CN119188011B - Automatic positioning pick-up and welding device for oil sealing ball for sensor - Google Patents
Automatic positioning pick-up and welding device for oil sealing ball for sensor Download PDFInfo
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- CN119188011B CN119188011B CN202411745228.3A CN202411745228A CN119188011B CN 119188011 B CN119188011 B CN 119188011B CN 202411745228 A CN202411745228 A CN 202411745228A CN 119188011 B CN119188011 B CN 119188011B
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- oil sealing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
Abstract
本发明公开一种传感器用封油球自动定位拾取及焊接装置，涉及传感器生产领域，包括机架，机架上设置有用于采集图像的图像采集装置；封油球取放装置，用于抓取和释放封油球；传感器固定装置，用于固定具有待封堵充油孔的传感器；焊接装置，用于将封油球密封于待封堵充油孔处；在图像采集装置采集到待封堵的传感器安装到位后，封油球取放装置抓取封油球，并将封油球释放至待封堵充油孔处，焊接装置根据图像采集装置采集到的待密封位置信息对封油球和待封堵的传感器进行密封，整个过程无需人工取放封油球和焊接，能保证生产速度和生产质量。
The invention discloses an automatic positioning, picking and welding device for an oil-sealing ball for a sensor, which relates to the field of sensor production and comprises a frame, on which an image acquisition device for acquiring images is arranged; an oil-sealing ball picking and placing device for grabbing and releasing the oil-sealing ball; a sensor fixing device for fixing a sensor having an oil-filling hole to be sealed; and a welding device for sealing the oil-sealing ball at the oil-filling hole to be sealed; after the image acquisition device acquires that the sensor to be sealed is installed in place, the oil-sealing ball picking and placing device grabs the oil-sealing ball and releases the oil-sealing ball to the oil-filling hole to be sealed, and the welding device seals the oil-sealing ball and the sensor to be sealed according to the information of the position to be sealed acquired by the image acquisition device, and the entire process does not require manual picking and placing of the oil-sealing ball and welding, thereby ensuring production speed and production quality.
Description
Technical Field
The invention relates to the field of sensor production, in particular to an automatic positioning, picking and welding device for an oil sealing ball for a sensor.
Background
The oil sealing ball is a sealing element, is commonly used for sealing useless holes of a component shell, has wide application on a sensor, mainly adopts a manual installation mode in the prior art, and is manually grabbed, then is positioned and placed on an oil filling hole of the sensor shell, and is fixed in a welding mode to achieve the effect of sealing the sensor, but the oil sealing ball is small in size and is not easy to take and place, even if auxiliary tools such as tweezers are used, an operator is required to concentrate on to operate, fatigue of the operator is extremely easy to cause, the working efficiency is reduced, and the positioning accuracy is reduced, so that the oil sealing ball installation device for overcoming the defects of manual installation is needed.
Disclosure of Invention
The invention aims to provide an automatic positioning, picking and welding device for an oil sealing ball for a sensor, which solves the problems in the prior art, and can automatically complete the process without manually picking and placing the oil sealing ball and welding, confirm and adjust the posture of the sensor, and ensure the production speed and the production quality as long as the sensor to be plugged is installed on a sensor fixing device, the image acquisition device is used for confirming the image, the sensor is adjusted until the oil filling hole to be plugged is vertically upwards, then the oil sealing ball picking and placing device is used for placing the oil sealing ball on the oil filling hole to be plugged, and finally the welding device is used for welding the position of the oil sealing ball to be plugged.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides an automatic positioning, picking and welding device for an oil sealing ball of a sensor, which comprises a frame, an oil sealing ball picking and placing device, a sensor fixing device, a welding device and a sensor fixing device, wherein the frame is provided with a first image acquisition device and a second image acquisition device which are used for acquiring images, the oil sealing ball picking and placing device is arranged on the frame and used for grabbing and releasing the oil sealing ball, the sensor fixing device is arranged on the frame and used for fixing a sensor with an oil filling hole to be sealed, the welding device is arranged on the frame and used for sealing the oil sealing ball at the position of the oil sealing hole to be sealed, the second image acquisition device acquires images of the sensor after the sensor to be sealed is installed in place, the orientation of the oil sealing hole to be sealed is judged, the sensor fixing device adjusts the orientation of the oil sealing hole to be sealed to a welding position according to a judging result, the first image acquisition device confirms the acquisition condition of the oil sealing ball, the oil sealing ball picking and placing device releases the oil sealing ball to the position to be sealed after confirming acquisition, and the second image acquisition device acquires the information of the oil sealing ball to be sealed to the position to be sealed.
