CN114043482A - Mechanical arm based on visual identification control - Google Patents
Mechanical arm based on visual identification control Download PDFInfo
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- CN114043482A CN114043482A CN202111442581.0A CN202111442581A CN114043482A CN 114043482 A CN114043482 A CN 114043482A CN 202111442581 A CN202111442581 A CN 202111442581A CN 114043482 A CN114043482 A CN 114043482A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 16
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- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 17
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- 230000008569 process Effects 0.000 claims description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm based on visual identification control, used for pre-identifying and accurately grabbing workpieces and pressing an operating button, comprises a base, a supporting structure arranged on the base and a clamping mechanism arranged on the free end of the supporting structure, the edge of the lower surface of the base is provided with a stabilizing foot, the center of the upper surface of the base is provided with a rotating seat, the supporting structure comprises a supporting arm and a bending arm, the supporting arm is fixedly arranged on the rotating seat, the clamping mechanism comprises a supporting frame, a base and a top seat which are fixedly arranged at the two ends of the supporting frame, a spiral push rod which is arranged on the base and the top seat in a penetrating way, and a sliding block which is arranged on the spiral rod, the support frame with the support arm is connected, be provided with rotatable binocular vision sensor on the footstock. The problem of the disappearance in the aspect of traditional arm visual identification, intelligent level is on the low side is solved.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm based on visual identification control.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in the modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
The invention patent with chinese patent application number 201911025384.1 discloses a robot arm for transferring a workpiece, the robot arm including: a body portion rotatably disposed about a predetermined axis, the body portion having a first operative position and a second operative position; the fixing part is arranged on the main body part and is used for being matched with a workpiece so as to fix the workpiece on the main body part, and the limiting part comprises a first limiting piece and a second limiting piece, wherein the first limiting piece is arranged on the main body part, and the second limiting piece is arranged at a distance from the main body part; when the main body part is located at the first working position, the first limiting piece is matched with the second limiting piece so as to limit the main body part at the first working position; or when the main body part is at the second working position, the first limiting piece is matched with the second limiting piece to limit the main body part at the second working position. The mechanical arm solves the problem that the rotation angle of the workpiece is not accurately controlled by the mechanical arm in the prior art. However, in the actual working process, the working scenes met by the robot are limited, for example, the medicine in the medicine box can be grabbed or different types of precise electronics can be grabbed as required, or the robot in the elevator needs to clamp and take the articles and automatically press the keys of the elevator, so that the robot is improved and innovated aiming at the mechanical arm, is intelligent, can accurately identify the articles to be grabbed and press the keys, automatically grabs the articles and can automatically press the operation keys.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides the mechanical arm based on visual identification control, which solves the technical problems of deficiency and low intelligentization level in the aspect of visual identification of the traditional mechanical arm.
In order to achieve the purpose, the invention adopts the following technical scheme: a mechanical arm based on visual identification control is used for carrying out pre-identification and accurate grabbing on a workpiece and pressing an operation button and comprises a base, a supporting structure and a clamping mechanism, wherein the supporting structure is arranged on the base, the clamping mechanism is arranged on the free end of the supporting structure, and the supporting structure is connected with the base and the clamping mechanism;
the edge of the lower surface of the base is provided with a stabilizing foot, the center of the upper surface of the base is provided with a rotating seat, and the rotating seat can horizontally rotate on the base for 360 degrees;
the supporting structure comprises a supporting arm and a bending arm, the supporting arm is fixedly arranged on the rotating seat, and the bending arm is rotatably connected with the supporting arm;
the clamping mechanism comprises a supporting frame, a base and a top seat which are fixedly arranged at the two ends of the supporting frame, a spiral push rod which is arranged on the base and the top seat in a penetrating way, and a sliding block which is arranged on the spiral rod, the support frame is connected with the support arm, the sliding block reciprocates between the base and the top seat in the support frame through the spiral push rod, two first connecting plates are symmetrically hinged on the sliding block, second connecting plates are arranged at two ends of the top seat, the center of the second connecting plate is hinged with the top seat, one end of the second connecting plate is hinged with the first connecting plate, the other end of the second connecting plate is hinged with a clamping plate, a third connecting plate is hinged on the top seat and is hinged with the clamping plate, the rotatable binocular vision sensor is arranged on the top seat, and the tail end of the clamping plate is provided with a pressure sensor used for detecting the pressing force.
