CN100520377C - Multi vision hollow bottle detection robot - Google Patents

Abstract

The present invention discloses a method for detecting quality and cleanliness of various transparent or semi-transparent empty bottles on the high-speed automatic production line and its multi-visual empty bottle detection robot. Said robot mainly includes box body, product conveyer, photoelectric sensor, industrial high-sharpness camera system, main control computer and rejected product removing device. Said invention also provides the working principle of said detection method.

Description

Many visions empty bottle inspector

Technical field

The invention belongs to production line Automatic Measurement Technique field, be specifically related to a kind ofly be applicable to that the multiple transparent or semitransparent empty bottle on the high-speed automated production line carries out the equipment that quality and cleanliness detect.

Background technology

Industrial automation, intellectuality are human society strides into the information age from the industrial age big technological breakthrough and production innovations.Machine vision technique in the process of industrial realization comprehensive automation, certainly will be brought into play its significant role as the research focus of current new and high technology.So-called machine vision technique exactly with machine eye, machine brain and mechanical hand replacement human eye, human brain and staff detect, measure, analyze, judgement and Decision Control, it can obtain bulk information fast and handle automatically, also can be mutually integrated with design information, control information, be not suitable for the occasion that the hazardous environment of people work or people's vision precision is difficult to meet the demands at some, replace the artificial vision to finish the work with machine vision.

At present, the quality of products such as opaque or translucent oral liquid, ampoule and infusion bottle does not reach desired target far away on the pharmaceutical production line, and following several problem may appear in container: 1, chamber wall Density Distribution inequality; 2, bubble, calculus or burning into sand appear; The damage that may occur in 3, the production transmission course causes container to produce slight crack, scuffing or damaged.In the beverage industry, the quality of reusable container for drink and cleanliness detect, and the aspect that this detection comprises has: 1, bottleneck breakage; 2, body, bottle end breakage; 3, there is solid foreign materials in the bottle, as glass fragment, fine, insect etc.; 4, there is residual liquid in the bottle.More than these detection problems, current mostly by manually finishing, the standard subjectivity of detection, fuzzy, the precision of detection is low, speed is slow, and because the repeatability of work is high, causes testing staff's fatigue easily, loss more can rise thereupon.

Summary of the invention

Technical matters to be solved by this invention is, problems such as speed slow, precision low, loss high, testing staff easy fatigue low at the manual detection efficiency that exists in the prior art, provides a kind of and is applicable to that the multiple transparent or semitransparent empty bottle on the high-speed automated production line carries out many visions empty bottle inspector of quality and cleanliness detection.

The technical scheme that solution the technology of the present invention problem is adopted is: a kind of many visions empty bottle quality determining method, it is characterized in that this method is by being installed in the technical grade high definition pick-up system of directly over the empty bottle and side on the production line, obtain the view data of the bottleneck and the body of empty bottle, be sent to main control computer, main control computer is by Intelligent treatment, analysis and decision method, image is carried out overall treatment,, judge whether product is qualified according to result; Described Intelligent treatment, analysis and decision method comprise bottleneck detection method and body detection method, the bottleneck detection method is at first to adopt center of circle approximatioss to determine the coordinate of the central point of bottleneck in the image, finish location and definite zone to be detected to bottleneck, adopt two-layer neural network in the radially projecting of bottleneck image, to detect then, judge that whether qualified product is; The body detection method is at first to adopt based on histogram moving window method, seek the horizontal ordinate of body axis, finish the location of body and determine zone to be detected, different according to defect point then with the Grad of neighborhood pixels gray scale, image is carried out from left to right from top to bottom scanning, judge that whether qualified product is.

A kind of many visions empty bottle inspector, it is characterized in that mainly comprising casing, product travelling belt in the casing, photoelectric sensor, technical grade high definition pick-up system, main control computer and substandard products are picked out device, one side of casing is the product input port, opposite side is the product delivery outlet, the product input port is connected with the travelling belt of production line respectively with the product delivery outlet, described technical grade high definition pick-up system is installed on top and the side in the casing, technical grade high definition pick-up system is connected with main control computer by image pick-up card, main control computer is picked out device by I/O interface and substandard products and is connected and controls its action, and substandard products are picked out device and are positioned at product delivery outlet homonymy.

The beneficial effect that the present invention produced is: this detection method and Equipment Inspection speed is fast, precision is high, improved throughput rate greatly, and reduced production cost.

