CN111817612B - Screw locking assembly process control device and method - Google Patents
Screw locking assembly process control device and method Download PDFInfo
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- CN111817612B CN111817612B CN202010514248.5A CN202010514248A CN111817612B CN 111817612 B CN111817612 B CN 111817612B CN 202010514248 A CN202010514248 A CN 202010514248A CN 111817612 B CN111817612 B CN 111817612B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more AC dynamo-electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the invention relates to the technical field of automatic assembly, and discloses a screw locking assembly process control device and method, wherein the device comprises the following steps: plane positioning module, downforce control module, action decision-making module and speed control module, wherein, downforce control module includes: the invention adopts the lower pressure detection submodule and the lower pressure control submodule to accurately control the position and the lower pressure of the Z axis under the condition that the robot does not need to be externally refitted, thereby effectively improving the yield of screw locking and having low cost; the rotation speed of the fourth motor is feedback controlled, so that the stability of the screw locking process can be improved, the stage of screw locking can be estimated through the change of the rotation speed, and the purpose of accurate control is achieved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic assembly, in particular to a screw locking assembly process control device and method.
Background
The horizontal multi-joint robot is good at working in a plane area, has the capability of moving up and down along the Z axis, and is suitable for screw assembly work on the horizontal plane. Traditional industrial robots are too rigid and can damage the robot body if used directly for assembly, which can easily lead to collisions between the robot and the external environment. The traditional practice is to add an external sensor and a buffer mechanism when the screw assembly work is carried out, or directly add a servo electric batch on the robot body for transformation.
Chinese patent application CN201820473851.1 discloses an automated screw assembling device, which meets the requirements of the screw assembling process for the downforce and the rotation speed by modifying the third and fourth joints of the conventional horizontal four-joint robot into a servo electric batch. The method needs to be modified on the traditional horizontal robot, so that the universality of the traditional robot is lost, and the added servo electric batch increases the mechanism cost of the automatic equipment.
Chinese patent application CN201810177801.3 discloses a screw locking device, wherein the pressing force of the robot is controlled by a pressing spring in a device hung on the tail end of a horizontal four-axis robot. The method provides the downward pressure during locking through the spring, but the downward pressure provided by the method cannot be accurately detected and controlled, and the yield of screw locking is affected.
In view of the foregoing, there is a need for a screw locking assembly process control device that is precisely controllable, has good passability, and is inexpensive.
Disclosure of Invention
The technical problem which is mainly solved by the embodiment of the invention is to provide the screw locking assembly process control device and the method, which can solve the problems that the existing screw locking assembly process control device is poor in generality and high in cost, or the assembly pressing force cannot be accurately controlled.
In order to solve the above technical problems, in a first aspect, a technical solution adopted in an embodiment of the present invention is: there is provided a screw lock assembly process control apparatus, the apparatus comprising: the system comprises a plane positioning module, a down force control module and a behavior decision module, wherein the plane positioning module comprises:
a first arm connected to the base station through a joint, and driven to rotate by a first motor;
a first position measurement sub-module for measuring a current rotation angle of the first motor;
the first position control sub-module is used for carrying out feedback control according to the current rotation angle of the first motor so that the actual position of the first motor follows the expected position issued by the behavior decision module;
a second arm connected to the end of the first arm and rotated by a second motor;
a second position measurement sub-module for measuring a current rotation angle of the second motor;
the second position control sub-module is used for carrying out feedback control according to the current rotation angle of the second motor so that the actual position of the second motor follows the expected position issued by the behavior decision module;
the down force control module includes:
a first shaft, which is composed of a third motor installed on the second arm and a ball screw installed at the tail end of the second arm, and is driven by the third motor to make the ball screw do up-and-down motion of a Z axis;
a third position measurement sub-module for measuring a current rotation angle of the third motor;
the third position control sub-module is used for carrying out feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module;
the lower pressure detection submodule is used for detecting the lower pressure of the ball screw in the first shaft according to the acquired current signal of the third motor;
and the lower pressure control sub-module is used for carrying out feedback control according to the lower pressure so as to enable the lower pressure of the first shaft ball screw to follow the expected lower pressure.