Furthermore, the second connecting plate includes the curb plate that mutual symmetry and parallel and the bottom plate of connecting both sides board, the curb plate is the isosceles triangle structure, two base angles respectively with the grip block with first connecting plate is articulated.
Furthermore, the clamping surfaces of the clamping plates are always kept parallel, and buffer layers are arranged on the clamping surfaces of the clamping plates.
Further, the surface of the buffer layer is wavy or zigzag, and the buffer layer is made of rubber or sponge or cotton cloth.
Further, the free end tail end of the clamping plate is provided with rounded transition treatment.
Further, the support arm is telescopic rod structure, including the inner tube of coaxial setting with the outer tube, the outer tube is fixed set up in on the roating seat, be provided with a plurality of movable pulleys by motor drive on the lateral wall of inner tube, be provided with the slip track with movable pulley matched with on the inside wall of outer tube.
Further, a method for using the mechanical arm based on visual identification manipulation according to claim 1, characterized by comprising the following steps:
1) the spiral push rod drives the sliding block to move towards the top seat, and simultaneously drives the first connecting plate and the second connecting plate to actively open the clamping plate, and the third connecting plate keeps the stability of the clamping plate;
2) the rotatable binocular vision sensor arranged on the top seat starts to work, scans and identifies surrounding objects, and transmits data to a computer for intelligent analysis;
3) the computer analyzes the data acquired by the binocular vision sensor to obtain the position information of the object to be picked and then forms an instruction to be fed back to the mechanical arm;
4) the mechanical arm rotates 360 degrees on the horizontal plane through the rotating seat, moves up and down through a telescopic rod structure on the supporting arm, and moves the clamping plate to the object to be picked up or around the button to be pressed through the rotatable supporting arm;
5) the sliding block moves towards the base, and meanwhile, the first connecting plate and the second connecting plate are driven to enable the clamping plate to clamp the object to be picked inwards or press the button, the third connecting plate keeps the stability of the clamping plate in the clamping process, and if the button is pressed, the pressure sensor contacts the button and controls the pressing strength of the button through a preset value to avoid excessively pressing the button to damage the button;
6) the mechanical arm returns to the initial position through the original preset path and then transports the object to be picked to the specified position, and if the key is pressed, the mechanical arm returns to the initial position and then is static.
By adopting the technical scheme, the invention has the beneficial effects that:
1. the base is used for stabilizing the whole structure of the mechanical arm and simultaneously providing support for the mechanical arm in the working process; the bottom of the base is provided with a stabilizing foot which is disc-shaped and can improve the stability, and meanwhile, the material can be flexible material such as rubber, so that the base is stably connected with the ground like a sucker; the base is provided with the rotating seat, and the rotating seat can horizontally rotate on the base by 360 degrees, so that the use requirement is met; the support structure comprises a support arm and a bending arm, the support arm can be stably connected with the rotary seat on the base, and the bending arm can enable the mechanical arm to be more flexible; the clamping mechanism comprises a support frame, a base and a top seat which are fixedly arranged at two ends of the support frame, and the base, the top seat and the support frame are mutually matched, so that the integral structure stability of the support frame is ensured; the sliding block reciprocates between the base and the top seat through the spiral push rod in the support frame, two first connecting plates are symmetrically hinged on the sliding block, second connecting plates are arranged at two ends of the top seat, the center position of the second connecting plate is hinged with the top seat, one end of the second connecting plate is hinged with the first connecting plate, the other end of the second connecting plate is hinged with a clamping plate, a third connecting plate is hinged on the top seat and is hinged with the clamping plate, the first connecting plate and the second connecting plate are driven to move through the movement of the sliding block, so that the clamping and the loosening of the clamping plate are controlled, one end of the third connecting plate is hinged with the top seat, and the other end of the third connecting plate is hinged with the clamping plate, so that the stability of the clamping plate in the working process is provided; through being provided with rotatable two mesh visual sensor on the footstock, can shoot the scanning to the surrounding environment in advance at the arm working process, and then confirm the position of waiting to pick up the thing and the work path of picking up, satisfy the work demand of accurate pick-up, the end that lies in the grip block simultaneously is provided with pressure sensor, can go to control the grip block through the pressure value that the computer preset when carrying out the button and press the operation and press the dynamics when the button is pressed to the dynamics when pressing the button, avoid excessively pressing and cause the button to damage.
