plugging device is arranged beside the panel positioning device; the automatic plugging device comprises a second moving assembly, a plug and a six-dimensional force sensor, the six-dimensional force sensor is mounted on the second moving assembly, and the other end of the six-dimensional force sensor is connected with the plug.
In an embodiment of the invention, the six-dimensional force sensor is mounted on the second moving assembly through a servo rotary table.
In an embodiment of the present invention, the second moving assembly includes a second X-axis moving member and a second Y-axis moving member, the second X-axis moving member is mounted on the second Y-axis moving member, and the six-dimensional force sensor is mounted on the second X-axis moving member.
In one embodiment of the invention, the second Y-axis moving part comprises a housing and a displacement plate, a lead screw is installed in the housing, a moving block penetrates through the lead screw, a guide through groove is formed in the side wall of the housing, the displacement plate is arranged on the housing, two sides of the moving block penetrate through the guide through groove and are connected with the displacement plate, and the lead screw is driven by a second motor; the second X-axis moving component is arranged on the displacement plate, and the structure of the second Y-axis moving component is the same as that of the second X-axis moving component.
In an embodiment of the present invention, a displacement sensor is disposed on a side surface of the housing.
In one embodiment of the invention, a T-shaped groove parallel to the guide through groove is formed in the side surface of the shell, the displacement sensor is installed on the side surface of the shell through a connecting plate, the connecting plate is locked and fixed on the T-shaped groove through a bolt, and an induction piece is installed on the corresponding side surface of the moving block.
In one embodiment of the present invention, the panel positioning device includes a panel positioning module and a panel fixing module, and the panel fixing module is erected on the panel positioning module; the panel positioning module comprises a first moving assembly and a visual positioning assembly, and the visual positioning assembly is mounted on the first moving assembly; the panel fixing module comprises a panel carrying platform and a panel pressing assembly, and the panel carrying platform is arranged above the first moving assembly; and the panel pressing component is arranged on one side of the panel carrying platform.
In an embodiment of the present invention, the first moving assembly includes a first X-axis moving component and a first Y-axis moving component, the first Y-axis moving component is mounted on the first X-axis moving component, and the visual positioning assembly is mounted on the first Y-axis moving component.
In one embodiment of the invention, the panel carrying platform comprises an installation frame and a panel positioning support plate, wherein the panel positioning support plate is installed on the installation frame; the panel pressing assembly is installed on one side of the installation frame and comprises a pressing piece and an XY position adjusting piece, and the pressing piece is installed on the XY position adjusting piece.
In an embodiment of the present invention, a panel positioning groove matched with the size of the panel is formed in the panel positioning carrier plate, and a supporting convex ring is arranged in the panel positioning groove.
The invention has the beneficial effects that: the invention provides automatic plugging test equipment for panel detection, wherein a display panel is well fixed through a panel positioning device, accurate position information of a panel socket is quickly positioned through a visual positioning component, the plugging device can be conveniently and quickly moved to a specified position to plug and unplug according to the position information, and a first moving component is controlled to stop plugging and unplugging according to plugging force fed back by a six-dimensional force sensor in real time in the plugging process according to monitoring data received by an upper computer from the six-dimensional force sensor and larger than a specified value, so that the panel is not damaged in plugging and unplugging actions, the angle and the position of a plug are adjusted to plug and unplug again, the plug is ensured to be smoothly plugged, manpower is saved, and the yield of the panel is greatly improved; the problem of artifical plug inefficiency waste manpower seriously is solved, the unable control grafting dynamics of grafting in-process simultaneously leads to the interface to damage scheduling problem very easily.
Drawings
Fig. 1 is a schematic structural diagram of an automatic plugging test device for panel detection.
Fig. 2 is a schematic structural diagram of a panel positioning device.
Fig. 3 is a schematic structural view of a panel fixing module.
Fig. 4 is a schematic structural diagram of the automatic plugging device.
Fig. 5 is a front view of the automatic plugging device.