Further, the apparatus further comprises: a speed control module, wherein the speed control module comprises:
a second shaft formed by a fourth motor mounted on the second arm and the ball screw, the ball screw being driven by the fourth motor to perform a rotational movement about a Z axis;
a speed measurement sub-module for measuring a current rotational speed of the fourth motor;
and the speed control sub-module is used for carrying out feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision module.
Further, the device also comprises a Hall current sensor arranged on the third motor, wherein the downward pressure detection submodule is specifically used for obtaining a downward pressure detection value by combining the current fed back by the Hall current sensor with the first shaft dynamics model;
the down force control sub-module is specifically configured to calculate a down force command value according to a deviation between a position detection value of the third motor position detection module and a position command value, and calculate a current command value of the motor according to a deviation between the down force command value and the down force detection value.
Further, the speed measurement submodule is specifically configured to obtain a current rotation speed of the fourth motor by differentiating the feedback position signal.
The speed control submodule is specifically used for controlling the motors according to the deviation of the current rotation speed and the speed command value, so that the actual speed of the fourth motor follows the speed command value.
Further, the apparatus includes a horizontal multi-joint robot.
In order to solve the above technical problems, in a second aspect, another technical solution adopted in the embodiment of the present invention is: the method for controlling the screw locking assembly process comprises the following steps:
the first shaft is driven by a third motor to enable the ball screw to do up-and-down motion of the Z shaft, and the second shaft is driven by a fourth motor to enable the ball screw to do rotation motion around the Z shaft;
measuring a third motor current for enabling the ball screw to move up and down, and calculating the down force of the ball screw by using the third motor current;
performing downward pressure feedback control on the third motor through the downward pressure so that the downward pressure of the ball screw follows the downward pressure instruction value of the behavior decision module;
and measuring the rotation angle of a third motor which enables the ball screw to move up and down, and performing feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module.
Further, the method further comprises:
and measuring the rotation speed of a fourth motor which enables the ball screw to rotate, and performing feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision module.
The embodiment of the invention has the beneficial effects that: compared with the prior art, the robot has the advantages that the lower pressure detection submodule and the lower pressure control submodule are adopted, so that the position and the lower pressure of the Z axis are accurately controlled under the condition that external modification of the robot is not needed, the yield of screw locking can be effectively improved, and the cost is low; the rotation speed of the fourth motor is feedback controlled, so that the stability of the screw locking process can be improved, the stage of screw locking can be estimated through the change of the rotation speed, and the purpose of accurate control is achieved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are required to be used in the embodiments of the present invention will be briefly described below. It is evident that the drawings described below are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a screw locking assembly process control device according to an embodiment of the present invention;
fig. 2 is a flowchart of a screw locking assembly process control method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that, if not in conflict, the features of the embodiments of the present invention may be combined with each other, which is within the protection scope of the present invention. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In particular, embodiments of the present invention are further described below with reference to the accompanying drawings.
The embodiment of the invention provides a screw locking assembly process control device, which is suitable for a multi-joint robot, such as a horizontal multi-joint robot, and the following embodiments are only described by taking the horizontal multi-joint robot as an example, please refer to fig. 1, which shows a schematic structural diagram of the screw locking assembly process control device, and the device includes but is not limited to: the system comprises a plane positioning module, a down force control module and a behavior decision module, wherein the plane positioning module comprises:
a first arm connected to the base station through a joint, and driven to rotate by a first motor;
a first position measurement sub-module for measuring a current rotation angle of the first motor;
the first position control sub-module is used for carrying out feedback control according to the current rotation angle of the first motor so that the actual position of the first motor follows the expected position issued by the behavior decision module; the behavior decision module is used for carrying out feedback control on the plane positioning module, the downward pressure control module and the speed control module according to the current rotation angle or the current speed of each motor, the behavior decision module is a control module of the horizontal multi-joint robot, and the expected position is a preset position of the horizontal multi-joint robot.