2. The second connecting plate includes mutual symmetry and parallel curb plate and the bottom plate of connecting both sides board, the curb plate is the isosceles triangle structure, two base angles respectively with the grip block follows first connecting plate is articulated, and the purpose that sets up of bottom plate provides the support for two curb plates, and the curb plate sets up to the isosceles triangle structure, and triangle-shaped has strong stability, sets up articulated portion in triangle-shaped's three edge, make full use of triangle-shaped's strong stable advantage, promotes fixture's job stabilization nature.
3. The clamping face of grip block remains the parallel throughout, be provided with the buffer layer on the clamping face of grip block, two grip blocks that remain the parallel throughout can be guaranteed in the course of the work and the maximize of waiting to pick up article area of contact, through be provided with the buffer layer on the clamping face of grip block, can cut off the protection to the grip block with waiting to pick up the article simultaneously, has protected to wait to pick up the article surface and not damaged, also can prolong the life of grip block simultaneously.
4. The surface of the buffer layer is wavy or zigzag, the buffer layer is made of rubber or sponge or cotton cloth, and the clamping performance is improved due to the wavy or zigzag structure; the buffering material adopts sponge material or cotton material, and the two all belong to high-quality flexible material, and material cost is lower, easily change.
5. The terminal transition treatment through the radius that sets up of free end of grip block, the purpose prevents that the unexpected condition in the course of the work from taking place, can prevent after the radius is handled that the manipulator can not cause the injury to the operation workman when the unexpected condition takes place.
6. The supporting arm is of a telescopic rod structure and comprises an inner pipe and an outer pipe which are coaxially arranged, the outer pipe is fixedly arranged on the rotating seat, a plurality of sliding wheels driven by a motor are arranged on the outer side wall of the inner pipe, and sliding tracks corresponding to the sliding wheels in number are arranged on the inner side wall of the outer pipe; the telescopic support arm can satisfy more use scenes, follows the slip track through setting up by motor drive's movable pulley, guarantees that the telescopic link is more steady when reciprocating.
7. Shoot the discernment to arm all ring edge borders in advance through rotatable binocular vision sensor, avoid taking place to interfere the collision with the barrier that the periphery probably exists in the arm working process, the camera can be treated the position distance of picking up the article simultaneously and carry out accurate discernment, and then feed back the computer and handle, then carry out analysis planning out reasonable path through the computer, feed back to the arm, similar map navigation is the same, accomplish accurate efficient clamp and get the operation.
8. In the work of pressing to the button to the arm, can judge the distance in advance through two mesh vision sensors, and then the arm begins work and constantly approaches the button, then touches the button through the end of grip block, accomplishes accurate high-efficient.
Drawings
FIG. 1 is a simplified schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of a support arm according to the present invention;
FIG. 3 is a schematic view of the clamping mechanism of the present invention;
FIG. 4 is a schematic front view of the clamping mechanism of the present invention;
FIG. 5 is a schematic view of the clamping mechanism of the present invention gripping and opening;
fig. 6 is a perspective view of the second connecting plate of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 6, a robot arm based on visual recognition control is provided in the first embodiment, which is used for performing pre-recognition and accurate grabbing on a workpiece, and includes a base 1, a support structure 2 disposed on the base 1, and a clamping mechanism 3 disposed on a free end of the support structure 2;
the supporting structure 2 is connected with the base 1 and the clamping mechanism 3, the edge of the lower surface of the base 1 is provided with a stabilizing foot 4, the center of the upper surface of the base 1 is provided with a rotating seat 11, the rotating seat 11 can horizontally rotate on the base 1 by 360 degrees, the supporting structure 2 comprises a supporting arm 21 and a bending arm 22, the supporting arm 21 is fixedly arranged on the rotating seat 11, and the bending arm 22 is rotatably connected with the supporting arm 21;
the clamping mechanism 3 comprises a support frame 31, a base 32 and a top seat 33 which are fixedly arranged at two ends of the support frame 31, a spiral push rod 34 penetrating through the base 32 and the top seat 33, and a sliding block 35 arranged on the spiral rod 34, wherein the support frame 31 is connected with the support arm 21, the sliding block 35 reciprocates between the base 32 and the top seat 33 through the spiral push rod 34 in the support frame 31, two first connecting plates 36 are symmetrically hinged on the sliding block 35, second connecting plates 37 are arranged at two ends of the top seat 33, the center position of the second connecting plate 37 is hinged with the top seat 33, one end of the second connecting plate 37 is hinged with the first connecting plate 36, the other end is hinged with a clamping plate 39, a third connecting plate 38 is hinged on the top seat 33, and the third connecting plate 38 is hinged with the clamping plate 39, the rotatable binocular vision sensor 5 is arranged on the top seat 33, the second connecting plate 37 comprises side plates 372 which are symmetrical and parallel to each other and a bottom plate 371 which connects the two side plates 372, the side plates 372 are of an isosceles triangle structure, and two bottom angles are respectively hinged with the clamping plate 39 and the first connecting plate 36;
the tail end of the clamping plate 39 is provided with a pressure sensor 6 for detecting the pressing force, and the pressure sensor 6 is a piezoelectric pressure sensor.
