CN117783127A - Automatic visual detection workstation of general leak protection welding - Google Patents
Automatic visual detection workstation of general leak protection welding Download PDFInfo
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- CN117783127A CN117783127A CN202311802487.0A CN202311802487A CN117783127A CN 117783127 A CN117783127 A CN 117783127A CN 202311802487 A CN202311802487 A CN 202311802487A CN 117783127 A CN117783127 A CN 117783127A
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- 238000001514 detection method Methods 0.000 title claims abstract description 86
- 238000003466 welding Methods 0.000 title claims abstract description 27
- 230000000007 visual effect Effects 0.000 title abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000002265 prevention Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 4
- 229920001169 thermoplastic Polymers 0.000 claims description 30
- 238000012360 testing method Methods 0.000 claims description 6
- 239000004743 Polypropylene Substances 0.000 claims description 3
- -1 polypropylene Polymers 0.000 claims description 3
- 229920001155 polypropylene Polymers 0.000 claims description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
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Abstract
The invention relates to a universal welding leakage prevention automatic visual detection workstation, and belongs to the technical field of automatic detection. The automatic detecting device comprises a frame, a control terminal, a manipulator, a detecting mechanism, a coding mechanism and a fixing mechanism, wherein the manipulator, the detecting mechanism, the coding mechanism and the fixing mechanism are in communication connection with the control terminal, the fixing mechanism is used for fixing parts, the fixing mechanism is used for adjusting the positions of the parts, the detecting mechanism is arranged at the tail end of the manipulator, the detecting mechanism is used for detecting the welding condition of nuts of the parts and transmitting detection results to the control terminal, the control terminal instructs the manipulator to be used for adjusting the detection positions of the detecting mechanism, the control terminal is used for comparing the detection results with preset values and transmitting the comparison results to the coding mechanism, and the coding mechanism is used for coding the parts according to the comparison results of the control terminal.
Description
Technical Field
The invention belongs to the technical field of automatic detection, and particularly relates to a universal type welding leakage prevention automatic visual detection workstation.
Background
With the development of the automobile industry, the assembly of vehicle parts adopts a nut welding mode to be standardized, and equipment for welding nuts is also gradually automated. Currently, an automatic nut conveying device is used for automatically conveying nuts. The automatic nut conveying device improves the nut welding efficiency in the production operation process, and screens the front and back directions of the nut in the nut conveying process, but cannot judge the nut state when the nut is projection welded, so that the adverse phenomena of wrong welding, missing welding, reverse welding, stitch welding and the like of the nut are caused, and the welding quality of the nut cannot be completely ensured.
For example, the instrument beam assembly is provided with 90 nuts, bolts and small bracket components, the number of the nuts and the bolts is large, the condition of stud missing welding is often caused by human negligence, if missing welding of the nuts and the bolts is found when the assembly is completed, the situation is remedied afterwards, and the adverse effect is brought to the whole machine, therefore, the parts are required to be detected after the nut welding is completed, the situation that the assembly cannot be completed due to missing welding of the bolts and the nuts is avoided, and the prior art lacks a proper detection device, and the prior art detects different automobile parts because the shape and the size of the different automobile parts are large, so that the detection workers usually detect the different automobile parts in a manual mode, and the labor intensity of the detection workers is high and the efficiency is low due to the fact that the detection workers have a self-evident defect of manual detection; secondly, the labor is input, which is not beneficial to saving precious labor resources; the detection error is large, and it is difficult to ensure the detection quality.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a universal type welding leakage prevention automatic visual detection workstation, which solves the problem that the quality of the detected product cannot be ensured due to the fact that the existing detection device cannot detect different automobile parts.
The aim of the invention can be achieved by the following technical scheme: the utility model provides a general type leak protection welds automatic vision detection workstation, includes frame and control terminal and with control terminal communication connection's manipulator, detection mechanism, coding mechanism and fixed establishment, fixed establishment is used for fixing the spare part, fixed establishment is used for adjusting the position of spare part, detection mechanism installs in the end of manipulator, detection mechanism is used for detecting the welding condition of spare part nut and transmits the testing result to control terminal, control terminal instructs the manipulator to be used for adjusting detection mechanism's testing position, control terminal is used for comparing testing result and default and according to the transmission to coding mechanism with the comparison result, coding mechanism is used for coding the spare part according to control terminal's comparison result.