Reference numerals
1-a panel fixing module, 11-a panel carrier, 111-an installation frame, 112-a panel positioning carrier plate, 1121-a panel positioning groove, 1122-a supporting convex ring, 1123-a plugging groove, 13-a panel pressing component, 131-a pressing piece, 1311-a telescopic cylinder, 1312-a pressing block, 132-an XY position adjusting piece, 1321-an X-direction guide rail, 1322-a Y-direction guide rail, 1323-a first moving plate, 1324-a first sliding block and 1325-a second moving sliding block; 2-automatic plugging device, 21-second moving assembly, 211-second Y-axis moving component, 2111-including housing, 2112-displacement plate, 2113-moving block, 2114-guiding through groove, 2115-second motor, 2216-displacement sensor, 2117-T-shaped groove, 212-second X-axis moving component and 213-servo rotating table; 22-plug, 23-six-dimensional force sensor; 3-panel positioning module, 31-first moving assembly, 311-first X-axis moving component, 312-first Y-axis moving component, 32-visual positioning assembly; a base 4.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, the present invention provides an automatic plugging test apparatus for panel detection, which includes a panel positioning device and an automatic plugging device 2; the panel positioning device is arranged on the base 4; the automatic plugging device 2 is arranged on the base 4 and is positioned beside the panel positioning device; the panel positioning device comprises a panel positioning module 3 and a panel fixing module 1, wherein the panel fixing module 1 is erected on the panel positioning module 3; the automatic plugging device 2 comprises a second moving assembly 21, a plug 22 and a six-dimensional force sensor 23, wherein the six-dimensional force sensor 23 is mounted on the second moving assembly 21, and the other end of the six-dimensional force sensor 23 is connected with the plug 22; the panel fixing module 1 of the panel positioning device well fixes the panel, accurate position information of a socket of a PCB on the panel is quickly positioned through the panel positioning module 3, the second moving assembly 21 of the plugging device drives the plug 22 to quickly move to a specified position to plug the plug 22 according to the fed back position information, the six-dimensional force sensor 23 feeds back plugging force in real time in the plugging process, the upper computer controls the second moving assembly to stop plugging and unplugging when the plugging force is larger than the specified value, and the panel is prevented from being damaged.
Referring to fig. 1 to 3, in an embodiment of the present invention, the panel positioning module 3 includes a first moving assembly 31 and a visual positioning assembly 32, where the visual positioning assembly 32 is installed on the first moving assembly 31; the panel fixing module 1 comprises a panel carrier 11 and a panel pressing component 13, wherein the panel carrier 11 is erected above the first moving component 31; the panel pressing assembly 13 is mounted on one side of the panel carrier 11 and is used for pressing the panel placed on the panel carrier 11.
Referring to fig. 1 to fig. 3, in an embodiment of the present invention, the first moving assembly 31 includes a first X-axis moving component 311 and a first Y-axis moving component 312, the first Y-axis moving component 312 is mounted on the first X-axis moving component 311, the visual positioning assembly 32 is mounted on the first Y-axis moving component 312, and the visual positioning assembly 32 is driven to perform planar motion to complete scanning of a panel placed on the panel carrier 11 and determine socket position information of the panel, and a CCD visual positioning system may be preferably used as the visual positioning assembly 32.
Referring to fig. 1 to fig. 3, in an embodiment of the present invention, the panel carrier 11 includes a mounting frame 111 and a panel positioning carrier 112, and the panel positioning carrier 112 is mounted on the mounting frame 111; the panel pressing component 13 is mounted on one side of the mounting frame 111, the panel pressing component 13 comprises a pressing piece 131 and an XY position adjusting piece 132, the pressing piece 131 is mounted on the XY position adjusting piece 132, a panel positioning carrier plate 112 which is adaptive to the size of the panel can be placed on the mounting frame 111 according to the size of the plugged panel, and the position of the panel pressing component 13 on the XY position adjusting piece 132 is adjusted to ensure the pressing effect of adapting to panels of different sizes.