Description of drawings

Fig. 1 is the take a crane shot image (photo) of the bottleneck that shot by camera arrives of the present invention;

Fig. 2 is the change in location design sketch (photo) of image in the middle of shooting process of bottleneck among Fig. 1;

Fig. 3 is search bottleneck center of circle block diagram in the bottleneck detection method of the present invention;

Fig. 4 is two-layer neural network synoptic diagram;

Fig. 5 is a bottom neural network synoptic diagram;

Fig. 6 is the histogram of body marginal point;

Fig. 7 is the interference and the defective synoptic diagram of image in the body detection;

Fig. 8 is many visions of the present invention empty bottle inspector outside drawing;

Fig. 9 is many visions of the present invention empty bottle inspector front view;

Figure 10 is many visions of the present invention empty bottle inspector vertical view;

Figure 11 is many visions of the present invention empty bottle inspector plan structure synoptic diagram;

Figure 12 is many visions of the present invention empty bottle inspector control system block diagram;

Figure 13 is the hit device theory diagram of many visions of the present invention empty bottle inspector;

Figure 14 is many visions of the present invention empty bottle inspector robot manipulator structure synoptic diagram.

Among the figure:

1, casing 2, product travelling belt 3, photoelectric sensor

4, substandard products are picked out device 5, the video camera 6 that takes a crane shot, side take camera

7, product input port 8, product delivery outlet 9, display

10, pilot lamp 11, mechanical arm 12, hit device

13, substandard products recovery place 14, electric mechanical switch 15, special-purpose led light source

16, main control computer 17, image pick-up card 18, B

19, colour TV camera 20, stepper motor 21, base

22, shoulder 23, ancon 24, wrist tilt

25, wrist rotation 26, scrambler 27, foreign matter

28, interference 29, on-site data gathering card 30, motion control card

Embodiment

Below in conjunction with accompanying drawing the present invention is described in further detail.

Detection method of the present invention is to adopt 2 video cameras (taking a crane shot and the side bat) respectively the bottleneck and the bottle side of each product through flow production line (is example to detect beer bottle) to be taken pictures, obtain image scene, give main control computer with picture signal then, main control computer utilization Intelligent treatment, analysis and decision method are carried out overall treatment to the image of being gathered, and whether detected product is met production requirement make final judgement, find problematic product, send instruction with bad part eject by main control computer.

Its concrete testing process is as follows:

1, bottleneck detection method

(1) judges surveyed area

In actual applications, bottleneck detects and need reach 10 bottles/second, on some high-speed flow line even need reach 20 bottles/second.So high rate request means that detection algorithm must provide the result in less than 100 milliseconds.If whole high-resolution bottleneck image is handled, obviously be a time-consuming process, therefore, reduce pending zone and be very important.

As shown in Figure 1, for common bottleneck, crucial part only is limited in the annular section, simultaneously, because the variation range of bottleneck is only in our an acceptable scope, so external diameter (R ₂) and internal diameter (R ₁) can be predetermined, so a photoelectric sensor is installed, be used to trigger image pick-up card in the detection position, but, this triggering system causes tangible error between images acquired easily, and bottle rocking on high-speed conveyor also caused bigger error (as Fig. 2) easily.Therefore must at first determine the center of circle of bottleneck, this is actually a problem that circle is positioned.At first, our purpose is to find out the center of circle, and the peak value of parameter space promptly is the center of circle that we will look for.

This step has two parameters (X and Y coordinates in the center of circle) need to determine, at having only a bottleneck here, and also very clear, the method that we adopt is a center of circle approximatioss: a near point from the center of circle, approach the center of circle gradually, arrive the center of circle at last.We only need the point of very few number in the calculating parameter space, just can realize at a high speed search accurately, and its detailed step sees also Fig. 3.