As a preferable technical scheme of the invention, the fixing mechanism comprises two fixing components, a sliding component, a rotating component, a telescopic rod and a supporting component, wherein the sliding component is arranged on the inner bottom surface of the frame and positioned on one side of the frame, the rotating component is arranged at the sliding end of the sliding component, the two fixing components are respectively provided with a rotating end of the rotating component and a supporting end of the supporting component, the supporting component is arranged on the other side of the frame and connected with the rotating component through the telescopic rod, two ends of a part are respectively fixed on the two fixing components, and the rotating component drives the fixing components to rotate so that the manipulator drives the detecting mechanism to detect.
As a preferable technical scheme of the invention, the fixing assembly comprises a fixing frame, a floating plate, a supporting film, a heater and a radiator, wherein the fixing frame is arranged at the rotating end of the rotating assembly, thermoplastic polymers are filled in the fixing frame, the floating plate is arranged at the rotating end of the rotating assembly and positioned below the fixing frame, the supporting film covers the thermoplastic polymers, four corners of the supporting film are connected with four corners of the floating plate in a one-to-one correspondence manner, and the heater and the radiator are respectively arranged at two opposite sides of the fixing frame.
As a preferable technical scheme of the invention, the fixing frame is a boss square frame with narrow upper part and wide lower part.
As a preferred embodiment of the present invention, the thermoplastic polymer is composed of polypropylene.
As a preferable technical scheme of the invention, the floating plate comprises a fixed plate, four springs and a supporting plate, wherein the fixed plate is arranged at the rotating end of the rotating assembly, the supporting plate is hinged with the fixed plate ball and is positioned above the fixed plate, the four springs are respectively arranged at four corners of the supporting plate, and two ends of each spring are respectively connected with the supporting plate and the fixed plate.
As a preferable technical scheme of the invention, the fixing assembly comprises a fixing seat, a pressing block and a fixing air cylinder, wherein a through groove is formed in the bottom surface of the fixing seat, the fixing seat is arranged at the rotating end of the rotating mechanism, the fixing air cylinder is arranged at the bottom surface of the through groove of the fixing seat, the pressing block is arranged at the movable end of the fixing air cylinder, and the fixing air cylinder drives the pressing block to press the parts against the fixing seat.
As a preferable technical scheme of the invention, the rotating assembly comprises a base, a bottom plate, a gear set, a supporting rod and a driver, wherein the base is arranged at the sliding end of the sliding assembly, the driver is arranged at one side of the top of the base, the gear set is arranged at the other side of the top of the base and is connected with the driving end of the driver, the bottom plate is connected with the tail end gear of the gear set, and the supporting rod is arranged on the surface of one side wall of the bottom plate and is connected with one end of the telescopic rod.
As a preferable technical scheme of the invention, the supporting component comprises a supporting seat, a rotating seat and a connecting plate, wherein the supporting seat is arranged on one side of the frame, the rotating seat is arranged on the top surface of the supporting seat, the connecting plate is arranged at the rotating end of the rotating seat, the fixing component is arranged on the top surface of the connecting plate, and one end of the telescopic rod is connected with the connecting plate.
As a preferable technical scheme of the invention, the manipulator is a six-axis robot, and the detection mechanism is a CCD detection camera.