A second arm connected to the end of the first arm and rotated by a second motor;
a second position measurement sub-module for measuring a current rotation angle of the second motor;
the second position control sub-module is used for carrying out feedback control according to the current rotation angle of the second motor so that the actual position of the second motor follows the expected position issued by the behavior decision module;
the down force control module includes:
a first shaft, which is composed of a third motor installed on the second arm and a ball screw installed at the tail end of the second arm, and is driven by the third motor to make the ball screw do up-and-down motion of a Z axis;
a third position measurement sub-module for measuring a current rotation angle of the third motor;
the third position control sub-module is used for carrying out feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module;
the lower pressure detection submodule is used for detecting the lower pressure of the ball screw in the first shaft according to the acquired current signal of the third motor;
and the lower pressure control sub-module is used for carrying out feedback control according to the lower pressure so as to enable the lower pressure of the first shaft ball screw to follow the expected lower pressure.
Specifically, the device further comprises a Hall current sensor arranged on the third motor, wherein the downward pressure detection submodule is specifically used for obtaining a downward pressure detection value by combining a first shaft dynamics model through current fed back by the Hall current sensor;
the down force control sub-module is specifically configured to calculate a down force command value according to a deviation between a position detection value of the third motor position detection module and a position command value, and calculate a current command value of the motor according to a deviation between the down force command value and the down force detection value.
In the embodiment of the invention, the lower pressure detection value is an actual lower pressure value obtained through calculation of a first axis dynamics model. The down force command value is an adjusted down force command calculated by the horizontal multi-joint robot according to the deviation between the current actual position detection and the preset position. The lower pressure detection submodule and the lower pressure control submodule are adopted, so that the position and the lower pressure of the Z axis are accurately controlled under the condition that the robot does not need to be externally refitted, and the yield of screw locking can be effectively improved.
Further, the apparatus further comprises: a speed control module, wherein the speed control module comprises:
a second shaft formed by a fourth motor mounted on the second arm and the ball screw, the ball screw being driven by the fourth motor to perform a rotational movement about a Z axis;
a speed measurement sub-module for measuring a current rotational speed of the fourth motor;
and the speed control sub-module is used for carrying out feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision module.
Specifically, the speed measurement submodule is specifically configured to obtain a current rotation speed of the fourth motor by differentiating the feedback position signal.
The speed control submodule is specifically used for controlling the motors according to the deviation of the current rotation speed and the speed command value, so that the actual speed of the fourth motor follows the speed command value.
In the embodiment of the invention, the rotation speed of the fourth motor is subjected to feedback control, so that the stability of the screw locking process can be improved, and the stage of screw locking can be estimated through the change of the rotation speed, thereby achieving the purpose of accurate control.
The embodiment of the invention provides a screw locking assembly process control device, which adopts a lower pressure detection submodule and a lower pressure control submodule to accurately control the position and the lower pressure of a Z axis under the condition that the robot does not need to be externally refitted, so that the yield of screw locking can be effectively improved, and the cost is low; the rotation speed of the fourth motor is feedback controlled, so that the stability of the screw locking process can be improved, the stage of screw locking can be estimated through the change of the rotation speed, and the purpose of accurate control is achieved.
An embodiment of the present invention provides a method for controlling a screw locking assembly process, which may be performed by the above apparatus, please refer to fig. 2, which shows a flowchart of a method for controlling a screw locking assembly process, including, but not limited to, the following steps:
step 201: the first shaft is driven by a third motor to enable the ball screw to move up and down along the Z axis, and the second shaft is driven by a fourth motor to enable the ball screw to rotate around the Z axis.