Preferably, the oil sealing ball picking and placing device comprises a vacuum suction device, the vacuum suction device comprises an air pipe and an air suction pump, a first end of the air pipe is used for sucking the oil sealing ball, and a second end of the air pipe is communicated with the air suction pump.
Preferably, the oil sealing ball picking and placing device further comprises a gas flowmeter, the second end of the gas pipe is communicated with the first end of the gas flowmeter, and the second end of the gas flowmeter is communicated with the suction pump.
Preferably, the oil sealing ball picking and placing device further comprises a first moving mechanism, and the suction pump is arranged on the first moving mechanism.
Preferably, the welding device comprises a welding gun.
Preferably, the welding device further comprises a second moving mechanism, and the welding gun is arranged on the second moving mechanism.
Preferably, the sensor fixing device comprises a clamping jaw, an opening and closing mechanism for controlling the clamping jaw and a swinging mechanism for adjusting the direction of the clamping jaw, wherein the clamping jaw is arranged on the opening and closing mechanism, and the opening and closing mechanism is connected with the moving end of the swinging mechanism.
Preferably, the opening and closing mechanism comprises a telescopic rod used for driving the clamping jaws to open and close, the working end of the telescopic rod is hinged to the first ends of the two connecting rods, the second ends of the two connecting rods are respectively hinged to the two clamping jaws, the sliding ends of the clamping jaws extend into the fixed sliding sleeve, the driving end of the telescopic rod is connected with the output end of the first power device, the first power device is arranged in the connecting portion, and the fixed sliding sleeve is fixedly connected with the connecting portion.
Preferably, the swing mechanism comprises a frame, a connecting rod for connecting the connecting part is arranged on the frame, the connecting rod is hinged on the frame, a first end of the connecting plate is arranged on the connecting rod, a rotating rod is arranged at the other end of the connecting plate, a driving block is arranged on the rotating rod in a sliding manner, a first end of the rotating plate is connected with the driving block in a rotating manner, and a second end of the rotating plate is connected with an output end of the second power device.
Preferably, the first image acquisition device is an industrial camera, and the second image acquisition device is an industrial camera.
Compared with the prior art, the invention has the following technical effects:
The invention provides an automatic positioning pick-up and welding device for an oil sealing ball for a sensor, which is characterized in that as long as a sensor to be plugged is installed on a sensor fixing device, image confirmation is carried out through an image acquisition device, the sensor is adjusted until an oil sealing hole to be plugged is vertically upwards, then the oil sealing ball is placed on the oil sealing hole to be plugged by an oil sealing ball taking and placing device, finally the oil sealing ball to be plugged is welded by a welding device, the whole process does not need to manually take and place the oil sealing ball and weld, the confirmation and adjustment of the posture of the sensor can be automatically completed, and the production speed and the production quality can be ensured.
Compared with the prior art, the invention has the following technical effects:
The oil sealing ball picking and placing device comprises the vacuum suction device, the oil sealing balls are obtained in a vacuum suction mode, the negative pressure intensity can be judged according to the monitoring index of the gas flowmeter, the defect that the suction intensity cannot be confirmed in image acquisition is overcome, the picking and placing are reliable, only one oil sealing ball can be sucked at a time, and the situation that the oil sealing balls fall randomly cannot occur is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic positioning pick-up and welding device for a sensor oil seal ball according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an oil seal ball pick-and-place device according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an opening and closing mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of a sensor fixing device according to an embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a welding device according to an embodiment of the present invention.