Referring to fig. 1 to 3, in an embodiment of the invention, the XY-position adjusting member 132 includes an X-guide rail 1321 and a Y-guide rail 1322, the two X-guide rails 1321 are parallel to each other and are arranged at the front side of the mounting frame 111, the Y-guide rail 1322 is installed between the two X-guide rails 1321, the pressing member 131 is installed on the Y-guide rail 1322, the position of the Y-guide rail 1322 on the X-guide rail 1321 is adjusted, and the position of the pressing member 131 on the Y-guide rail 1322 is adjusted, so that the planar movement of the pressing member 131 can be realized, and the pressing task for panels with different sizes can be conveniently adapted.
Referring to fig. 1 to 3, in an embodiment of the present invention, a first moving plate 1323 is erected between two X-shaped guide rails 1321, two ends of the first moving plate 1323 are respectively connected to the corresponding X-shaped guide rails 1321 through first sliders 1324, and locking screws are respectively inserted through side walls of the two first sliders 1324 to fix the first moving plate 1323 at a specific position.
Referring to fig. 1 to 3, in an embodiment of the present invention, the pressing member 131 includes a telescopic cylinder 1311 and a pressing block 1312, a cylinder body of the telescopic cylinder 1311 is mounted on the Y-guide rail 1322 through a second moving slider 1325, and the pressing block 1312 is mounted on a push rod of the telescopic cylinder 1311; a lock nut is arranged on the side wall of the second movable sliding block 1325 in a penetrating way and used for fixing the pressing piece 131131 at a specified position.
Referring to fig. 1 to fig. 3, in an embodiment of the present invention, a panel positioning slot 1121 matched with a panel in size is formed in the panel positioning carrier 112, and a supporting convex ring 1122 is disposed in the panel positioning slot 1121; a corresponding plugging groove 1123 is formed in one side, facing the XY position adjusting piece 132, of the panel positioning carrier plate 112 according to the model of the panel; the socket of the panel is ensured not to be shielded, and the plugging test can be normally carried out; the panel positioning carrier 112 is replaceable, and a panel positioning slot is formed therein.
Referring to fig. 1 to 3, in an embodiment of the present invention, two pressing members 131 are symmetrically installed on the XY position adjusting member 132; so that the stress is more uniform and the panel is protected.
Referring to fig. 1, 4 and 5, in an embodiment of the present invention, the second moving assembly 21 includes a second X-axis moving part 212 and a second Y-axis moving part 211, the second X-axis moving part 212 is mounted on the second Y-axis moving part 211, and the six-dimensional force sensor 23 is mounted on the second X-axis moving part 212; the plug 22 is driven to move in the direction of X, Y, and the plugging and unplugging actions of the plug 22 are completed.
Referring to fig. 1, 4 and 5, in an embodiment of the present invention, the six-dimensional force sensor 23 is mounted on the displacement plate of the second X-axis moving component 212 through a servo rotating table 213, and is used for fine-tuning an angle of the plug 22 on the six-dimensional force sensor 23 when the socket is not aligned with the automatic plugging device, so as to facilitate the plug to be smoothly plugged into the socket; the servo rotary table is a conventional apparatus, and thus, a detailed description thereof will not be provided herein.
In an embodiment of the invention, the servo rotary table may be replaced with other rotary angle adjusting mechanisms, but not limited thereto.
