CN112337818B - Automatic detection and transportation system based on mechanical arm - Google Patents
Automatic detection and transportation system based on mechanical arm Download PDFInfo
- Publication number
- CN112337818B CN112337818B CN202011260776.9A CN202011260776A CN112337818B CN 112337818 B CN112337818 B CN 112337818B CN 202011260776 A CN202011260776 A CN 202011260776A CN 112337818 B CN112337818 B CN 112337818B
- Authority
- CN
- China
- Prior art keywords
- platform
- camera
- detected
- detection
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic detection and transportation system based on a mechanical arm, which comprises: the sorting platform is used for bearing the object to be detected; a detection platform; the recovery platform is used for bearing the detected object; a mechanical arm; the first camera is used for collecting images of the sorting platform; the second camera is used for acquiring images of the detection platform; the third camera is used for collecting images of the recovery platform; control means for controlling the robot arm to perform the following actions: grabbing an object to be detected from the sorting platform and transporting the object to the detection platform, grabbing the detected object from the detection platform and transporting the object to the recovery platform; the control device is also used for judging whether the mechanical arm executes the action according to the image collected by the first camera, the image collected by the second camera and the image collected by the third camera. The invention can realize automatic sorting, transportation and detection of objects based on the mechanical arm, and simultaneously improve the accuracy and reliability of the mechanical arm operation.
Description
Technical Field
The invention relates to the technical field of computers, in particular to an automatic detection and transportation system based on a mechanical arm.
Background
At present, in the field of detection and analysis, detection means are changing day by day, and the automation and intelligence degree of detection equipment is higher and higher, so that the detection efficiency is greatly improved. The detection automation platform is used as automation equipment for realizing automatic detection and analysis, can support automatic detection of samples, intelligent setting of test conditions and test environments of the samples, automatic analysis of detection results and provision of analysis and detection reports to users. However, the automation of the existing automatic detection platform is mainly embodied in the process of detecting a sample as described above, and the process of transferring the sample to be detected to the detection platform and the process of removing the detected sample from the detection platform after the detection is completed still need to be completed manually, so the operation efficiency of the sample in the two processes still needs to be improved.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
It is an object of the present invention to provide a robotic arm based automated inspection and transportation system that can achieve automated sorting, transportation and inspection of objects based on a robotic arm while improving the accuracy and reliability of robotic arm operations.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a robot-based automated inspection and transportation system, comprising:
the sorting platform is used for bearing an object to be detected;
the detection platform is used for detecting an object placed on the detection platform;
the recovery platform is used for bearing the detected object;
a robot arm disposed among the sorting platform, the inspection platform, and the recovery platform in such a manner as to be reciprocally movable among the sorting platform, the inspection platform, and the recovery platform;
the first camera is arranged near the sorting platform and is used for acquiring images of the sorting platform;
the second camera is arranged near the detection platform and is used for acquiring images of the detection platform;
the third camera is arranged near the recovery platform and used for collecting images of the recovery platform;
a control device connected to the first camera, the second camera, the third camera, and the robot arm, the control device being configured to control the robot arm to perform the following actions: grabbing the object to be detected from the sorting platform and transporting the object to be detected to the detection platform, and grabbing the detected object from the detection platform and transporting the object to the recovery platform after a preset time;
the control device is further used for judging whether the mechanical arm executes the action according to the image collected by the first camera, the image collected by the second camera and the image collected by the third camera, and the specific process comprises the following steps: the control device judges that the mechanical arm completes the action of transporting the object to be detected from the sorting platform to the detection platform under the conditions of receiving the image of the object to be detected, which is acquired by the first camera at a first moment, receiving the image which is acquired by the first camera at a second moment and does not contain the object to be detected, and receiving the image of the object placed on the detection platform, which is acquired by the second camera at the second moment; the control device judges that the mechanical arm completes the action of transporting the detected object on the detection platform to the recovery platform under the conditions of receiving the image of the object placed on the detection platform and collected by the second camera at a third moment, receiving the image of the detection platform which is collected by the second camera at a fourth moment and does not contain the object and receiving the image of the detected object and collected by the third camera at the fourth moment; and the time interval between the third moment and the second moment is consistent with the preset time.