The clamping surfaces of the clamping plates 39 are always kept parallel, the clamping surfaces of the clamping plates are provided with buffer layers 391, the surfaces of the buffer layers 391 are in a sawtooth shape, the buffer layers 391 are made of rubber materials, the tail ends of the free ends of the clamping plates 39 are subjected to rounded transition treatment, the supporting arms 21 are of telescopic rod structures and comprise inner tubes 211 and outer tubes 212 which are coaxially arranged, the outer tubes 212 are fixedly arranged on the rotating seat 11, the outer side walls of the inner tubes 211 are provided with a plurality of sliding wheels 213 driven by motors, and the inner side walls of the outer tubes 212 are provided with sliding tracks 214 matched with the sliding wheels 213.
The surface of the buffer layer 391 can be further set to be wavy, the material can be replaced by other flexible materials, such as sponge materials or cotton cloth materials, the stabilizing feet 4 are disc-type supporting feet, rigid materials and flexible materials can be adopted, the simulation sucker is firmly adsorbed on the ground, the mechanical arm is guaranteed not to slide in the working process, the pressure sensor 6 can also adopt other known pressure sensors in the mechanical and electronic field, such as a semiconductor strain gauge pressure sensor, a piezoresistive pressure sensor, a capacitive piezoelectric sensor or an optical fiber pressure sensor.
The working mode of the invention is as follows:
1) the spiral push rod 34 drives the sliding block to move towards the top seat, and simultaneously drives the first connecting plate 36 and the second connecting plate 37 to actively open the clamping plate 39, and the third connecting plate 38 keeps the stability of the clamping plate;
2) the rotatable binocular vision sensor 5 arranged on the top seat 33 starts to work, scans and identifies surrounding objects, and transmits data to a computer for intelligent analysis;
3) the computer analyzes the data collected by the binocular vision sensor 5 to obtain the position information of the object to be picked and then forms an instruction to be fed back to the mechanical arm;
4) the mechanical arm rotates 360 degrees on the horizontal plane through the rotating seat 11, moves up and down through a telescopic rod structure on the supporting arm 21, and moves the clamping plate 39 to the object to be picked up or around the button to be pressed through the rotatable supporting arm 21;
5) the sliding block 35 moves towards the base 32, and simultaneously drives the first connecting plate 36 and the second connecting plate 37 to enable the clamping plate 39 to clamp the object to be picked inwards or press the button, the third connecting plate 38 keeps the stability of the clamping plate in the clamping process, and if the button is pressed, the pressure sensor 6 contacts the button and controls the pressing strength of the button through a preset value to avoid excessively pressing the button to damage the button;
6) the mechanical arm returns to the initial position through the original preset path and then transports the object to be picked to the specified position, and if the key is pressed, the mechanical arm returns to the initial position and then is static.
The invention can be applied to the automatic pressing scene of the elevator keys, and the specific working mode is as follows:
a) recognizing character keys in the environment through a binocular vision sensor 5 on the mechanical arm and feeding back the character keys to a central computer, and analyzing the acquired image by the computer and judging information such as distance, path and the like to feed back to the mechanical arm;
b) the mechanical arm starts to work, continuously approaches to the elevator key according to a specified path, then touches the key through the tail end of the clamping plate 39, lights up and identifies the opening of the elevator door through the binocular vision sensor 5;
c) and after the equipment enters the elevator, the mechanical arm repeats the steps a) and b) to touch the corresponding floor button.