At first, determine that by the scanning of big step-length a center roughly (sees also Fig. 3 a).Obviously, the practical center of this center and bottleneck is very approaching.In second step, a circular shuttering is used.Center of this circle is at the center of image subject, and its radius is initialized to a very little value, and circular shuttering will be increased step by step, arrives the internal diameter of bottleneck up to its radius, as Fig. 3 b and Fig. 3 e.Each point is (from P ₁To P _n) and the center of template constitute a vector, the sum total of these vectors

Can calculate by equation (1)

$\stackrel{\→}{S}=(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{X}_{P_i}-n_t\·X_{\mathrm{center}},\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{Y}_{P_i}-n_t\·Y_{\mathrm{center}})---\left(1\right)$

Wherein

With Be a P _iCoordinate, X _CenterAnd Y _CenterIt is the central coordinate of circle of circular shuttering; n _tBe the number that arrives the point at internal diameter of the bottleneck edge, circular shuttering will along

Direction near the bottleneck center.The new radius and the central coordinate of circle of circular shuttering can be obtained by (2) (3) (4) respectively

R _new＝R+STEP (2)

X _new＝X+cosβ·STEP (3)

Y _new＝Y+sinβ·STEP (4)

Wherein $\mathrm{STEP}=\frac{u\·\left|\right|\stackrel{\→}{S}\left|\right|}{R\·n_t}---\left(5\right)$

R is the radius of current circular shuttering; X and Y are the coordinates in the current circular shuttering center of circle; β is a vector

Angle with X-axis; U is the coefficient that is used to adjust search speed and degree of accuracy, and u is set as 1.1.Bigger u will accelerate search speed, but can reduce the degree of accuracy of search simultaneously.We increase the radius of circular shuttering, and adjust its position step by step.When the point that occupies enough number percent (more than 70%) on the circular shuttering and internal diameter of the bottleneck are complementary, just think that the center of circle of circular shuttering this moment is the center of actual bottleneck.

(2) detection of the two-layer neural net method of employing

In actual detected is used, detect rule in conjunction with neural net method by detection system oneself design and adjustment, as Fig. 4, adopt two-layer neural network to realize the detection and the high-rise judgement of bottom respectively.

At first, the bottom neural network will detect the continuous part of bottleneck, and these parts have overlapping within the specific limits.This means that for the identical point in the bottleneck image, the bottom neural network may be carried out duplicate detection to it in several different input patterns.Before the high-rise neural network of input, the output of bottom neural network will be converted into binary numeral by a threshold value, to reduce the input pattern quantity of the high-rise neural network of input.In this case, even owing to the bottom neural network has produced wrong output to the input pattern extrasensitivity, high-rise neural network also can be eliminated error by final the judge, makes algorithm have reliability and robustness preferably.The bottom neural network has 10 input nodes, 8 hiding nodes and 1 output node, high-rise neural network then has 10 input nodes, 6 hiding nodes and 1 output node, and described two-layer neural network all adopts back propagation learning algorithm (BP learning algorithm).

In the bottom neural network, as Fig. 5, input node 1 is calculated by equation (6) to the difference characteristic of node 9 expression bottleneck image radially projectings; The gray scale of input node 10 expression surveyed areas is calculated by equation (7).

$\begin{array}{cc}{\mathrm{Input}}_i=\underset{r=R_1}{\overset{R_2}{\mathrm{\Σ}}}G(X(i+1,r),Y(i+1,r))-\underset{r=R_1}{\overset{R_2}{\mathrm{\Σ}}}G(X(i,r),Y(i,r))& (i=1\mathrm{to}9)\end{array}---\left(6\right)$

${\mathrm{<figure-callout\; id="10"\; label="Input"\; filenames="C200510031958E00131.png,C200510031958E00132.png"\; state="\{\{state\}\}">Input</figure-callout>}}_{10}=\underset{i=1}{\overset{9}{\mathrm{\&Sigma;}}}\underset{r=R_1}{\overset{R_2}{\mathrm{\&Sigma;}}}G(X(i,r),Y(i,r))---\left(7\right)$

Wherein X (i, r)=X _Center+ rcos (β+iSTEP) (8)

Y(i，r)＝Y _center+r·sin(β+i·STEP) (9)

(X Y) is (X, gray-scale value Y) of point on the image to G; R ₁And R ₂Be respectively the internal diameter and the external diameter of the surveyed area of artificial demarcation; X _CenterAnd Y _CenterRepresent the coordinate at the bottleneck center that obtains previously, STEP is the step-length of sampling, and β is a vector Angle with X-axis.