Preferably, in the automated detection and transportation system based on a mechanical arm, an identity tag used for representing the identity of the object to be detected is arranged on the object to be detected; the mechanical arm is provided with an identity tag reader, the identity tag reader is used for reading the identity of the object to be detected from the identity tag of the object to be detected when the mechanical arm grabs the object to be detected from the sorting platform, and the control device is used for receiving the identity of the object to be detected read by the identity tag reader and recording the identity of the object to be detected.
Preferably, in the automated inspection and transportation system based on a robot arm, the control device is further in communication connection with the inspection platform, and is configured to receive an inspection result of the inspection platform on the object to be inspected, and establish a mapping relationship between the inspection result and an identity of the object to be inspected.
Preferably, in the robot-based automated inspection and transportation system, the identification tag is a bar code.
Preferably, in the automated inspection and transportation system based on a robot arm, the preset time is determined according to inspection contents of the inspection platform for inspecting an object placed on the inspection platform.
Preferably, the robot-based automated inspection and transportation system further comprises:
a server in communication connection with the control device;
the control device is used for acquiring the image of the object to be detected by the first camera at the first moment, at a second moment, the first camera acquires an image which does not contain an object to be detected, and the second camera acquires an image of the object placed on the detection platform at the second moment, at a third moment, the second camera is used for acquiring an image of an object placed on the detection platform, images of the detection platform which are collected by the second camera at a fourth moment and do not contain the object are sorted according to the collection time, thereby obtaining an image sequence that is an image recording of the actions performed by the robotic arm, the control device is used for sending the image sequence and a judgment result which is made according to the image sequence and aims at whether the mechanical arm executes the action to the server.
Preferably, in the robot-based automated inspection and transportation system, the server is a remote server, and the remote server is in communication connection with the control device through a network.
The invention at least comprises the following beneficial effects:
the invention provides an automatic detection and transportation system based on a mechanical arm, which comprises: the sorting platform is used for bearing an object to be detected; the detection platform is used for detecting an object placed on the detection platform; the recovery platform is used for bearing the detected object; a robot arm disposed among the sorting platform, the inspection platform, and the recovery platform in such a manner as to be reciprocally movable among the sorting platform, the inspection platform, and the recovery platform; the first camera is arranged near the sorting platform and is used for acquiring images of the sorting platform; the second camera is arranged near the detection platform and is used for acquiring images of the detection platform; the third camera is arranged near the recovery platform and used for collecting images of the recovery platform; a control device connected to the first camera, the second camera, the third camera, and the robot arm, the control device being configured to control the robot arm to perform the following actions: grabbing the object to be detected from the sorting platform and transporting the object to be detected to the detection platform, and grabbing the detected object from the detection platform and transporting the object to the recovery platform after a preset time; the control device is further configured to determine whether the mechanical arm executes the action according to the image acquired by the first camera, the image acquired by the second camera, and the image acquired by the third camera, and the specific process includes: the control device judges that the mechanical arm completes the action of transporting the object to be detected from the sorting platform to the detection platform under the conditions of receiving the image of the object to be detected, which is acquired by the first camera at a first moment, receiving the image which is acquired by the first camera at a second moment and does not contain the object to be detected, and receiving the image of the object placed on the detection platform, which is acquired by the second camera at the second moment; the control device judges that the mechanical arm completes the action of transporting the detected object on the detection platform to the recovery platform under the conditions of receiving the image of the object placed on the detection platform and collected by the second camera at a third moment, receiving the image of the detection platform which is collected by the second camera at a fourth moment and does not contain the object and receiving the image of the detected object and collected by the third camera at the fourth moment; and the time interval between the third moment and the second moment is consistent with the preset time. The automatic detection and transportation system based on the mechanical arm can realize automatic sorting, transportation and detection of objects based on the mechanical arm, and simultaneously improves the accuracy and reliability of operation of the mechanical arm.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a robotic arm-based automated inspection and transportation system according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1, the present invention provides a robotic arm based automated detection and transportation system comprising: the sorting platform is used for bearing an object to be detected; the detection platform is used for detecting an object placed on the detection platform; the recovery platform is used for bearing the detected object; a robot arm disposed among the sorting platform, the inspection platform, and the recovery platform in such a manner as to be reciprocally movable among the sorting platform, the inspection platform, and the recovery platform; the first camera is arranged near the sorting platform and is used for acquiring images of the sorting platform; the second camera is arranged near the detection platform and is used for acquiring images of the detection platform; the third camera is arranged near the recovery platform and used for collecting images of the recovery platform; a control device connected with the first camera, the second camera, the third camera, and the mechanical arm.
