CN113086628B - Elastic strip size visual detection system - Google Patents
Elastic strip size visual detection system Download PDFInfo
- Publication number
- CN113086628B CN113086628B CN202110434716.2A CN202110434716A CN113086628B CN 113086628 B CN113086628 B CN 113086628B CN 202110434716 A CN202110434716 A CN 202110434716A CN 113086628 B CN113086628 B CN 113086628B
- Authority
- CN
- China
- Prior art keywords
- elastic
- grabbing
- scanning
- detection system
- robot
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a visual detection system for the size of a spring strip, which comprises: the robot comprises a monocular identification module, a rough grabbing robot, a turnover mechanism, a 3D camera module, a scanning tool, a scanning robot and a fine grabbing module. This bullet strip size visual detection system can snatch the bullet strip on the production line automatically and put the bullet strip with suitable position, scans the full-automatic quick scanning of bullet strip through scanning robot, acquires the geometric point cloud information of bullet strip.
Description
Technical Field
The invention relates to a bullet strip detection system, in particular to a bullet strip size visual detection system.
Background
Need detect its each item characteristic parameter in the bullet strip production process, just can get into next process after corresponding parameter detects qualified, when detecting each item characteristic parameter to the bullet strip, need the bullet strip to put stably, otherwise can influence the accuracy that detects data.
Due to the particularity of the elastic strip structure, a proper full-automatic detection system is not available at present, and the production efficiency of the elastic strips cannot be further improved directly.
Disclosure of Invention
The invention aims to provide a visual detection system for the size of an elastic strip, which can automatically grab the elastic strip on a production line and place the elastic strip at a proper position, and a scanning robot can fully automatically and quickly scan the elastic strip to obtain the geometrical point cloud information of the elastic strip.
In order to achieve the above object, the present invention provides a visual detection system for a bullet strip size, comprising: the monocular identification module is fixed above the trough through a first portal frame and is used for preliminarily identifying the position of the elastic strip on the automatic assembly line; the rough grabbing robot is arranged on one side of the material groove and is used for roughly grabbing the elastic strips on the material groove; the overturning mechanism is positioned on one side of the rough grabbing robot and used for placing the elastic strips grabbed by the rough grabbing robot and overturning the inverted elastic strips; the 3D camera module is fixed right above the turnover mechanism through a second portal frame and is used for identifying the front and the back of the elastic strip; the scanning tool is arranged on one side of the turnover mechanism and used for bearing elastic strips, and a rotary table is arranged at the bottom of the scanning tool; the scanning robot is arranged on one side of the scanning tool and used for scanning the loaded elastic strips to obtain characteristic parameters of the elastic strips; and the fine grabbing module is positioned between the turnover mechanism and the scanning tool and is used for grabbing the elastic strips which are identified as the front side on the turnover mechanism onto the scanning tool.
Preferably, the visual elastic strip size detection system further comprises: the robot comprises a machine cabinet, wherein a control cabinet or a workstation for controlling a monocular identification module, a rough grabbing robot, a turnover mechanism, a 3D camera module, a scanning tool, a scanning robot, a fine grabbing module and an automatic production line is arranged in the machine cabinet.
Preferably, an air conditioning system is arranged on the cabinet for heat dissipation.
Preferably, the monocular identification module is a 2D camera, and a shooting direction of the 2D camera is perpendicular to a plane where the trough is located.
Preferably, the turn-over mechanism is provided with a combined cylinder at the position of each elastic strip, and the combined cylinder can be matched with the inverted elastic strips to clamp and turn over the corresponding elastic strips.
Preferably, a plurality of placing grooves matched with the elastic strips are formed in the turnover mechanism, and the front, back, left and right positions of the elastic strips are limited after the elastic strips are placed into the placing grooves in the front.
Preferably, the visual elastic strip size detection system further comprises: and the photoelectric sensor module is arranged on one side of the rough grabbing robot and is used for screening the rough grabbing elastic strips with incorrect positions and states.
Preferably, the fine grab module comprises: the precise grabbing robot comprises a precise grabbing robot and a precise grabbing clamp arranged on the precise grabbing robot.
Preferably, a scanner is arranged on the scanning robot.