Sampling is from β, and scope is R ₁To R ₂, 9 steps of continuous sampling.The output of neural network is represented qualified bottleneck with " 1 ", represents defective bottleneck with " 0 ", and the input of high-rise neural network defines as equation (10):

$I_{\mathrm{HNN}}=\left\{\begin{array}{cc}0.8& \mathrm{if}{\mathrm{Output}}_{\mathrm{LNN}}>{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="C200510031958E00113.png,C200510031958E00132.png"\; state="\{\{state\}\}">T</figure-callout>}}_1\\ 0.2& \mathrm{otherwise}\end{array}\right.---\left(10\right)$

Output wherein _LNNThe actual output of expression bottom neural network, T ₁Be a threshold value given in advance, if the output of bottom neural network is greater than T ₂, just regard as defectively, should be picked out.In our application, STEP=0.018, T ₁=0.3, T ₂=0.5.Because neural network has been finished the analysis of all complexity, so whole testing process is very simple, what testing person need do is correct neural network training.

The training of two-layer neural network is separately carried out, and at first trains the bottom neural network, sets up an image data base and is used to store all sample images.

Next, neural network will be applied to actual detected, carry out on-line study.

When mistake occurs, the testing staff will determine whether to be necessary the detection case input sample image database with mistake.Reach a threshold value if newly be input to the sample size of database, we then train neural network with the sample in the new samples storehouse.Adopt this method, the appearance of mistake case will be fewer and feweri, finally makes testing result reach our requirement.After the bottom neural network reaches requirement, more high-rise neural network is trained, because the minimizing of input pattern quantity, the training of high-rise neural network is relatively easy.In whole training process, testing person only needs in correct mode sample to be added into database.When detection system is used in other environment following time, as the detection of less bottleneck, we only need the enough samples of input carry out self-adjusting by system.This Flexible Design is very important often for Vision Builder for Automated Inspection.

2, body detection algorithm

(1) judges surveyed area

Consider in the image of online detection to comprise many uncertain factors, sometimes even large-scale interference can occur, so the zone that body detects determines to have good robustness.Traditional Gauss algorithm speed is not suitable for the application of this high speed detection excessively slowly, employing be that a kind of method based on the histogram moving window positions surveyed area.

At first, the body image is divided into left and right sides two parts, sets up mathematical model, use the differential variation of equation (1) and (2) computed image respectively;

$\&dtri;f(i,j)=2f(i,j)-f(i+1,j)-f(i,j+1)---\left(1\right)$

$\&dtri;f(i,j)=2f(i,j)-f(i-1,j)-f(i,j+1)---\left(2\right)$

Second step can obtain marginal point from the bottleneck to the bottle neck by appropriate selection threshold value, was calculated the reference value of body axis horizontal ordinate by equation (3).

$\begin{array}{cc}{\mathrm{Xr}}_i=\frac{L_i+R_i}{2}& (i=\mathrm{1,2,3}...n)\end{array}---\left(3\right)$

The 3rd step, only need two marginal point (L at every row of image _i, R _i), one of them is in the left side, and one at right-hand part, and the hang down reference coordinate of axle of body is calculated by equation (3), by to X _rStatistics can obtain X _rHistogram (as Fig. 6).

The 4th step, suppose one wide for the window of T slides on histogram, calculate histogram summation S (X) in the current window according to equation (4), when moving window when C1 moves on to Cm, the S (X) of a maximum can be obtained, and then the horizontal ordinate of body axis can be finally determined by (5) formula.

$S\left(X\right)=\underset{X_r=X}{\overset{X+T}{\mathrm{\&Sigma;}}}H\left(X_r\right)---\left(4\right)$

$X_d=\frac{\underset{X_r=X}{\overset{X+T}{\mathrm{\&Sigma;}}}[X_r\&CenterDot;H\left(X_r\right)]}{\underset{X_r=X}{\overset{X+T}{\mathrm{\&Sigma;}}}H\left(X_r\right)}---\left(5\right)$

Wherein X satisfies $S\left(X\right)=\underset{X\&Element;[{\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="C200510031958E00113.png,C200510031958E00132.png"\; state="\{\{state\}\}">C</figure-callout>}}_1,C_m]}{\max }S\left(X\right).$

This algorithm utilization statistical method has been removed to distribute and has been disturbed.

(2) body detects

As shown in Figure 7, more much bigger than other parts in the variation of the edge of defective image intensity, in other words, the edge appears at around the defective.Therefore, as if edge detection operator can be used to seek defective.But the lack of uniformity of body glass makes a large amount of interference ratio defectives have more obvious edge characteristic.In this case, traditional edge detection algorithm is inapplicable.