The control device is used for controlling the mechanical arm to execute the following actions: grabbing the object to be detected from the sorting platform and transporting the object to be detected to the detection platform, and grabbing the detected object from the detection platform and transporting the object to the recovery platform after a preset time; the control device is further configured to determine whether the mechanical arm executes the action according to the image acquired by the first camera, the image acquired by the second camera, and the image acquired by the third camera, and the specific process includes: the control device judges that the mechanical arm completes the action of transporting the object to be detected from the sorting platform to the detection platform under the conditions of receiving the image of the object to be detected, which is acquired by the first camera at a first moment, receiving the image which is acquired by the first camera at a second moment and does not contain the object to be detected, and receiving the image of the object placed on the detection platform, which is acquired by the second camera at the second moment; the control device judges that the mechanical arm completes the action of transporting the detected object on the detection platform to the recovery platform under the conditions of receiving the image of the object placed on the detection platform and collected by the second camera at a third moment, receiving the image of the detection platform which is collected by the second camera at a fourth moment and does not contain the object and receiving the image of the detected object and collected by the third camera at the fourth moment; and the time interval between the third moment and the second moment is consistent with the preset time.
The sorting platform and the recovery platform are arranged near the detection platform, and the transfer of objects among the three platforms is realized by utilizing the reciprocating movement of the mechanical arm among the sorting platform, the detection platform and the recovery platform. The action of the mechanical arm is controlled by the control device. For a detection process, the mechanical arm firstly grasps the object to be detected from the sorting platform and transports the object to be detected to the detection platform under the control device, after the object to be detected is transferred to the detection platform, the detection platform detects the object to be detected, the detection is completed, and the mechanical arm grasps the detected object from the detection platform and transfers the detected object to the recovery platform. When there are a plurality of objects that wait to detect on the letter sorting platform, controlling means can control the manipulator and snatch the object that waits to detect on the letter sorting platform one by one to wait to detect the object and transport one by one to the testing platform and detect, will detect again after the completion that the object shifts to the recovery platform that has detected. The operation process does not need to place the object to be detected to the detection platform by means of manpower, and does not need to take the object to be detected out of the detection platform by means of manpower, so that the operation efficiency of the whole detection link is greatly improved. In addition, in practical use, in many cases, it is necessary to create a detection environment such as high temperature and radiation, which adversely affects human bodies. The mechanical arm is used for automatically conveying the object to be detected to the detection platform and taking out the detected object, so that a distance between a worker and the detection platform is kept long enough, and further damage to the health of the worker can be reduced or even avoided.