The beneficial effects of the invention are as follows: the thermoplastic polymer in the fixed frame is heated and melted through the heater, parts are placed on the supporting film to be wrapped and sunk into the fixed frame, then the radiator is started to cool the thermoplastic polymer to solidify the thermoplastic polymer and fix the parts, then the rotating assembly drives the parts to rotate to enable the manipulator to carry out detection on the welded bolts or nuts on the parts by the detection mechanism, the detection result is transmitted to the coding mechanism, the coding mechanism codes the parts according to the detection result of the detection mechanism, the fixing of the parts with different shapes is completed by the change of the state of the thermoplastic polymer, and the problem that the quality of the detected products cannot be guaranteed due to the fact that the existing detection device cannot detect different automobile parts is solved.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a fixing mechanism according to the present invention;
FIG. 3 is a schematic view of a fixing assembly according to the present invention;
FIG. 4 is a schematic view of another fastening assembly according to the present invention;
FIG. 5 is a schematic view of a rotary assembly according to the present invention;
FIG. 6 is a schematic view of a support assembly according to the present invention;
FIG. 7 is a schematic diagram of a detection mechanism according to the present invention;
FIG. 8 is a schematic diagram of a coding mechanism according to the present invention;
description of the main reference signs
In the figure: 1. a frame; 2. a control terminal; 3. a manipulator; 4. a detection mechanism; 5. coding mechanism; 6. a fixing mechanism; 61. a fixing seat; 62. briquetting; 63. a fixed cylinder; 7. a fixing assembly; 71. a fixed frame; 72. a floating plate; 721. a fixing plate; 722. a spring; 723. a support plate; 73. a support film; 74. a heater; 75. a heat sink; 8. a sliding assembly; 9. a rotating assembly; 91. a base; 92. a bottom plate; 93. a gear set; 94. a support rod; 95. a driver; 10. a support assembly; 101. a support base; 102. a rotating seat; 103. a connecting plate; 11. a telescopic rod.
Detailed Description
In order to further describe the technical means and effects adopted by the invention for achieving the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects according to the invention with reference to the attached drawings and the preferred embodiment.
Referring to fig. 1-8, the embodiment provides a universal welding leakage prevention automatic visual inspection workstation, which comprises a frame 1, a control terminal 2, a manipulator 3 in communication connection with the control terminal 2, a detection mechanism 4, a coding mechanism 5 and a fixing mechanism 6, wherein the fixing mechanism 6 is used for fixing parts, the fixing mechanism 6 is used for adjusting the positions of the parts, the detection mechanism 4 is installed at the tail end of the manipulator 3, the detection mechanism 4 is used for detecting the welding condition of nuts of the parts and transmitting the detection result to the control terminal 2, the control terminal 2 instructs the manipulator 3 to adjust the detection position of the detection mechanism 4, the control terminal 2 is used for comparing the detection result with a preset value and transmitting the comparison result to the coding mechanism 5, when nuts welded on automobile parts or studs are detected, the parts are placed on the fixing mechanism 6, the control terminal 2 sends a signal to enable the manipulator 3 to carry out detection on the nuts of the detection mechanism 4 and transmit the detection result to the control terminal 2, the detection result is compared with the preset value, and the detection result is transmitted to the coding mechanism 5 according to the comparison result, and the quality of the detection result is judged to be the quality of the welding is judged that the welding is failed, and the detection result is passed or the welding is failed to be transmitted to the welding result is judged to be passed or the quality of the welding result is passed to the quality of the detection result.
And in order to all can accomplish and accomplish the detection to spare part to the spare part of different specifications, fixed establishment 6 includes two fixed subassembly 7, sliding component 8, rotating component 9, telescopic link 11 and supporting component 10, sliding component 8 installs in the interior bottom surface of frame 1 and is located one side of frame 1, rotating component 9 installs in the slip end of sliding component 8, rotating component 9's rotating end and supporting component 10's supporting component are installed respectively to two fixed subassembly 7, supporting component 10 installs in frame 1's opposite side and is connected with rotating component 9 through telescopic link 11, the both ends of spare part are fixed in two fixed subassembly 7 respectively, rotating component 9 drives fixed subassembly 7 rotation and makes manipulator 3 drive detection mechanism 4 and detect, when needs to detect the spare part, place the one end of spare part on supporting component 10's fixed subassembly 7, then sliding component 8 will drive fixed subassembly 7 on rotating component 9 and be close to supporting component 10, until the other end of spare part can be fixed by fixed subassembly 7 on rotating component 9, after the spare part is fixed, rotating component 9 will carry spare part and rotate, the mechanical part 3 carries out the rotation, can reduce the detection accuracy and can reduce the precision of detecting mechanism 3 and can's the detection to the position and can't detect the position and can't be reduced and can't detect the position and can't be detected by the manipulator 3.