In actual detected, defective also has another key character: its brightness ratio neighborhood pixels point is dark.Therefore, if we carry out from left to right from top to bottom scanning to image, at fault location, we at first run into negative edge is rising edge then.We can obtain ideal results algorithm below adopting:

The first step: each of scan image is gone from left to right, and use formula (6) is calculated the Grad G of every bit _HIf G _HGreater than threshold value T _H, just with this candidate point, its gradient G as the trailing edge edge _HBe stored in G _HSIn.

G _H(i，j)＝2f(i，j)-f(i+1，j)-f(i+1，j+1) (6)

G _V(i，j)＝2f(i，j)-f(i，j+1)-f(i-1，j+1) (7)

Wherein (i j) is point (i, gray-scale value j) to f;

Second step: continue scan image and compute gradient G _HIf G _HG _HS, then replace the point that before found candidate point, its gradient G as negative edge with current point _HBe stored in G _HSIn.If G _H＜-T _H, the point that had then before found can be confirmed as the drop edge point of foreign matter.And current point is used as a candidate point of rising edge point, its gradient G _HBe stored in G _HSIn.

The 3rd step: continue scan image compute gradient G _HIf G _H＜G _HS, then replace the point that before found candidate point, its gradient G as rising edge with current point _HBe stored in G _HSIn.If G _H≤ 0, or when previous row image scanning end, the point that had then before found can be confirmed as the rising edge point of foreign matter.

The 4th step: if the distance of drop edge point that finds and rising edge point is less than threshold value T _w, then between 2 be confirmed to be the pixel that belongs to foreign matter a little.

The 5th step: in the same way, each row of scan image from top to bottom, but use formula (7) is calculated the gradient of every bit.

The 6th step: use formula (8) and threshold value T _aSearch point very dark on the image.If f (i, j)＜I _a-T _a, then this point also is considered to belong to defect point.

I _a(i，j)＝{f(i+4，j)+f(i-4，j)+f(i，j+4)+f(i，j-4)+

f(i，j+8)+f(i，j-8)}/6 (8)

The 7th step: the number N that calculates the defect point that links together _c, promptly calculate the area of foreign matter, if N _cGreater than threshold value T _Size, then this foreign matter is finally confirmed.

Algorithm above adopting, except the position that can obtain defective, we can obtain the size of defective equally, and this evaluation for the body quality is considerable.

In sum, detect and the body detection for bottleneck, as long as there is a failure of place then to be identified as substandard products, at this moment, main control computer sends signal and picks out substandard products to tripping device.Qualified empty bottle is retained in and enters next process on the streamline.

According to above method, design a kind of many visions empty bottle inspector thus, its embodiment is as described below:

As Fig. 8,9,10,11, shown in 12, this many visions empty bottle inspector mainly comprises casing 1, product travelling belt 2 in the casing, photoelectric sensor 3, the video camera 5 that takes a crane shot that technical grade high definition pick-up system is included, side is taken camera 6 and special-purpose led light source 15, main control computer 16 and substandard products are picked out device 4 included mechanical arm 11 and hit device 12, one side of casing 1 is product input port 7, opposite side is a product delivery outlet 8, product input port 7 is connected with the travelling belt of production line respectively with product delivery outlet 8, technical grade high definition pick-up system is included, and take a crane shot video camera 5 and side taken camera 6 and is installed on the other support of the travelling belt of box house, technical grade high definition pick-up system is connected with the I/O interface of main control computer 16 by image pick-up card 17, main control computer 16 and substandard products are picked out device 4 and are connected and control its action, and substandard products are picked out device 4 and are positioned at product delivery outlet 8 homonymies.

Substandard products are picked out device 4 and are comprised a mechanical arm 11 and a hit device 12, and mechanical arm 11 and hit device 12 are arranged at the product travelling belt both sides at product delivery outlet 8 places respectively, as shown in figure 11.

As Figure 12, many visions of the present invention empty bottle inspector control system block diagram, many visions empty bottle inspector is connected to main control computer 16 by image pick-up card 17 and on-site data gathering card 29, forms product top detection module by the special-purpose led light source 15 of ring-like low angle, colour TV camera 19, product space sensor 3; The product side detection module of forming by the special-purpose led light source 15 of plane transmission type, B 18, product space sensor 3.