Furthermore, the invention also provides an auxiliary means for monitoring whether the mechanical arm works normally by using images acquired by the first camera, the second camera and the third camera. The first camera is used for collecting images of the sorting platform, the second camera is used for collecting images of the detection platform, and the third camera is used for collecting images of the recovery platform. When the first camera collects the image of the object to be detected at the first moment, the object to be detected is positioned on the sorting platform, when the first camera collects the image which does not contain the object to be detected at the second moment, and the second camera collects the image of the object placed on the detection platform at the second moment, the mechanical arm transfers the object to be detected to the detection platform at the second moment, and the time interval between the second moment and the first moment is the time consumed for the mechanical arm to transport the object to be detected from the sorting platform to the detection platform. When the control device can receive the image, the mechanical arm normally executes the action of transporting the object to be detected from the sorting platform to the detection platform. When the control device fails to receive the image, for example, the image acquired by the first camera still contains the object to be detected at the second moment, and the image acquired by the corresponding second camera does not contain the object to be detected, it indicates that the mechanical arm does not work normally, and the staff needs to stop the detection work to check the equipment. In addition, when the second camera acquires the image of the object placed on the detection platform at the third moment, the second camera acquires the image of the detection platform without the object at the fourth moment, and the third camera acquires the image of the detected object at the fourth moment, it indicates that the mechanical arm has transported the detected object to the recovery platform at the fourth moment, that is, the mechanical arm has completed the action of taking out the detected object from the detection platform and transferring the detected object to the recovery platform. When the control device fails to receive the image, for example, the second camera still acquires the image of the detection platform containing the object at the fourth moment, and the corresponding image acquired by the third camera does not contain the detected object, it indicates that the mechanical arm does not work normally, and the staff also needs to stop the detection work to check the equipment. Note that the object to be detected, the object placed on the detection platform, and the detected object referred to herein specifically mean the same object, i.e., the same sample.
In a preferred embodiment, in the automated detection and transportation system based on a robot arm, an identity tag used for representing the identity of the object to be detected is arranged on the object to be detected; the mechanical arm is provided with an identity tag reader, the identity tag reader is used for reading the identity of the object to be detected from the identity tag of the object to be detected when the mechanical arm grabs the object to be detected from the sorting platform, and the control device is used for receiving the identity of the object to be detected read by the identity tag reader and recording the identity of the object to be detected.
According to the identity of the object to be detected read by the identity tag reader on the mechanical arm, the control device can determine the number, the name and the like of the currently detected object to be detected, so that the object to be detected is effectively managed.
In a preferred embodiment, in the automated inspection and transportation system based on a robot arm, the control device is further in communication connection with the inspection platform, and is configured to receive an inspection result of the inspection platform on the object to be inspected, and establish a mapping relationship between the inspection result and an identity of the object to be inspected.
The control device can also send the identity of the object to be detected and the detection result to the server, and the server performs unified management. The staff can inquire the relevant detection result by remotely accessing the server. The embodiment of the invention improves the management efficiency of the detection result.
In a preferred embodiment, in the robotic-based automated detection and transportation system, the identity tag is a bar code.
When the object to be detected is placed on the sorting platform, the corresponding identity label can be manufactured through the identity label generating device and is used for marking the object to be detected.
In a preferred embodiment, in the automated detection and transportation system based on a robot arm, the preset time is determined according to detection content of the detection platform for detecting an object placed on the detection platform.
The preset time is the time interval between the time when the mechanical arm places the object to be detected on the detection platform and the time when the mechanical arm captures the detected object from the detection platform, and the time interval can be used for the detection platform to detect the object. In particular, the preset time should be at least longer than the detection time required for the detection platform to perform the detection of the object. Moreover, as the detection content changes, the detection time required for the detection platform to detect the object also changes, and the preset time also changes accordingly.
In a preferred embodiment, the automated detection and transportation system based on a robot arm further includes a server, the server is in communication with the control device, the control device is configured to sequence the image of the object to be detected collected by the first camera at the first time, the image of the object not including the object to be detected collected by the first camera at the second time, the image of the object placed on the detection platform collected by the second camera at the third time, the image of the detection platform not including the object collected by the second camera at the fourth time, and the image of the detected object collected by the third camera at the fourth time according to the collection time, so as to obtain an image sequence, the image sequence is an image record of the action executed by the mechanical arm, and the control device is used for sending the image sequence and a judgment result which is made according to the image sequence and aims at whether the mechanical arm executes the action to the server.
Images collected by the first camera, the second camera and the third camera are used as an auxiliary means for monitoring whether the mechanical arm works normally, so that the subsequent work condition of the system can be conveniently checked, the images collected by the first camera, the second camera and the third camera and the judgment result of the control device are used as a work log and sent to a server, and the server performs unified storage and management.
In a preferred embodiment, in the robot-based automated inspection and transportation system, the server is a remote server, and the remote server is in communication connection with the control device through a network.