Referring to fig. 3, in order to better fix the components of different specifications while improving the stability of the fixing, in one embodiment, the fixing assembly 7 includes a fixing frame 71, a floating plate 72, a supporting film 73, a heater 74 and a heat sink 75, the fixing frame 71 is mounted at the rotating end of the rotating assembly 9, the fixing frame 71 is filled with thermoplastic polymer, the floating plate 72 is mounted at the rotating end of the rotating assembly 9 and below the fixing frame 71, the supporting film 73 covers the thermoplastic polymer and four corners of the supporting film 73 are connected with four corners of the floating plate 72 in a one-to-one correspondence, the heater 74 and the heat sink 75 are mounted at opposite sides of the fixing frame 71, when the components need to be fixed, the heater 74 heats the thermoplastic polymer to be converted into liquid, then the heater 74 stops heating to start cooling the thermoplastic polymer, then one end of the component is placed on the supporting film 73, the component is sunk into the thermoplastic polymer through the weight of the component, in the process, the supporting film 73 isolates the component from the thermoplastic polymer, the component is prevented from being adhered to the thermoplastic polymer to affect the subsequent process when being taken down after the detection is completed, meanwhile, the radiator 75 starts radiating, the thermoplastic polymer is converted into solid from liquid, then the component is detected, the component is wrapped by the liquid when the temperature of the thermoplastic polymer is higher, then the thermoplastic polymer is cooled to fix the component, the component with different shapes and sizes can be fixed and detected, the fixing component 7 cannot be well fixed or the component is unstable in the fixing process because of the component with different shapes, therefore, the situation that the detection result is error caused by jitter of the parts in the detection process is caused, or the situation that the parts are damaged due to falling caused by loose fixation in the rotation process is caused.
Meanwhile, in order to better radiate heat of the thermoplastic polymer, the fixing frame 71 can be made of aluminum profiles, so that the radiating effect of the thermoplastic polymer in the fixing frame 71 is improved, the thermoplastic polymer can be cured more quickly, and the fixing time of parts is shortened.
In order to keep the stability of the thermoplastic polymer in fixing the parts under the condition of curing, in one embodiment, the fixing frame 71 is a boss square frame with a narrow top and a wide bottom, and after the thermoplastic polymer is cured, the inner wall of the narrow opening at the top of the fixing frame 71 is used for limiting the movement of the cured thermoplastic polymer, so that the parts can keep stable in the cured thermoplastic polymer, and the influence of shaking of the parts after the fixing is completed on the detection result of the detection mechanism 4 is avoided.
In order to accelerate the solidification of the thermoplastic polymer, reduce the detection time for the component parts and increase the detection efficiency, in one embodiment the thermoplastic polymer is made of polypropylene, which has a higher melting temperature and a faster crystallization rate, and thus can change from a liquid state to a solid state relatively quickly during cooling.
In order to ensure that the supporting film 73 resets and is covered over the thermoplastic polymer again after the completion of the detection of the components, the next fixing is facilitated, in an embodiment, the floating plate 72 includes a fixing plate 721, four springs 722 and a supporting plate 723, the fixing plate 721 is mounted at the rotating end of the rotating assembly 9, the supporting plate 723 is in spherical hinge connection with the fixing plate 721 and is located over the fixing plate 721, the four springs 722 are respectively mounted at four corners of the supporting plate 723 and two ends of the springs 722 are respectively connected with the supporting plate 723 and the fixing plate 721, because the shape of the components is not fixed, when the components are placed on the supporting film 73, the components cannot be kept at the central position of the fixing frame 71, and a situation of tilting to one side occurs, therefore, in order to enable the supporting film 73 wrapping the components to recover to the original position after the completion of the detection, when the components tilt to one side, the supporting film 73 is driven to tilt to one side, so that the supporting film 73 is pulled by the supporting film 723, the springs 722 far from the tilting direction are stretched, when the components are completed to leave the fixing frame 71, the stretched springs 722 are contracted to reset, and the supporting film 723 is reset to the next fixing is facilitated.