Motion control card 30 is installed in the main control computer, and link to each other with stepper motor 20, rotary encoder 26 is housed on the stepper motor 20, main control computer 16 is controlled the rotating speed and the step number of stepper motor 20 by motion control card, and has two detection modules calculating by rotary encoder 26 are picked out device apart from substandard products distance.

The mechanical arm 11 that substandard products are picked out in the device 4 can be chosen substandard products one by one according to given steering order, hit device 12 also can be according to given steering order, by hitting face and article bump, thereby hit rapidly, accurately, reliably from travelling belt with being positioned at the article that are transmitted that hit the face dead ahead on the travelling belt, send into other conveyer line or send into specific substandard products recovery place 13.

As Figure 13, be the hit device theory diagram, its middle controller receives steering order by communication interface, and is responsible for finishing the motion control to driver part.Use cylinder as driver part, source of the gas provides the gas of certain pressure by air pressure adjustment equipment, and controller is controlled the conducting direction of air-flow by the switch of control electromagnetic valve, thereby drives the to-and-fro movement of cylinder, finishes hitting action.Regulate air pressure and change the time slot of opening and closing of solenoid valve by air pressure adjustment equipment, can change the movement velocity of pneumatic type driver part, to adapt to different production requirements by controller.

As Figure 14, the mechanical arm 11 that substandard products are picked out in the device 4 is a kind of 5 safe and reliable axis robot systems that the flowing water on-line goods grasps that are specifically designed to.This system acting is coherent, rapid, accurate, and real-time is good, and the high performance processor system that makes can carry out multitasking.

On the performance: this mechanical arm has 11 Control Shafts, 16 input ports, 16 output ports, simultaneously, also supports a plurality of peripherals cooperating with it.Its performance index are as follows:

Machine construction: comprise base 21, shoulder 22, ancon 23, wrist inclination 24, wrist rotation 25, belong to drag articulation, Open architecture.

Degree of freedom: 5 rotation axiss+grab thing to clamp

Useful load: 1 kilogram

The scope of activities of axle:

Axle 1: 310 ° of pedestal rotations

Axle 2: 0 °/-35 ° of shoulder ROT13s

Axle 3: 0 ° of ancon ROT13

Axle 4: wrist tilts 130 °

Axle 5: wrist rotation unrestricted (machinery); ± 570 ° (electric).

Claims (1)

1, a kind of many visions empty bottle inspector, mainly comprise casing, product travelling belt in the casing, photoelectric sensor, technical grade high definition pick-up system, main control computer and substandard products are picked out device, one side of casing is the product input port, opposite side is the product delivery outlet, it is characterized in that, the product input port is connected with the travelling belt of production line respectively with the product delivery outlet, described technical grade high definition pick-up system comprises the video camera that takes a crane shot, with the supporting special-purpose led light source of ring-like low angle of the video camera that takes a crane shot, side is taken camera and is taken the special-purpose led light source of the supporting plane transmission type of camera with side, described take a crane shot video camera and side are taken camera and are installed on the other support of the travelling belt of box house, the video camera that takes a crane shot is installed on the top in the casing, and side is taken camera and is installed on the interior side of casing; Video camera and the side of taking a crane shot taken camera and all is connected with same main control computer by image pick-up card, and this main control computer is picked out device by I/O interface and substandard products and is connected and controls its action, and substandard products are picked out device and are positioned at product delivery outlet homonymy; Described substandard products are picked out device and are comprised the mechanical arm that substandard products can be chosen and the hit device that substandard products can be hit, and described mechanical arm and hit device are arranged at the product travelling belt both sides of product equipped at outlet port respectively; Main control computer connects an on-site data gathering card, motion control card is installed in the main control computer, motion control card links to each other with stepper motor, rotary encoder is housed on the stepper motor, main control computer is controlled the rotating speed and the step number of stepper motor by motion control card, and has the tested empty bottle that calculates by rotary encoder is picked out device apart from substandard products distance; Comprise described mechanical arm base, shoulder, ancon, wrist tilt and the wrist rotation, rotatable 310 ° of base, described shoulder is connected on the base and can does-35 °～130 ° rotations around base, ancon links to each other with shoulder and can do 130 ° of rotations around shoulder, the wrist inclination links to each other with ancon and can tilt 130 ° around ancon, and the wrist rotation is tilted to link to each other with wrist and can thorny wrist inclination rotation.

Images