Step 202: measuring a third motor current for enabling the ball screw to move up and down, and calculating the down force of the ball screw by using the third motor current;
step 203: performing downward pressure feedback control on the third motor through the downward pressure so that the downward pressure of the ball screw follows the downward pressure instruction value of the behavior decision module;
step 204: and measuring the rotation angle of a third motor which enables the ball screw to move up and down, and performing feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module.
Further, the method further comprises:
step 205: and measuring the rotation speed of a fourth motor which enables the ball screw to rotate, and performing feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision module.
According to the embodiment of the invention, the rotating positions of the first motor and the second motor are subjected to feedback control, so that the XY coordinates of the screw can be rapidly and accurately moved, the beat and the yield of screw locking are improved, the position and the downward pressure of the Z axis are accurately controlled under the condition that the robot does not need to be externally refitted by adopting downward pressure detection and downward pressure control, the yield of screw locking can be effectively improved, and the cost is low; the rotation speed of the fourth motor is feedback controlled, so that the stability of the screw locking process can be improved, the stage of screw locking can be estimated through the change of the rotation speed, and the purpose of accurate control is achieved.
The above method may implement the apparatus provided in the embodiments of the present application, and technical details that are not described in detail in the embodiments of the present application may be referred to the apparatus provided in the embodiments of the present application.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (2)
1. A screw lock assembly process control apparatus, the apparatus comprising: the system comprises a plane positioning module, a down force control module and a behavior decision module, wherein the plane positioning module comprises:
a first arm connected to the base station through a joint, and driven to rotate by a first motor;
a first position measurement sub-module for measuring a current rotation angle of the first motor;
the first position control sub-module is used for carrying out feedback control according to the current rotation angle of the first motor so that the actual position of the first motor follows the expected position issued by the behavior decision module; the behavior decision module is used for carrying out feedback control on the plane positioning module, the downward pressure control module and the speed control module according to the current rotation angle or the current speed of each motor, the behavior decision module is a control module of the horizontal multi-joint robot, and the expected position is a preset position of the horizontal multi-joint robot;
a second arm connected to the end of the first arm and rotated by a second motor;
a second position measurement sub-module for measuring a current rotation angle of the second motor;
the second position control sub-module is used for carrying out feedback control according to the current rotation angle of the second motor so that the actual position of the second motor follows the expected position issued by the behavior decision module;
the down force control module includes:
a first shaft, which is composed of a third motor installed on the second arm and a ball screw installed at the tail end of the second arm, and is driven by the third motor to make the ball screw do up-and-down motion of a Z axis;
a third position measurement sub-module for measuring a current rotation angle of the third motor;
the third position control sub-module is used for carrying out feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module;
the lower pressure detection submodule is used for detecting the lower pressure of the ball screw in the first shaft according to the acquired current signal of the third motor;
a lower pressure control sub-module for performing feedback control according to the lower pressure so that the lower pressure of the first shaft ball screw follows the expected lower pressure; the apparatus further comprises: a speed control module, wherein the speed control module comprises:
a second shaft formed by a fourth motor mounted on the second arm and the ball screw, the ball screw being driven by the fourth motor to perform a rotational movement about a Z axis;
a speed measurement sub-module for measuring a current rotational speed of the fourth motor;
the speed control sub-module is used for carrying out feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision-making module;
the speed measurement submodule is specifically used for obtaining the current rotation speed of the fourth motor by differentiating the feedback position signals;
the speed control submodule is specifically used for controlling the motor according to the deviation between the current rotation speed and the speed command value, so that the actual speed of the fourth motor follows the speed command value;