Preferably, the scanning tool includes: the front end of the bottom plate is symmetrically provided with two first support columns for supporting forelimbs of the elastic strip, the middle of the bottom plate is symmetrically provided with two second support columns for supporting middle limbs of the elastic strip, and the rear end of the bottom plate is symmetrically provided with two third support columns for supporting the tail of the elastic strip; the top of first support column, second support column and third support column is provided with respectively and supports groove, second support groove and third support groove with corresponding holding surface looks adaptation, the bottom plate front end is located two the outside position of first support column is provided with a mark point stand respectively, the bottom plate rear end is located two the outside position of third support column is provided with a mark point stand respectively, every all paste the special subsides point of scanning on the mark point stand.
According to the technical scheme, the visual detection system for the size of the elastic strip can automatically grab the elastic strip on the production line and place the elastic strip at a proper position, and the scanning robot can fully automatically and quickly scan the elastic strip to obtain the geometric point cloud information of the elastic strip.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a preferred embodiment of a visual detection system for the dimensions of a bullet;
fig. 2 is a schematic structural diagram of a preferred embodiment of the scanning tool.
Description of the reference numerals
1-coarse grabbing robot and 2-fine grabbing robot
3-second portal frame 4-turnover mechanism
5-cabinet 6-photoelectric sensor module
7-2D camera 8-scanning robot
9-first gantry 10-3D camera module
11-trough 12-bottom plate
13-second support column 14-first support column
15-third support column 16-mark point upright post
17-scanning tool
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, directional words included in terms such as "upper, lower, left, right, front, rear, inner, and outer" and the like merely represent the directions of the terms in a normal use state or are colloquially known by those skilled in the art, and should not be construed as limiting the terms.
Referring to fig. 1-2, a visual elastic strip size detection system includes: the monocular identification module is fixed above the trough 11 through a first portal frame 9 and is used for preliminarily identifying the position of the elastic strip on the automatic assembly line; the rough grabbing robot 1 is arranged on one side of the material groove 11, and is used for roughly grabbing the elastic strips on the material groove 11; the overturning mechanism 4 is positioned on one side of the rough grabbing robot 1 and used for placing the elastic strips grabbed by the rough grabbing robot 1 and overturning the inverted elastic strips; the 3D camera module 10 is fixed right above the turnover mechanism 4 through a second portal frame 3 and is used for identifying the front and the back of the elastic strip; the scanning tool 17 is arranged on one side of the turnover mechanism 4 and used for bearing elastic strips, and a rotary table is arranged at the bottom of the scanning tool 17; the scanning robot 8 is arranged on one side of the scanning tool 17 and used for scanning the loaded elastic strips to obtain characteristic parameters of the elastic strips; and the fine grabbing module is positioned between the turnover mechanism 4 and the scanning tool 17 and is used for grabbing the elastic strips which are identified as the front on the turnover mechanism 4 onto the scanning tool 17.
Through the implementation of the technical scheme, the elastic strip size visual detection system can automatically grab the elastic strips on the production line and place the elastic strips at proper positions, and the scanning robot 8 can fully automatically and quickly scan the elastic strips to acquire the geometrical point cloud information of the elastic strips. The specific process is as follows: after the bullet strip of slope in 11 inslots that set up targets in place, bullet strip position in 11 inslots through monocular identification module carries out preliminary discernment, thick robot 1 of grabbing carries out thick snatching to the bullet strip according to the bullet strip position of preliminary discernment, and will snatch the position that corresponds on turn-over mechanism 4 to the bullet strip after snatching, at this moment, 3D camera module 10 that sets up directly over turn-over mechanism 4 carries out positive and negative discernment to the bullet strip of placing, if the bullet strip is invertd then carry out the turn-over to the bullet strip of inversion through turn-over mechanism 4, the bullet strip is all snatched the bullet strip through smart module of grabbing after just putting and is snatched scanning frock 17, drive scanning frock 17 through the revolving stage and rotate, and then drive the bullet strip and rotate, the cooperation scans 8 bullet strips that bear of robot scans in order to obtain the characteristic parameter of bullet strip, characteristic parameter is as: mid-limb width, side-limb width, mid-limb arch height, side-limb arch height, spring stroke height, forelimb spacing, and overall width.
In this embodiment, preferably, the visual detection system for the size of the elastic strip further comprises: the robot comprises a cabinet 5, wherein a control cabinet or a workstation for controlling a monocular identification module, a rough grabbing robot 1, a turnover mechanism 4, a 3D camera module 10, a scanning tool 17, a scanning robot 8, a fine grabbing module and an automatic assembly line is arranged in the cabinet 5.