1, An oil sealing ball taking and placing device; 101, an air pipe, 102, a suction pump, 103, and a gas flowmeter;
2. Sensor fixing device 201, clamping jaw 202, telescopic rod 203, connecting rod 204, fixing sliding sleeve 205, first power device 206, connecting part 207, frame 208, connecting rod 209, connecting plate 210, rotating rod 211, driving block 212, rotating plate 213, second power device;
3. 301, a welding gun;
4. a first image acquisition device;
5. a second image acquisition device;
6. and 601, the oil filling hole is to be plugged.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an automatic positioning, picking and welding device for an oil sealing ball for a sensor, which solves the problems in the prior art, and can automatically complete the process without manually picking and placing the oil sealing ball and welding, confirm and adjust the posture of the sensor, avoid the problem of efficiency reduction caused by operator fatigue, and ensure the production speed and the production quality as long as the sensor to be plugged is installed on a sensor fixing device, an image acquisition device is used for confirming the image, the sensor is adjusted until the oil sealing hole to be plugged is vertically upwards, then an oil sealing ball picking and placing device is used for placing the oil sealing ball on the oil sealing hole to be plugged, and finally a welding device is used for welding the position of the oil sealing hole to be plugged.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the present invention provides an automatic positioning pick-up and welding device for a sensor oil sealing ball, comprising:
The device comprises a frame, wherein a first image acquisition device 4 and a second image acquisition device 5 for acquiring images are arranged on the frame, an oil sealing ball taking and placing device 1 is arranged on the frame and used for grabbing and releasing the oil sealing ball, a sensor fixing device 2 is arranged on the frame and used for fixing a sensor 6 with an oil filling hole 601 to be plugged, and a welding device 3 is arranged on the frame and used for sealing the oil sealing ball at the position of the oil filling hole 601 to be plugged. Wherein, after the sensor 6 to be plugged is installed in place, the second image acquisition device 5 acquires the image of the sensor 6, judges the orientation of the oil filling hole 601 to be plugged, the sensor fixing device 2 adjusts the orientation of the oil filling hole 601 to be plugged to a welding position according to the judging result, the oil sealing ball taking and placing device 1 grabs the oil sealing ball, the first image acquisition device 4 confirms the taking condition of the oil sealing ball, the oil sealing ball taking and placing device 1 releases the oil sealing ball to the position of the oil filling hole 601 to be plugged after the taking, the welding device 3 seals the oil sealing ball and the sensor 6 to be plugged according to the information of the position to be sealed acquired by the second image acquisition device 5, the sensor 6 is installed manually, the sensor 6 is adjusted to lead the oil filling hole 601 to be plugged to be upward during installation, but errors exist in manual installation, therefore, the position of the oil filling hole 601 to be plugged needs to be subjected to primary fine adjustment, so that the to-be-plugged oil filling hole 601 is completely vertical upwards, so that the second image acquisition device 5 firstly acquires the image of the installed sensor 6, judges the orientation of the to-be-plugged oil filling hole 601 through the image, if adjustment is needed, the second image acquisition device 5 can generate the coordinate where the to-be-plugged oil filling hole 601 should be located, the coordinate information is transmitted to the sensor fixing device 2, the sensor fixing device 2 can adjust the position of the to-be-plugged oil filling hole 601 in a swinging mode to enable the position to be located at the set coordinate, at the moment, the to-be-plugged oil filling hole 601 is vertical upwards, the second image acquisition device 5 acquires the image confirmation adjustment result again, sends the coordinate of the to-be-plugged oil filling hole 601 to the oil sealing ball taking and placing device 1 and the welding device 3 after confirmation, then the oil sealing ball taking and placing device 1 places the oil sealing ball according to the preset coordinate, then the second image acquisition device 5 acquires the image confirmation to adjust the placement condition of the oil sealing ball, after confirming that the welding is performed, when the oil sealing ball is obtained, the first image acquisition device 4 confirms the obtaining condition of the oil sealing ball, and only when the oil sealing ball taking and placing device 1 stably obtains one oil sealing ball, the oil sealing ball taking and placing device 1 can enter the next working state.