Because the current parts of the automobile are basically standard parts, and the shapes of the parts of the automobiles in different types at the same position are basically consistent, the lengths of the parts may be changed, therefore, in order to better detect the parts, referring to fig. 4, in an embodiment, the fixing assembly 7 comprises a fixing seat 61, a pressing block 62 and a fixing air cylinder 63, a through groove is formed in the bottom surface of the fixing seat 61, the fixing seat 61 is mounted at the rotating end of the rotating mechanism, the fixing air cylinder 63 is mounted at the bottom surface of the through groove of the fixing seat 61, the pressing block 62 is mounted at the movable end of the fixing air cylinder 63, the fixing air cylinder 63 drives the pressing block 62 to press the parts against the fixing seat 61, when detecting the preset parts, the end of the parts is placed on one side wall of the fixing seat 61, then the fixing air cylinder 63 drives the pressing block 62 to press one end of the parts on the fixing seat 61, the same action of the parts is completed by the fixing assembly 7 on the supporting assembly 10, the parts are conveniently detected, and in order to better keep the stability of the parts in the fixing process, the rotating assembly 7 is respectively arranged on the rotating assembly 9 and the supporting assembly 10, the two groups of the parts are prevented from being affected by the two groups of the two sides of the fixing assembly 7, and the vibration of the two sides of the parts are prevented from being affected in the rotating process.
For better letting detection mechanism 4 detect, reduce the time of detection, improve the efficiency of detection, in an embodiment, rotating assembly 9 includes base 91, bottom plate 92, gear train 93, bracing piece 94 and driver 95, base 91 installs in the slip end of slip subassembly 8, driver 95 installs in one side at base 91 top, gear train 93 installs in the opposite side at base 91 top and is connected with the drive end of driver 95, bottom plate 92 and the end gear connection of gear train 93, bracing piece 94 installs in the side wall surface of bottom plate 92 and is connected with the one end of telescopic link 11, after the spare part is accomplished fixedly, driver 95 starts to drive gear train 93 and rotates, thereby let the bottom plate 92 of installing at gear train 93 transmission tail end can rotate, thereby let bracing piece 94 rotate together through the support component 10 that telescopic link 11 is connected and accomplish the rotation to spare part, make things convenient for manipulator 3 to detect spare part, let detection mechanism 4 just can accomplish the detection to spare part without carrying out the removal by a wide margin, reduce the time of detection, improve detection efficiency.
For better supporting the spare part, reduce the condition that spare part takes place to rock at the rotation in-process, in an embodiment, supporting component 10 includes supporting seat 101, roating seat 102 and connecting plate 103, supporting seat 101 installs in one side of frame 1, roating seat 102 installs in supporting seat 101 top surface, connecting plate 103 installs in the rotatory end of roating seat 102, fixed subassembly 7 installs in connecting plate 103 top surface, the one end and the connecting plate 103 of telescopic link 11 are connected, place the one end of spare part on fixed subassembly 7 and fix, when rotating subassembly 9 rotates, rotating subassembly 9 rotates and drives connecting plate 103 through telescopic link 11 and rotate, make fixed subassembly 7 on the connecting plate 103 can keep synchronous rotation along with the rotation of rotating subassembly 9 through telescopic link 11, thereby keep the spare part at the rotational stability who rotates.
For better omnidirectional detection of parts, in an embodiment, the manipulator 3 is a six-axis robot, the detection mechanism 4 is a CCD detection camera, the six-axis robot has six degrees of freedom, flexible movement and operation can be performed in multiple directions, the detection mechanism 4 can perform omnidirectional detection on the parts through rotation of the rotating assembly 9, detection dead angles are avoided, meanwhile, the CCD detection camera has rapid image capturing and processing capability, and can process a large amount of image data in a short time, so that the CCD detection camera is suitable for applications requiring fast operation and response, and therefore, the time required for detection can be reduced and the detection efficiency can be improved through the CCD detection camera.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a general type leak protection welds automatic vision and detects workstation which characterized in that: including frame and control terminal and with control terminal communication connection's manipulator, detection mechanism, coding mechanism and fixed establishment, fixed establishment is used for fixing spare part, fixed establishment is used for adjusting the position of spare part, detection mechanism installs in the end of manipulator, detection mechanism is used for detecting the welding condition of spare part nut and transmits the testing result to control terminal, control terminal instructs the manipulator to be used for adjusting detection mechanism's testing position, control terminal is used for comparing testing result and default and transmitting to coding mechanism according to the result of will comparing, coding mechanism is used for coding the spare part according to control terminal's comparison result.