In this embodiment, in order to facilitate heat dissipation of the cabinet 5, preferably, an air conditioning system is disposed on the cabinet 5 for heat dissipation.
In this embodiment, preferably, the monocular identification module is a 2D camera 7, and a shooting direction of the 2D camera 7 is perpendicular to a plane where the trough 11 is located. Carry out the thick shooting and give the thick robot 1 of grabbing with the bullet strip positional information feedback of shooing to the bullet strip on the silo 11 through 2D camera 7, realize snatching the bullet strip, simultaneously, with 2D camera 7's shooting direction perpendicular to the silo 11 place plane can improve the rate of accuracy of snatching.
In this embodiment, in order to further realize the turning of the inverted elastic strips, it is preferable that a combination cylinder is disposed at a position where each elastic strip is disposed on the turning mechanism 4, and the combination cylinder is capable of cooperatively clamping the inverted elastic strips and turning the corresponding elastic strips. If the combined cylinder comprises two clamping cylinders arranged by an object, the end part of the cylinder is provided with a clamping block matched with the elastic strip, the elastic strip is clamped and synchronously rotated for 180 degrees by the two clamping cylinders, and the elastic strip is loosened to realize the turnover of the elastic strip.
In this embodiment, in order to more accurately place the elastic strips and to accurately grasp the elastic strips by the module, preferably, a plurality of placing grooves matched with the elastic strips are arranged on the turnover mechanism 4, and the front, back, left and right positions of the elastic strips are limited after the elastic strips are placed in the placing grooves in front. After the bullet strip is put into the standing groove, in order to be convenient for snatching of module of grabbing, the outside at the standing groove should be exposed to the most of bullet strip.
In this embodiment, preferably, the visual detection system for the size of the elastic strip further comprises: and the photoelectric sensor module 6 is arranged on one side of the rough grabbing robot 1 and is used for screening the rough grabbing elastic strips with incorrect positions and states. Through grabbing robot 1 thick and grabbing the bullet strip that position and state are incorrect screening to the uniformity of the bullet strip of assurance arrival turn-over module.
In this embodiment, preferably, the fine grasping module includes: the precise grabbing robot comprises a precise grabbing robot 2 and a precise grabbing clamp arranged on the precise grabbing robot 2. Because the location of the bullet strip is unified after the screening of the bullet strip that reachs on the turn-over module through photoelectric sensor module 6 and turn-over work, can realize the accurate of bullet strip through the accurate anchor clamps of grabbing snatching, the clamping jaw of the accurate anchor clamps of grabbing should with bullet strip looks adaptation, through the bullet strip that snatchs like this can be accurate place the assigned position on scanning frock 17.
In this embodiment, it is preferable that the scanning robot 8 is provided with a scanner. Such as a custom board blue laser scanner, for scanning the entire strip of ammunition placed on the scanning fixture 17 and taking a picture of the characters on the strip.
In this embodiment, preferably, the scanning tool 17 includes: the elastic bar support comprises a bottom plate 12, wherein two first support columns 14 for supporting forelimbs of an elastic bar are symmetrically arranged at the front end of the bottom plate 12, two second support columns 13 for supporting middle limbs of the elastic bar are symmetrically arranged in the middle of the bottom plate 12, and two third support columns 15 for supporting the tail of the elastic bar are symmetrically arranged at the rear end of the bottom plate 12; the top of first support column 14, second support column 13 and third support column 15 is provided with respectively and supports groove, second support groove and third support groove with corresponding holding surface looks adaptation, bottom plate 12 front end is located two the outside position of first support column 14 is provided with a mark point stand 16 respectively, bottom plate 12 rear end is located two the outside position of third support column 15 is provided with a mark point stand 16 respectively, every special subsides point of scanning all posts on the mark point stand 16. This scanning frock 17 is used for the accuracy to bear the bullet strip, the material is Q235B, take the special tie point of scanning certainly as the reference coordinate, the scanner calculates the point cloud information that acquires each position of bullet strip according to the reference coordinate, and then calculate the characteristic parameter of bullet strip, furthermore, in order to increase the stability of placing of bullet strip, at first support column 14, the side of second support column 13 and third support column 15 sets up the permanent magnet, make first support column 14, second support column 13 and third support column 15 have certain magnetism, increase the stability of placing to the bullet strip, can effectively avoid the bullet strip to slide.