As shown in fig. 1 and 2, the oil seal ball picking and placing device 1 includes a vacuum suction device, the vacuum suction device includes an air pipe 101 and an air suction pump 102, a first end of the air pipe 101 is used for sucking the oil seal ball, a second end of the air pipe 101 is communicated with the air suction pump 102, in a preferred embodiment, the oil seal ball picking and placing device 1 further includes a gas flowmeter 103, a second end of the air pipe 101 is communicated with the first end of the gas flowmeter 103, a second end of the gas flowmeter 103 is communicated with the air suction pump 102, and during sucking, whether sufficient air forming a sucking effect is discharged in the air pipe 101 can be judged by a metering value of the gas flowmeter 103, so that the defect that the sucking strength cannot be judged by image confirmation is overcome, and the air pipe 101 can only suck and place one oil seal ball at a time without random dropping.
As shown in fig. 1 and fig. 2, the oil sealing ball picking and placing device 1 further includes a first moving mechanism, the suction pump 102 is disposed on the first moving mechanism, the first moving mechanism includes a first transverse rail and a first vertical rail, the first transverse rail is mounted on the frame, the first vertical rail is mounted on the first transverse rail, the suction pump 102 is mounted on the first vertical rail, the first transverse rail drives the first vertical rail to move during operation to realize transverse movement of the suction pump 102, the first vertical rail directly drives the suction pump 102 to move up and down, the first transverse rail and the first vertical rail cooperate to complete movement of the suction pump 102 in a plane, in a preferred embodiment, the frame mounted with the first transverse rail can move on the first moving rail to realize three-coordinate movement of the suction pump 102, and the suction pump 102 can also be mounted on an industrial robot.
As shown in fig. 1 and 5, the welding device 3 includes a welding gun 301, the welding gun 301 is a resistance welding gun, the welding device 3 further includes a second moving mechanism, the welding gun 301 is disposed on the second moving mechanism, the second moving mechanism includes a second vertical rail and a second horizontal rail, the second vertical rail is mounted on a frame, the second horizontal rail is mounted on the second vertical rail, the welding gun 301 is mounted on the second horizontal rail, the second vertical rail drives the second horizontal rail to move during operation to realize vertical movement of the welding gun 301, the second horizontal rail directly drives the welding gun 301 to move transversely, the second vertical rail and the second horizontal rail cooperate to complete movement of the welding gun 301 in a plane, in a preferred embodiment, the frame on which the second vertical rail is mounted can move on the second moving rail to realize three-coordinate movement of the welding gun 301, and the welding gun 301 can also be mounted on an industrial robot.
As shown in fig. 3 and 4, the sensor fixing device 2 includes a jaw 201, an opening and closing mechanism for controlling the jaw 201, and a swinging mechanism for adjusting the direction of the jaw 201, the jaw 201 is provided on the opening and closing mechanism, and the opening and closing mechanism is connected with a moving end of the swinging mechanism.
As shown in fig. 3 and 4, in a preferred embodiment, the opening and closing mechanism includes a telescopic rod 202 for driving the clamping jaw 201 to open and close, a working end of the telescopic rod 202 is hinged to first ends of two connecting rods 203, second ends of the two connecting rods 203 are respectively hinged to the two clamping jaws 201, a sliding end of the clamping jaw 201 stretches into a fixed sliding sleeve 204, a driving end of the telescopic rod 202 is connected with an output end of a first power device 205, the first power device 205 is arranged in a connecting portion 206, the fixed sliding sleeve 204 is fixedly connected with the connecting portion 206, the telescopic rod 202 stretches out to drive the two connecting rods 203 to tighten inwards, the clamping jaws 201 are folded inwards to clamp together, the fixed sliding sleeve 204 plays a role of limiting a movement direction of the clamping jaws 201 to ensure that the clamping jaws 201 are folded correctly, and when the telescopic rod 202 is retracted, the clamping jaws 201 are opened and released to complete a sensor 6 is manufactured by the first power device 205, which can be an electric telescopic device, a pneumatic telescopic device, a hydraulic telescopic device or a motor.