The binocular vision sensor 5 is a known device, the working principle of the binocular vision sensor is that the identification heel distance measurement is firstly carried out on a target object, and the binocular vision sensor which is manufactured by OAK and has the model of SJ2088POE can be adopted.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a mechanical arm based on visual identification is controlled for carry out discernment in advance and accurate snatching and the pressing to operating button to the work piece, its characterized in that: the clamping device comprises a base, a supporting structure arranged on the base and a clamping mechanism arranged on the free end of the supporting structure, wherein the supporting structure is connected with the base and the clamping mechanism;
the edge of the lower surface of the base is provided with a stabilizing foot, the center of the upper surface of the base is provided with a rotating seat, and the rotating seat can horizontally rotate on the base for 360 degrees;
the supporting structure comprises a supporting arm and a bending arm, the supporting arm is fixedly arranged on the rotating seat, and the bending arm is rotatably connected with the supporting arm;
the clamping mechanism comprises a supporting frame, a base and a top seat which are fixedly arranged at the two ends of the supporting frame, a spiral push rod which is arranged on the base and the top seat in a penetrating way, and a sliding block which is arranged on the spiral rod, the support frame is connected with the support arm, the sliding block reciprocates between the base and the top seat in the support frame through the spiral push rod, two first connecting plates are symmetrically hinged on the sliding block, second connecting plates are arranged at two ends of the top seat, the center of the second connecting plate is hinged with the top seat, one end of the second connecting plate is hinged with the first connecting plate, the other end of the second connecting plate is hinged with a clamping plate, a third connecting plate is hinged on the top seat and is hinged with the clamping plate, the rotatable binocular vision sensor is arranged on the top seat, and the tail end of the clamping plate is provided with a pressure sensor used for detecting the pressing force.
2. The mechanical arm based on visual recognition control as claimed in claim 1, wherein: the second connecting plate comprises side plates and a bottom plate, the side plates are symmetrical and parallel to each other, the bottom plate is connected with the two side plates, the side plates are of an isosceles triangle structure, and the two bottom angles are respectively hinged with the clamping plate and the first connecting plate.
3. The mechanical arm based on visual recognition control as claimed in claim 1, wherein: the clamping surfaces of the clamping plates are always kept parallel, and buffer layers are arranged on the clamping surfaces of the clamping plates.
4. The mechanical arm based on visual recognition control as claimed in claim 3, wherein: the buffer layer surface is wave or zigzag, the buffer layer is rubber material or sponge material or cotton material.
5. A robotic arm based on visual recognition manipulation according to any of claims 1-4, wherein: the tail end of the free end of the clamping plate is provided with rounded transition treatment.
6. The mechanical arm based on visual recognition control as claimed in claim 5, wherein: the support arm is telescopic rod structure, including the inner tube of coaxial setting with the outer tube, the outer tube is fixed set up in on the roating seat, be provided with a plurality of movable pulleys by motor drive on the lateral wall of inner tube, be provided with the slip track with movable pulley matched with on the inside wall of outer tube.
7. Use of a robotic arm based on visual recognition maneuvers according to claim 1, characterized in that it comprises the following steps:
1) the spiral push rod drives the sliding block to move towards the top seat, and simultaneously drives the first connecting plate and the second connecting plate to actively open the clamping plate, and the third connecting plate keeps the stability of the clamping plate;
2) the rotatable binocular vision sensor arranged on the top seat starts to work, scans and identifies surrounding objects, and transmits data to a computer for intelligent analysis;
3) the computer analyzes the data acquired by the binocular vision sensor to obtain the position information of the object to be picked and then forms an instruction to be fed back to the mechanical arm;
4) the mechanical arm rotates 360 degrees on the horizontal plane through the rotating seat, moves up and down through a telescopic rod structure on the supporting arm, and moves the clamping plate to the object to be picked up or around the button to be pressed through the rotatable supporting arm;
5) the sliding block moves towards the base, and meanwhile, the first connecting plate and the second connecting plate are driven to enable the clamping plate to clamp the object to be picked inwards or press the button, the third connecting plate keeps the stability of the clamping plate in the clamping process, and if the button is pressed, the pressure sensor contacts the button and controls the pressing strength of the button through a preset value to avoid excessively pressing the button to damage the button;
6) the mechanical arm returns to the initial position through the original preset path and then transports the object to be picked to the specified position, and if the key is pressed, the mechanical arm returns to the initial position and then is static.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111442581.0A CN114043482A (en) | 2021-11-30 | 2021-11-30 | Mechanical arm based on visual identification control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111442581.0A CN114043482A (en) | 2021-11-30 | 2021-11-30 | Mechanical arm based on visual identification control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434432A (en) * | 2022-04-08 | 2022-05-06 | 中测智联(深圳)科技有限公司 | Clamping manipulator for visual recognition software development |
| CN114919993A (en) * | 2022-05-31 | 2022-08-19 | 无锡图创智能科技有限公司 | 3D vision automatic identification snatchs feeding system |
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