The user can know the working condition and the detection result of the system by remotely accessing the remote server without acquiring relevant data on site. This facilitates remote maintenance and management of the system.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (4)
1. Automated mechanical arm-based detection and transportation system, comprising:
the sorting platform is used for bearing an object to be detected;
the detection platform is used for detecting an object placed on the detection platform;
the recovery platform is used for bearing the detected object;
a robot arm disposed among the sorting platform, the inspection platform, and the recovery platform in such a manner as to be reciprocally movable among the sorting platform, the inspection platform, and the recovery platform;
the first camera is arranged near the sorting platform and is used for acquiring images of the sorting platform;
the second camera is arranged near the detection platform and is used for acquiring images of the detection platform;
the third camera is arranged near the recovery platform and used for collecting images of the recovery platform;
a control device connected to the first camera, the second camera, the third camera, and the robot arm, the control device being configured to control the robot arm to perform the following actions: grabbing the object to be detected from the sorting platform and transporting the object to be detected to the detection platform, and grabbing the detected object from the detection platform and transporting the object to the recovery platform after a preset time;
the control device is further used for judging whether the mechanical arm executes the action according to the image collected by the first camera, the image collected by the second camera and the image collected by the third camera, and the specific process comprises the following steps: the control device judges that the mechanical arm completes the action of transporting the object to be detected from the sorting platform to the detection platform under the conditions of receiving the image of the object to be detected, which is acquired by the first camera at a first moment, receiving the image which is acquired by the first camera at a second moment and does not contain the object to be detected, and receiving the image of the object placed on the detection platform, which is acquired by the second camera at the second moment; the control device judges that the mechanical arm completes the action of transporting the detected object on the detection platform to the recovery platform under the conditions of receiving the image of the object placed on the detection platform and collected by the second camera at a third moment, receiving the image of the detection platform which is collected by the second camera at a fourth moment and does not contain the object and receiving the image of the detected object and collected by the third camera at the fourth moment; wherein the time interval between the third moment and the second moment is consistent with the preset time;
an identity tag used for representing the identity of the object to be detected is arranged on the object to be detected; the mechanical arm is provided with an identity tag reader, the identity tag reader is used for reading the identity of the object to be detected from the identity tag of the object to be detected when the mechanical arm grabs the object to be detected from the sorting platform, and the control device is used for receiving the identity of the object to be detected read by the identity tag reader and recording the identity of the object to be detected;
the control device is also in communication connection with the detection platform and is used for receiving a detection result of the detection platform on the object to be detected and establishing a mapping relation between the detection result and the identity of the object to be detected;
a server in communication connection with the control device;
the control device is used for acquiring the image of the object to be detected by the first camera at the first moment, at a second moment, the first camera acquires an image which does not contain an object to be detected, and the second camera acquires an image of the object placed on the detection platform at the second moment, at a third moment, the second camera is used for acquiring an image of an object placed on the detection platform, images of the detection platform which are collected by the second camera at a fourth moment and do not contain the object are sorted according to the collection time, thereby obtaining an image sequence that is an image recording of the actions performed by the robotic arm, the control device is used for sending the image sequence and a judgment result which is made according to the image sequence and aims at whether the mechanical arm executes the action to the server.
2. The robotic arm-based automated detection and transportation system of claim 1, wherein the identity tag is a bar code.
3. The robotic-arm-based automated inspection and transportation system of claim 1, wherein the predetermined time is determined based on inspection content of the inspection platform for inspecting an object placed on the inspection platform.