the device also comprises a Hall current sensor arranged on the third motor, wherein the downward pressure detection submodule is specifically used for obtaining a downward pressure detection value by combining a first shaft dynamics model through the current fed back by the Hall current sensor;
the lower pressure control sub-module is specifically configured to calculate a lower pressure command value according to a deviation between a position detection value of the third motor position detection module and a position command value, and calculate a current command value of the motor according to a deviation between the lower pressure command value and the lower pressure detection value;
the lower pressure detection value is an actual lower pressure value obtained through calculation of a first axis dynamics model; the downward pressure command value is an adjustment downward pressure command calculated by the horizontal multi-joint robot according to the deviation between the current actual position detection and the preset position; the adoption of the lower pressure detection submodule and the lower pressure control submodule realizes that the position and the lower pressure of the Z axis are accurately controlled under the condition that the robot does not need to be externally refitted, and the yield of screw locking can be effectively improved;
the device is implemented by the following method:
the first shaft is driven by a third motor to enable the ball screw to do up-and-down motion of the Z shaft, and the second shaft is driven by a fourth motor to enable the ball screw to do rotation motion around the Z shaft;
measuring a third motor current for enabling the ball screw to move up and down, and calculating the down force of the ball screw by using the third motor current;
performing downward pressure feedback control on the third motor through the downward pressure so that the downward pressure of the ball screw follows the downward pressure instruction value of the behavior decision module;
measuring the rotation angle of a third motor which enables the ball screw to move up and down, and performing feedback control according to the current rotation angle of the third motor so that the actual position of the third motor follows the expected position issued by the behavior decision module;
the method further comprises the steps of:
measuring the rotation speed of a fourth motor which enables the ball screw to rotate, and performing feedback control according to the current rotation speed of the fourth motor so that the feedback speed of the fourth motor follows the expected speed issued by the behavior decision module;
the rotating positions of the first motor and the second motor are subjected to feedback control, the XY coordinates of the screws are moved, and the position and the downward pressure of the Z axis are controlled by adopting downward pressure detection and downward pressure control under the condition that the robot does not need to be externally modified.
2. The screw lock assembly process control device of claim 1, wherein the device comprises a horizontal multi-joint robot.
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| CN202010514248.5A CN111817612B (en) | 2020-06-08 | 2020-06-08 | Screw locking assembly process control device and method |
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| CN114178838B (en) * | 2021-12-28 | 2024-03-22 | 上海稊米汽车科技有限公司 | Multi-locking point locking method and equipment applied to multi-plane workpiece |
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| CN107186717A (en) * | 2017-05-31 | 2017-09-22 | 苏州诚晟信息技术有限公司 | A kind of safety-type man-machine collaboration puts together machines the method for work of people |
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| FR1452300A (en) * | 1965-09-25 | 1966-02-25 | Noravolen Narodni Podnik | Connection in particular for the excitation of electromagnetic braking devices, in particular for looms and looms provided with this device |
| JP6504864B2 (en) * | 2015-03-13 | 2019-04-24 | キヤノン株式会社 | Robot control method, robot apparatus, program, recording medium, and article manufacturing method |
| CN106425430A (en) * | 2016-08-18 | 2017-02-22 | 无锡百禾工业机器人有限公司 | Automatic screw assembling machine |
| CN207807077U (en) * | 2018-01-17 | 2018-09-04 | 上海大花自动化科技股份有限公司 | Full-automatic connecting terminal locks screw station |
| CN109227100A (en) * | 2018-03-05 | 2019-01-18 | 深圳众为兴技术股份有限公司 | A kind of the screwed lock device, the screwed lock robot and the screwed lock method |
| CN109759825A (en) * | 2018-06-28 | 2019-05-17 | 惠州市德赛西威汽车电子股份有限公司 | A kind of intelligence screw mounting device and its control method |
| CN212717635U (en) * | 2020-06-29 | 2021-03-16 | 北京中安吉泰科技有限公司 | Precise three-axis displacement device |
| CN112536754B (en) * | 2020-11-27 | 2022-05-06 | 固高派动（东莞）智能科技有限公司 | Screw fastening system and method |
| CN113399992B (en) * | 2021-07-01 | 2022-04-01 | 湖南炬神电子有限公司 | Novel six auto-screwdriving machines of robotic arm |
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| CN107186717A (en) * | 2017-05-31 | 2017-09-22 | 苏州诚晟信息技术有限公司 | A kind of safety-type man-machine collaboration puts together machines the method for work of people |
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