2. The universal welding-leakage prevention automated vision inspection workstation of claim 1, wherein: the fixed mechanism comprises two fixed components, a sliding component, a rotating component, a telescopic rod and a supporting component, wherein the sliding component is arranged on the inner bottom surface of the frame and is positioned on one side of the frame, the rotating component is arranged at the sliding end of the sliding component, the two fixed components are respectively provided with a rotating end of the rotating component and a supporting end of the supporting component, the supporting component is arranged on the other side of the frame and is connected with the rotating component through the telescopic rod, two ends of parts are respectively fixed on the two fixed components, and the rotating component drives the fixed components to rotate so that the manipulator drives the detection mechanism to detect.
3. The universal welding-leakage prevention automated vision inspection workstation of claim 2, wherein: the fixed subassembly includes fixed frame, kickboard, backing film, heater and radiator, fixed frame installs in rotating assembly's rotation end, fixed frame intussuseption is filled with thermoplastic polymer, the kickboard is installed in rotating assembly's rotation end and is located fixed frame below, the backing film covers in thermoplastic polymer top and four angles of backing film are connected with four angles one-to-one of kickboard, heater and radiator are installed in fixed frame's opposite both sides respectively.
4. A universal welding-leakage prevention automated vision inspection workstation as defined in claim 3, wherein: the fixed frame is a boss square frame with a narrow upper part and a wide lower part.
5. A universal welding-leakage prevention automated vision inspection workstation as defined in claim 3, wherein: the thermoplastic polymer is composed of polypropylene.
6. A universal welding-leakage prevention automated vision inspection workstation as defined in claim 3, wherein: the floating plate comprises a fixed plate, four springs and a supporting plate, wherein the fixed plate is arranged at the rotating end of the rotating assembly, the supporting plate is hinged with the fixed plate ball and is positioned above the fixed plate, and the four springs are respectively arranged at four corners of the supporting plate, and two ends of the springs are respectively connected with the supporting plate and the fixed plate.
7. The universal welding-leakage prevention automated vision inspection workstation of claim 2, wherein: the fixed subassembly includes fixing base, briquetting and fixed cylinder, logical groove has been seted up to the bottom surface of fixing base, the fixing base is installed in rotary mechanism's rotation end, fixed cylinder installs in the bottom surface in fixing base logical groove, the briquetting is installed in fixed cylinder's expansion end, fixed cylinder drive briquetting supports spare part and presses in the fixing base.
8. The universal welding-leakage prevention automated vision inspection workstation of claim 7, wherein: the rotary assembly comprises a base, a bottom plate, a gear set, a supporting rod and a driver, wherein the base is arranged at the sliding end of the sliding assembly, the driver is arranged on one side of the top of the base, the gear set is arranged on the other side of the top of the base and is connected with the driving end of the driver, the bottom plate is connected with the tail end gear of the gear set, and the supporting rod is arranged on the surface of one side wall of the bottom plate and is connected with one end of the telescopic rod.
9. The universal welding-leakage prevention automated vision inspection workstation of claim 2, wherein: the support assembly comprises a support seat, a rotating seat and a connecting plate, wherein the support seat is arranged on one side of the frame, the rotating seat is arranged on the top surface of the support seat, the connecting plate is arranged at the rotating end of the rotating seat, the fixing assembly is arranged on the top surface of the connecting plate, and one end of the telescopic rod is connected with the connecting plate.
10. The universal welding-leakage prevention automated vision inspection workstation of claim 1, wherein: the manipulator is a six-axis robot, and the detection mechanism is a CCD detection camera.
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|---|---|---|---|
| CN202311802487.0A CN117783127B (en) | 2023-12-26 | 2023-12-26 | Automatic visual detection workstation of general leak protection welding |
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| CN202311802487.0A CN117783127B (en) | 2023-12-26 | 2023-12-26 | Automatic visual detection workstation of general leak protection welding |
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| CN117783127B CN117783127B (en) | 2024-07-02 |
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