Referring to fig. 1, 4 and 5, in an embodiment of the present invention, the second Y-axis moving component 212 includes a housing 2111 and a displacement plate 2112, a lead screw (not shown) is installed in the housing 2111, a moving block 2113 is inserted into the lead screw, a guiding through slot 2114 is opened on a side wall of the housing 2111, the displacement plate 2112 is installed on the housing 2111, two sides of the moving block 2113 penetrate through the guiding through slot 2114 to be connected to the displacement plate 2112, and the lead screw is driven by a second motor 2115; the second X-axis moving component 211 is arranged on the displacement plate 2112, the structure of the second Y-axis moving component 211 is the same as that of the second X-axis moving component 212, the six-dimensional force sensor 23 is mounted on the displacement plate 2212 of the second X-axis moving component 212, and the second motor drives the 2115 lead screw to rotate to drive the moving block 2113 to move, so as to drive the displacement plate 2112 to move, thereby realizing the movement of the plug 22; displacement sensors 2116 with adjustable positions are arranged on the side surfaces of the housing 2111 of the second X-axis moving component 212 and the second Y-axis moving component 211; the displacement distance measuring device is used for measuring the displacement distance in the X-axis and Y-axis directions, namely the displacement distance of the plug 22 is detected, and the accurate displacement of the plug 22 is ensured; a T-shaped groove 2117 parallel to the guide through groove 2114 is formed in the side surface of the housing 2111, the displacement sensor 2116 is mounted on the side surface of the housing 2111 through a connecting plate, the connecting plate is locked and fixed on the T-shaped groove 2117 through a bolt, and an induction sheet is mounted on the corresponding side surface of the moving block 2113; the positions of the sockets are different according to the models of the display panel, so the displacement sensor 2116 is arranged at the corresponding position according to the model of the display panel, and when the signal is blocked, the displacement sensor indicates the displacement of the plug 22; it should be noted that the displacement sensor 2116 and the six-dimensional force sensor are both existing devices, and therefore, detailed description is not given; a plug 22 fixing seat is installed at the head end of the six-dimensional force sensor 23, and the plug 22 is installed on the plug 22 fixing seat; the stability of plug 22 when guaranteeing the plug, can select the corresponding plug fixing base according to the type of plug 22.
In an embodiment of the present invention, the first X-axis moving component 311 and the first Y-axis moving component 312 may be driven by a driving method of a lead screw nut, or by a driving method of a synchronous belt and a synchronous pulley; the second X-axis moving member 212 and the second Y-axis moving member 211 may also be driven by a timing belt and a timing pulley, but not limited thereto.
The invention has the following working principle:
the panel positioning groove 121 of the panel positioning carrier plate 112 matched with the panel in size can be used for quickly and preliminarily positioning and has a certain fixing effect, then the panel can be fixed by pressing down the panel pressing component 13, so that the panel is ensured not to shake and shift during plugging when in a measuring position, after measuring and under the driving of the first X-axis moving component 311 and the first Y-axis moving component 312 of the first moving component 31, the shooting, scanning and positioning of the visual positioning component 32 on the lower surface of the panel are realized (a special positioning identifier is arranged on the lower surface of the panel), so as to determine the accurate position information of the socket, ensure the plugging accuracy and avoid damaging the socket of the display panel when plugging and unplugging are caused by improper fixation; the visual positioning assembly transmits the measured position information to an upper computer, the upper computer controls a second X-axis moving component 212, a second Y-axis moving component 211 and a servo rotating platform 213 of the automatic plugging device to adjust the angle and the position of the plug in a matched mode to plug in and plug out a socket, then the six-dimensional force sensor 23 monitors the force during plugging in and plugging out the plug 22 in real time, plugging in and plugging out are stopped when the force is larger than a specified value, the position and the angle of the plug 22 are adjusted in a matched mode through the second X-axis moving component 212, the second Y-axis moving component 211 and the servo rotating platform 213 according to the force, then the second X-axis moving component 212 drives the servo rotating platform 213 to move towards the socket of the display panel, namely the plug 22 is driven to be plugged into the socket, the data measured by the six-dimensional force sensor 23 can be plugged in smoothly when the data does not exceed the specified value, the second X-axis moving component 212 moves reversely to plug out the plug 22 after the test is completed, then, the second Y-axis moving unit 211 and the servo rotary table 213 are reset to wait for the next insertion and removal; the panel positioning carrier plate 112 provided with the panel positioning groove 121 with the corresponding size is placed on the mounting frame 1111 according to the size of the panel to be plugged and unplugged, and then the position of the Y-guide rail 1322 on the X-guide rail 1321 and the position of the pressing member 131 on the Y-guide rail 1322 are adjusted, so that the position of the pressing member 131 is adjusted, and panels with different sizes are fixed.
The points to be explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, "upper," "lower," "left," and "right," and the like are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed.
Secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
finally, the above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The utility model provides an automatic plug test equipment for panel detects which characterized in that: comprises a panel positioning device and an automatic plugging device; the automatic plugging device is arranged beside the panel positioning device; the automatic plugging device comprises a second moving assembly, a plug and a six-dimensional force sensor, the six-dimensional force sensor is mounted on the second moving assembly, and the other end of the six-dimensional force sensor is connected with the plug.