In order to further improve the stable support of the elastic strip, the first support grooves extend along the left-right direction, the second support grooves extend along the front-back direction, the third support grooves are positioned on the horizontal plane and extend obliquely, and the distance between the two third support grooves is gradually increased along the front-back direction. Specifically, the method comprises the following steps: the sliding resistance to the front and back directions of the elastic strip is increased through the first supporting groove, the sliding resistance to the left and right directions of the elastic strip is increased through the second supporting groove, the sliding resistance to the oblique direction of the elastic strip is increased through the third supporting groove, and then the elastic strip can be stably supported and can be matched with the elastic strip structure.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A visual elastic strip size detection system, comprising:
the monocular identification module is fixed above the trough (11) through a first portal frame (9) and is used for preliminarily identifying the position of the elastic strip on the automatic assembly line;
the rough grabbing robot (1) is arranged on one side of the trough (11) and used for roughly grabbing the elastic strips on the trough (11);
the overturning mechanism (4) is located on one side of the rough grabbing robot (1) and used for placing the elastic strips grabbed by the rough grabbing robot (1) and overturning the inverted elastic strips;
the 3D camera module (10) is fixed right above the turnover mechanism (4) through a second portal frame (3) and used for identifying the front side and the back side of the elastic strip;
the scanning tool (17) is arranged on one side of the turnover mechanism (4) and used for bearing elastic strips, and a rotary table is arranged at the bottom of the scanning tool (17);
the scanning robot (8) is arranged on one side of the scanning tool (17) and used for scanning the loaded elastic strips to obtain characteristic parameters of the elastic strips;
and the fine grabbing module is positioned between the turnover mechanism (4) and the scanning tool (17) and is used for grabbing the elastic strips which are identified as the front on the turnover mechanism (4) onto the scanning tool (17).
2. The visual elastic strip dimension detection system of claim 1, further comprising: the equipment comprises a cabinet (5), wherein a control cabinet or a workstation for controlling a monocular identification module, a rough grabbing robot (1), a turnover mechanism (4), a 3D camera module (10), a scanning tool (17), a scanning robot (8), a fine grabbing module and an automatic production line is arranged in the cabinet (5).
3. Visual elastic strip size detection system according to claim 2, characterized in that an air conditioning system is arranged on the cabinet (5) for heat dissipation.
4. The visual elastic strip size detection system according to claim 1, wherein the monocular identification module is a 2D camera (7), and the shooting direction of the 2D camera (7) is perpendicular to the plane of the trough (11).
5. The visual elastic strip size detection system according to claim 1, wherein a combined cylinder is arranged at the placement position of each elastic strip on the turn-over mechanism (4), and the combined cylinder can be matched with the inverted elastic strip to clamp and turn over the corresponding elastic strip.
6. The visual elastic strip size detection system according to claim 5, wherein the turnover mechanism (4) is provided with a plurality of placing grooves matched with the elastic strips, and the front, back, left and right positions of the elastic strips are limited after the elastic strips are placed in the placing grooves in the front.
7. The visual elastic strip dimension detection system of claim 1, further comprising: and the photoelectric sensor module (6) is arranged on one side of the rough grabbing robot (1) and is used for screening the rough grabbing position and the incorrect elastic strips.
8. The visual elastic strip dimension detection system according to claim 1, wherein the fine grip module comprises: the precise grabbing robot comprises a precise grabbing robot (2) and a precise grabbing clamp arranged on the precise grabbing robot (2).
9. The visual detection system of the size of the elastic strip according to claim 1, characterized in that a scanner is arranged on the scanning robot (8).