As shown in fig. 4, the swinging mechanism includes a frame 207, a connecting rod 208 for connecting the connecting portion 206 is disposed on the frame 207, the connecting rod 208 is hinged on the frame 207, a first end of the connecting plate 209 is disposed on the connecting rod 208, a rotating rod 210 is disposed at the other end of the connecting plate 209, a driving block 211 is slidably disposed on the rotating rod 210, a first end of a rotating plate 212 is rotatably connected with the driving block 211, a second end of the rotating plate 212 is connected with an output end of a second power device 213, the second power device 213 drives the rotating plate 212 to horizontally rotate, the driving block 211 swings in a vertical plane under the driving of the rotating plate 212 to further drive the rotating rod 210 to swing, and the connecting rod 208 connected with the rotating rod 210 swings together, so that the specific angle swing of the connecting portion 206 is finally realized, and the adjustment of the orientation of the oil filling hole is completed.
As shown in fig. 1, the first image capturing device 4 and the second image capturing device 5 are industrial cameras, and the first image capturing device 4 and the second image capturing device 5 may also be other devices having an image capturing function.
The invention further comprises an upper computer for receiving, processing and sending instructions, wherein the oil sealing ball picking and placing device 1, the sensor fixing device 2, the welding device 3, the first image acquisition device 4 and the second image acquisition device 5 are electrically connected with the upper computer, and the upper computer can receive and process information sent by the oil sealing ball picking and placing device 1, the sensor fixing device 2, the welding device 3, the first image acquisition device 4 and the second image acquisition device 5 and send independent control instructions to the devices.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided herein to facilitate understanding of the principles and embodiments of the present invention and to provide further advantages and practical applications for those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. The utility model provides a sensor is with sealing oily ball automatic positioning pick-up and welding set which characterized in that includes:
The device comprises a frame, wherein a first image acquisition device (4) and a second image acquisition device (5) for acquiring images are arranged on the frame;
The oil sealing ball picking and placing device (1) is arranged on the rack and used for picking and releasing the oil sealing balls, the oil sealing ball picking and placing device (1) comprises a vacuum suction device, the vacuum suction device comprises an air pipe (101) and an air suction pump (102), a first end of the air pipe (101) is used for sucking the oil sealing balls, a second end of the air pipe (101) is communicated with the air suction pump (102), the oil sealing ball picking and placing device (1) further comprises a gas flowmeter (103), a second end of the air pipe (101) is communicated with the first end of the gas flowmeter (103), a second end of the gas flowmeter (103) is communicated with the air suction pump (102), and when the oil sealing balls are acquired, the first image acquisition device (4) confirms the acquisition condition of the oil sealing balls, and only when the oil sealing ball picking and placing device (1) stably acquires one oil sealing ball, the oil sealing ball picking and placing device (1) can enter a next working state;
The sensor fixing device (2) is arranged on the rack and is used for fixing a sensor (6) with an oil filling hole (601) to be plugged;
the welding device (3) is arranged on the frame and is used for sealing the oil sealing ball at the position of the oil filling hole (601) to be blocked;
after the sensor (6) to be plugged is installed in place, the second image acquisition device (5) acquires an image of the sensor (6), the orientation of the oil filling hole (601) to be plugged is judged, the sensor fixing device (2) adjusts the orientation of the oil filling hole (601) to be plugged to a welding position according to a judging result, the oil sealing ball taking and placing device (1) grabs the oil sealing ball, the first image acquisition device (4) confirms the taking condition of the oil sealing ball, after the taking, the oil sealing ball taking and placing device (1) releases the oil sealing ball to the position of the oil filling hole (601) to be plugged, and the welding device (3) seals the oil sealing ball and the sensor (6) to be plugged according to the position information to be sealed, which is acquired by the second image acquisition device (5);