2. The automatic plugging and unplugging test equipment for panel detection according to claim 1, characterized in that: the six-dimensional force sensor is mounted on the second moving assembly through a servo rotating table.
3. The automatic plugging test equipment for panel inspection according to claim 1, wherein: the second moving assembly includes a second X-axis moving part and a second Y-axis moving part, the second X-axis moving part is mounted on the second Y-axis moving part, and the six-dimensional force sensor is mounted on the second X-axis moving part.
4. The automatic plugging and unplugging test equipment for panel detection according to claim 3, characterized in that: the second Y-axis moving part comprises a shell and a displacement plate, a lead screw is installed in the shell, a moving block penetrates through the lead screw, a guide through groove is formed in the side wall of the shell, the displacement plate is arranged on the shell, two sides of the moving block penetrate through the guide through groove to be connected with the displacement plate, and the lead screw is driven by a second motor; the second X-axis moving component is arranged on the displacement plate, and the structure of the second X-axis moving component is the same as that of the second Y-axis moving component.
5. The automatic plugging test equipment for panel inspection according to claim 4, wherein: and a displacement sensor is arranged on the side surface of the shell.
6. The automatic plugging and unplugging test equipment for panel detection according to claim 5, wherein: the side of the shell is provided with a T-shaped groove parallel to the guide through groove, the displacement sensor is installed on the side of the shell through a connecting plate, the connecting plate is locked and fixed on the T-shaped groove through a bolt, and the corresponding side of the moving block is provided with an induction sheet.
7. The automatic plugging test equipment for panel inspection according to claim 1, wherein: the panel positioning device comprises a panel positioning module and a panel fixing module, and the panel fixing module is erected on the panel positioning module; the panel positioning module comprises a first moving assembly and a visual positioning assembly, and the visual positioning assembly is mounted on the first moving assembly; the panel fixing module comprises a panel carrying platform and a panel pressing assembly, and the panel carrying platform is arranged above the first moving assembly; and the panel pressing component is arranged on one side of the panel carrying platform.
8. The automatic plugging and unplugging test equipment for panel inspection according to claim 7, wherein: the first moving assembly comprises a first X-axis moving component and a first Y-axis moving component, the first Y-axis moving component is mounted on the first X-axis moving component, and the visual positioning assembly is mounted on the first Y-axis moving component.
9. The automatic plugging test device for panel inspection according to claim 7, wherein: the panel carrying platform comprises a mounting frame and a panel positioning carrier plate, and the panel positioning carrier plate is mounted on the mounting frame; the panel pressing assembly is installed on one side of the installation frame and comprises a pressing piece and an XY position adjusting piece, and the pressing piece is installed on the XY position adjusting piece.
10. The automatic plugging test device for panel inspection of claim 9, wherein: the panel positioning support plate is internally provided with a panel positioning groove matched with the panel in size, and a supporting convex ring is arranged in the panel positioning groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210086294.9A CN114460402B (en) | 2022-01-25 | 2022-01-25 | Automatic plugging test equipment for panel detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210086294.9A CN114460402B (en) | 2022-01-25 | 2022-01-25 | Automatic plugging test equipment for panel detection |
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| CN114460402A true CN114460402A (en) | 2022-05-10 |
| CN114460402B CN114460402B (en) | 2024-05-10 |
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| CN202210086294.9A Active CN114460402B (en) | 2022-01-25 | 2022-01-25 | Automatic plugging test equipment for panel detection |
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|---|---|---|---|---|
| CN116990628A (en) * | 2023-09-28 | 2023-11-03 | 珠海市枫杨科技有限公司 | Automatic positioning and inserting device and system for large screen function test |
| CN116990628B (en) * | 2023-09-28 | 2023-12-15 | 珠海市枫杨科技有限公司 | Automatic positioning and inserting device and system for large screen function test |
| CN118091193A (en) * | 2024-04-17 | 2024-05-28 | 宁德时代新能源科技股份有限公司 | Automatic opposite inserting mechanism, test equipment, control method and control device |
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| CN114460402B (en) | 2024-05-10 |
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