10. The visual detection system of the dimensions of the elastic strip according to claim 1, characterized in that the scanning tooling (17) comprises: the elastic bar supporting device comprises a bottom plate (12), wherein two first supporting columns (14) used for supporting forelimbs of an elastic bar are symmetrically arranged at the front end of the bottom plate (12), two second supporting columns (13) used for supporting middle limbs of the elastic bar are symmetrically arranged in the middle of the bottom plate (12), and two third supporting columns (15) used for supporting the tail of the elastic bar are symmetrically arranged at the rear end of the bottom plate (12);
the top of first support column (14), second support column (13) and third support column (15) is provided with respectively and supports groove and third support groove with first support groove, second support groove and the third of corresponding holding surface looks adaptation, bottom plate (12) front end is located two the outside position of first support column (14) is provided with a mark point stand (16) respectively, bottom plate (12) rear end is located two the outside position of third support column (15) is provided with a mark point stand (16) respectively, every all post the special apoint of scanning on mark point stand (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110434716.2A CN113086628B (en) | 2021-04-22 | 2021-04-22 | Elastic strip size visual detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110434716.2A CN113086628B (en) | 2021-04-22 | 2021-04-22 | Elastic strip size visual detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113086628A CN113086628A (en) | 2021-07-09 |
| CN113086628B true CN113086628B (en) | 2022-06-21 |
Family
ID=76679208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110434716.2A Active CN113086628B (en) | 2021-04-22 | 2021-04-22 | Elastic strip size visual detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113086628B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011000685A (en) * | 2009-06-19 | 2011-01-06 | Denso Wave Inc | Bin picking system |
| CN206034212U (en) * | 2016-08-31 | 2017-03-22 | 武汉汉宁轨道交通技术有限公司 | Railway rails elastic tensioning clamp state automatic checkout device |
| CN111239159A (en) * | 2020-03-16 | 2020-06-05 | 科为升视觉技术（苏州）有限公司 | Packaging substrate visual detection system and method |
| CN112027644A (en) * | 2020-08-17 | 2020-12-04 | 西门子工业自动化产品(成都)有限公司 | Method and device for grabbing multiple types of circuit boards |
| CN212794631U (en) * | 2020-06-10 | 2021-03-26 | 浙江秉鹏自动化科技有限公司 | Elastic strip size detection mechanism |
-
2021
- 2021-04-22 CN CN202110434716.2A patent/CN113086628B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011000685A (en) * | 2009-06-19 | 2011-01-06 | Denso Wave Inc | Bin picking system |
| CN206034212U (en) * | 2016-08-31 | 2017-03-22 | 武汉汉宁轨道交通技术有限公司 | Railway rails elastic tensioning clamp state automatic checkout device |
| CN111239159A (en) * | 2020-03-16 | 2020-06-05 | 科为升视觉技术（苏州）有限公司 | Packaging substrate visual detection system and method |
| CN212794631U (en) * | 2020-06-10 | 2021-03-26 | 浙江秉鹏自动化科技有限公司 | Elastic strip size detection mechanism |
| CN112027644A (en) * | 2020-08-17 | 2020-12-04 | 西门子工业自动化产品(成都)有限公司 | Method and device for grabbing multiple types of circuit boards |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113086628A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI583273B (en) | Inserting device | |
| CN103465013B (en) | A kind of automatic locking screw machine | |
| CN106123777B (en) | Mobile phone shakes retainer detection device | |
| CN103728302A (en) | Automatic detection equipment for object appearance | |
| CN104965167A (en) | Automatic circuit board detection device | |
| CN113178991A (en) | Motor automatic assembly equipment and method thereof | |
| CN113086628B (en) | Elastic strip size visual detection system | |
| CN113267740A (en) | Magnetizing detector and magnetizing detection method | |
| CN209367340U (en) | A kind of card plug box automatic charging positioning device | |
| CN105466943A (en) | Burr detection mechanism | |
| CN215507848U (en) | Magnetizing detector | |
| CN210549493U (en) | Automatic change system of processing | |
| CN217774834U (en) | Cylindric part syntropy reason material unloader | |
| CN216206027U (en) | Size detection mechanism and full-automatic marking machine | |
| CN210084461U (en) | System for picking alloy blade by image processing parallel robot | |
| CN213986152U (en) | Six auxiliary material check out test set | |
| CN113159176A (en) | Visual detection method for elastic strip size | |
| CN211944875U (en) | Material taking platform for intelligent warehousing | |
| CN106793745A (en) | A kind of deformed insertion robot | |
| CN205957905U (en) | Cell -phone vibrations holder check out test set | |
| CN214844897U (en) | Detection device | |
| CN218938160U (en) | Omnibearing posture detecting device for thin-wall frame | |
| CN111468939A (en) | Valve shaft mounting method and apparatus | |
| CN211588576U (en) | Positioning jig | |
| CN210775255U (en) | Panel visual detection equipment |
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 |