The invention relates to the technical field of medical instrument part machining equipment, in particular to a machine vision based deep hole grabbing robot for medical instrument assembly. The robotcomprises an industrial robot, a flexible support, a hollow deep hole clamping jaw, a clamping jaw driver, a machine vision mechanism and an industrial computer, wherein the flexible support is fixedly mounted at the work end of the industrial robot, the flexible support, the hollow deep hole clamping jaw and the clamping jaw driver are all fixedly connected with the flexible support, the hollowdeep hole clamping jaw is arranged at one end, away from the industrial robot, of the flexible support, the clamping jaw driver is arranged between the industrial robot and the hollow deep hole clamping jaw, the machine vision mechanism is arranged between the hollow deep hole clamping jaw and the clamping jaw driver, the working direction of the machine vision mechanism faces the work end centerof the hollow deep hole clamping jaw, and the industrial robot, the clamping jaw driver and the machine vision mechanism are electrically connected with the industrial computer. By means of the robot,the problem that a part is difficult to place in or take out of a deep hole precisely in the prior art is solved.

Machine vision based deep hole grabbing robot for medical instrument assembly

The invention provides a user information synchronization method for an application server of an S-CSCF, and the method comprises the steps: the S-CSCF periodically detects the restart state of an AS,receives the number of restart times returned by the AS, compares the number of restart times with the recorded number of restart times of the AS, and judges whether the AS is restarted or not; if the AS is restarted, the S-CSCF synchronizes the user information registered in the AS to the AS for full registration. According to the method, the user does not need to register again manually, and the registration period of the user on the AS can be refreshed continuously by refreshing registration to trigger the support of third-party registration, so that the effect of persistently keeping theregistration state of the user is achieved, and the integrity of user service is ensured.

User information synchronization method of application server of S-CSCF (Server-Call Session Control Function)

The invention discloses a method for self-recovering registration information of an application server (AS) in an internet protocol multimedia subsystem (IMS), and relates to an IP multimedia subsystem (IMS, IP Multiplea Subsystem). The method comprises the following steps: after an application server (AS) loses registration information of all users, an Applications Server sends the registration information to the application server; the AS is triggered by the call request to inquire from a local server (HSS, Home Subscriber Server); the registration information is recovered again, the business service can be provided for the user immediately, the business recovery time is shortened as soon as possible, the average fault time of the IMS system is remarkably reduced, and the stability of the business provided by the IMS network is improved.

Method for self-recovering registration information of IMS network AS

The invention discloses an automated assembling system for an initiating explosive device and belongs to the technical field of automated assembling. The automated assembling system comprises an assembling robot unit, a robot end effector quick-changing device unit, a glue filling quick-changing device unit, a small-size assembling table unit, a three-dimensional assembling mechanism and detectionequipment. By means of the system, automated production can be achieved; the safety coefficient can be increased; it is guaranteed that operators are isolated from the assembling site; and assemblingprecision and efficiency are improved.

Automated assembling system for initiating explosive device

The invention discloses an IMS network AGCF dual-homing registration method, and belongs to the technical field of next generation network communication. IMS core network element equipment I/S-CSCF deployed by using remote disaster recovery mechanism is adopted, an AGCF dual-homing registration function is added, and when the AGCF which belongs to I/S- CSCF breaks down, subsequent service functions and services can be normally provided for subordinate access equipment and users, the stability and reliability of the AGCF network element are greatly improved, the disaster tolerance of the IMS system is effectively enhanced, and the average fault time of the IMS system is remarkably shortened.

IMS network AGCF dual-homing registration method

The invention discloses a terminal user registration event subscription and subscription cancellation method applied to an AS system, and belongs to the technical field of next-generation network communication. The AS subscription terminal registration events are managed in a linked list mode, the duration of AS subscription of all terminal events is maintained and controlled in a unified mode, the message amount in an AS system can be effectively reduced, the AS system subscription mechanism processing efficiency is remarkably improved, and the reliability and stability of the AS system are greatly improved.

Dun Kexiang

Papers

Method for self-recovering registration information of IMS network AS

Automated assembling system for initiating explosive device

IMS network AGCF dual-homing registration method

Terminal user registration event subscription and subscription cancellation method applied to AS system