4. The robotic arm-based automated inspection and transportation system according to claim 1, wherein the server is a remote server communicatively coupled to the control device via a network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011260776.9A CN112337818B (en) | 2020-11-12 | 2020-11-12 | Automatic detection and transportation system based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011260776.9A CN112337818B (en) | 2020-11-12 | 2020-11-12 | Automatic detection and transportation system based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112337818A CN112337818A (en) | 2021-02-09 |
| CN112337818B true CN112337818B (en) | 2022-07-12 |
Family
ID=74363686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011260776.9A Active CN112337818B (en) | 2020-11-12 | 2020-11-12 | Automatic detection and transportation system based on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112337818B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029243B (en) * | 2021-11-11 | 2023-05-26 | 江苏昱博自动化设备有限公司 | Soft object grabbing and identifying method for sorting robot |
| CN117378318B (en) * | 2023-12-08 | 2024-03-12 | 海南大学三亚研究院 | Coconut seed germination detection and sorting method and system based on X-rays |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08309295A (en) * | 1995-05-23 | 1996-11-26 | Kubota Corp | Article sorter |
| CN103212543B (en) * | 2012-01-18 | 2017-06-09 | 中科安创智能化（深圳）研究院 | A kind of automatic weighing and sorting implementation method and device |
| CN107030015A (en) * | 2015-07-30 | 2017-08-11 | 广州炊事班电子科技有限公司 | One kind scanning sorting system |
| CN107116036A (en) * | 2017-05-27 | 2017-09-01 | 陈志敏 | A kind of medicine sorting equipment and its method for sorting |
| CN208084351U (en) * | 2018-04-07 | 2018-11-13 | 广州未名雷蒙特实验室科技有限公司 | A kind of laboratory Intelligent mechanical arm device |
| CN208800416U (en) * | 2018-07-10 | 2019-04-30 | 华侨大学 | A kind of sorting equipment of building waste material |
| CN209531490U (en) * | 2019-02-22 | 2019-10-25 | 苏州菱麦自动化设备科技有限公司 | Manipulator sorts product device |
-
2020
- 2020-11-12 CN CN202011260776.9A patent/CN112337818B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112337818A (en) | 2021-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112337818B (en) | Automatic detection and transportation system based on mechanical arm | |
| CN108045682B (en) | A kind of automatic labeling sorting equipment | |
| CN105463514B (en) | A kind of aluminium electrolysis cell condition automatic detecting method and its device | |
| CN109839557A (en) | Automatization test system, method and test platform | |
| CN108097597A (en) | A kind of medical detection sample is received, sorted, recording and storage device | |
| CN115061078A (en) | Cloud platform based electric energy meter online automatic detection system and detection method thereof | |
| CN117010678A (en) | Battery module assembly method and battery module assembly system | |
| CN111806944B (en) | Material transportation system that intellectual detection system and intelligence are hierarchical to be stored | |
| CN113104463B (en) | Automatic packaging integrated data processing system and method | |
| CN212418735U (en) | Automatic goods picking system based on visual identification | |
| CN204203980U (en) | A kind of electrical measuring device bar code information comparison equipment | |
| CN207281587U (en) | A kind of robot based on image recognition and movement control technology | |
| CN211237733U (en) | Medical examination urgent-check project management system | |
| CN117262562A (en) | Intelligent transfer method and robot system | |
| CN111126097A (en) | Automatic card nailing method and device | |
| CN208805156U (en) | A kind of battery on-line measuring device based on machine vision technique | |
| CN107176355A (en) | A kind of vacuum blood collection tube automatic labeling sorter | |
| CN204620463U (en) | Sample transports management system automatically | |
| CN111014075A (en) | Automatic sample sorting system | |
| CN113298541A (en) | Sample tray transferring and tracing system and method | |
| CN216132840U (en) | Intelligent concrete compressive strength detection robot system | |
| CN110083136A (en) | Work pieces process monitoring system and method in a kind of industrial production | |
| CN207423981U (en) | A kind of automatic recognition system of laboratory sample and its crucible for placing sample | |
| CN214347958U (en) | Jewelry printing quality detection equipment and system | |
| CN108827371B (en) | Communication unit outward appearance detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 100142 16 / F, century Yuhui building, 73 Fucheng Road, Haidian District, Beijing Patentee after: SGS-CSTC STANDARDS TECHNICAL SERVICES Co.,Ltd. Address before: 100142 17th floor, century Yuhui building, 73 Fucheng Road, Haidian District, Beijing Patentee before: SGS-CSTC STANDARDS TECHNICAL SERVICES Co.,Ltd. |