The sensor fixing device (2) comprises clamping jaws (201), an opening and closing mechanism used for controlling the clamping jaws (201) and a swinging mechanism used for adjusting the direction of the clamping jaws (201), wherein the clamping jaws (201) are arranged on the opening and closing mechanism, the opening and closing mechanism is connected with the moving end of the swinging mechanism, the opening and closing mechanism comprises a telescopic rod (202) used for driving the clamping jaws (201) to open and close, the working end of the telescopic rod (202) is hinged with the first ends of two connecting rods (203), the second ends of the two connecting rods (203) are respectively hinged with the two clamping jaws (201), the sliding ends of the clamping jaws (201) extend into a fixed sliding sleeve (204), the driving end of the telescopic rod (202) is connected with the output end of a first power device (205), the first power device (205) is arranged in a connecting part (206), and the fixed sliding sleeve (204) is fixedly connected with the connecting part (206);
The swing mechanism comprises a frame (207), a connecting rod (208) used for connecting a connecting part (206) is arranged on the frame (207), the connecting rod (208) is hinged on the frame (207), a first end of a connecting plate (209) is arranged on the connecting rod (208), a rotating rod (210) is arranged at the other end of the connecting plate (209), a driving block (211) is slidably arranged on the rotating rod (210), the first end of a rotating plate (212) is rotationally connected with the driving block (211), a second end of the rotating plate (212) is connected with an output end of a second power device (213), the second power device (213) drives the rotating plate (212) to horizontally rotate, the driving block (211) swings in a vertical plane under the driving of the rotating plate (212) to further drive the rotating rod (210) to swing, the connecting rod (208) connected with the rotating rod (210) swings together, and finally the specific angle of the connecting part (206) swings, and the sealing orientation of an oil filling hole (601) to be sealed is completed.
2. The automatic positioning pick-up and welding device for the oil sealing ball for the sensor according to claim 1, wherein the oil sealing ball pick-up and placing device (1) further comprises a first moving mechanism, and the suction pump (102) is arranged on the first moving mechanism.
3. The automatic positioning pick-up and welding device for the oil sealing ball for the sensor according to claim 1, wherein the welding device (3) comprises a welding gun (301).
4. The automatic positioning pick-up and welding device for oil sealing balls for sensors according to claim 3, wherein the welding device (3) further comprises a second moving mechanism, and the welding gun (301) is arranged on the second moving mechanism.
5. The automatic positioning, picking and welding device for the oil sealing ball for the sensor according to any one of claims 1 to 4, wherein the first image acquisition device (4) is an industrial camera, and the second image acquisition device (5) is an industrial camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411745228.3A CN119188011B (en) | 2024-12-02 | 2024-12-02 | Automatic positioning pick-up and welding device for oil sealing ball for sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411745228.3A CN119188011B (en) | 2024-12-02 | 2024-12-02 | Automatic positioning pick-up and welding device for oil sealing ball for sensor |
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| CN119188011A CN119188011A (en) | 2024-12-27 |
| CN119188011B true CN119188011B (en) | 2025-04-08 |
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| CN202411745228.3A Active CN119188011B (en) | 2024-12-02 | 2024-12-02 | Automatic positioning pick-up and welding device for oil sealing ball for sensor |
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| CN110521296A (en) * | 2017-04-19 | 2019-11-29 | 株式会社富士 | Nozzle holding mechanism and component mounting device |
| CN209771687U (en) * | 2019-04-17 | 2019-12-13 | 山西金恒爆破工程有限责任公司 | Open blasting construction dust device |
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| CN119188011A (en) | 2024-12-27 |
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