CN114160434B - Automatic system for dynamic sorting and carrying - Google Patents
Automatic system for dynamic sorting and carrying Download PDFInfo
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- CN114160434B CN114160434B CN202111498249.6A CN202111498249A CN114160434B CN 114160434 B CN114160434 B CN 114160434B CN 202111498249 A CN202111498249 A CN 202111498249A CN 114160434 B CN114160434 B CN 114160434B
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Classifications
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- 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
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- 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
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- 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
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- 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
- B65G47/905—Control arrangements
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the field of online detection of products, in particular to a dynamic sorting and carrying automation system which comprises a conveying device, a detection box, a control box, a driving device, a placing disc and a fixing frame, wherein the conveying device is used for conveying products to be sorted; the detection box is internally provided with an illuminating lamp, and is provided with an induction module, a sealing door assembly and two manipulators A; the conveying devices are arranged in two and distributed on two sides of the detection box; the driving device is connected with the inner wall of the detection box and is in transmission connection with the placement disc; the fixing frame is arranged in the detection box; the fixing frame is provided with a plurality of image acquisition modules and a plurality of light supplementing modules; the control box is connected with the detection box, is provided with a key module and a display screen, and is internally provided with a central processing unit, a data acquisition module, an image light analysis module, a calling module, a comparison analysis module and a database. The invention has the advantages of convenient use, high efficiency and high speed detection on the appearance of the product and good detection effect.
Description
Technical Field
The invention relates to the field of online detection of products, in particular to a dynamic sorting and carrying automation system.
Background
Most of the products after production are manually sorted or the products are classified by naked eyes, the manual sorting efficiency is low, the human eye fatigue of operators can be greatly reduced by long-time observation of human eyes, and defective products are not easy to pick. Although the product is detected by the robot vision detection equipment at present, when the product is shot to acquire information, the product often has inconsistent brightness in the acquired image information due to factors such as shape, reflection and the like, and when the acquired information is analyzed, the detection result has large deviation and low detection precision.
Disclosure of Invention
The invention aims at solving the problems in the background technology and provides a dynamic sorting and carrying automation system capable of improving the appearance detection accuracy of products.
The technical scheme of the invention is as follows: a dynamic sorting and carrying automation system comprises a conveying device, a detection box, a control box, a driving device, a placing tray and a fixing frame;
the lower end face of the detection box is provided with a plurality of support columns, the detection box is internally provided with an illuminating lamp, two side end faces of the detection box are respectively provided with two openings, the detection box is provided with an induction module on the end face provided with the openings, the detection box is provided with two sealing door assemblies for sealing or opening the two openings, and the detection box is provided with two manipulators A;
the conveying device is provided with two conveying devices; one end of each of the two conveying devices is positioned at one side of the two openings, the other end of each of the two conveying devices is distributed along one side far away from the detection box, one side of each conveying device is provided with a manipulator B, and the conveying devices and the manipulators A are in one-to-one correspondence with the openings;
the driving device is connected with the inner wall of the detection box, and an output shaft of the driving device is connected with the placing disc; the fixing frame is arranged in the detection box; the placing plate is positioned at the inner side of the fixing frame; a plurality of image acquisition modules and a plurality of light supplementing modules are uniformly arranged on the inner end surface of the fixing frame facing the placing plate; the image acquisition modules and the light supplementing modules are in one-to-one correspondence;
the control box is connected with the detection box, a key module and a display screen are arranged on the control box, and a central processing unit, a data acquisition module, an image light analysis module, a calling module, a comparison analysis module and a database are arranged in the control box;
the sensing module, the key module, the display screen, the plurality of image acquisition modules, the data acquisition module, the image light analysis module, the calling module, the comparison analysis module and the database are all in communication connection with the central processing unit; the central processing unit is respectively in control connection with the light supplementing modules, the driving device, the two manipulators A, the two manipulators B, the two sealing door assemblies and the illuminating lamp.
Preferably, each sealing door assembly comprises two fixing plates, a plurality of telescopic devices and a door body; the bottom surface of the detection box is provided with a strip-shaped hole;
the two fixing plates are connected with the inner wall of the detection box, the two fixing plates are positioned at two sides of the opening, and the end surfaces of the two fixing plates, which are close to each other, are provided with sliding grooves;
the fixed ends of the telescopic devices are connected with the bottom surface of the detection box, and the telescopic ends of the telescopic devices are connected with the door body; the door body slides through the bar-shaped hole, and both sides of the door body are in sliding connection with the sliding groove.
Preferably, the inner wall of the strip-shaped hole is provided with an elastic sealing layer.
Preferably, each support column is of a telescoping construction.
Preferably, a communication module is also arranged in the control box; the communication module is in communication connection with the central processing unit.
Preferably, an updating module is also arranged in the control box; the updating module is respectively in communication connection with the central processing unit and the database.
The application method of the dynamic sorting and carrying automation system specifically comprises the following steps:
s1, placing a product to be detected on a conveying device at one side for conveying;
s2, when the sensing module at one side detects a product, the central processing unit controls the sealing door assembly at one side to be opened, and controls the mechanical arm A at one side to convey the product into the detection box from the opening at one side, and the product is placed on the placement disc;
s3, the central processing unit controls the mechanical arm A and the sealing door assembly to reset, and controls the driving device to operate, and the driving device drives the placing disc to rotate;
s4, the data acquisition module acquires image information A acquired by the image acquisition modules;
s5, the image light analysis module analyzes and determines the brightness of the image information A,
if the brightness of the image information A is qualified, the image information A is reserved, and S6 is continuously executed;
if the brightness in the image information A is not qualified, the central processing unit controls the light supplementing module to adjust the brightness, and the S4 is continuously executed;
s6, the comparison analysis module identifies the product in the image information A, and retrieves the detection information of the product from the database, and analyzes and judges whether the product in the image information A is qualified or not;
s7, after the detection is finished, the central processing unit controls the sealing door assembly on the other side to be opened, and controls the mechanical arm A on the other side to take out the product on the placing disc from the opening on the other side and place the product on the conveying device on the other side;
s8, the central processing unit controls the manipulator B beside the conveying device at the other side to take down the detected product.
Preferably, the central processing unit is in communication connection with the background terminal through the communication module, and updates the received product information into the database through the updating module.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial technical effects:
the invention can replace manual work to detect the appearance of the product with high efficiency and high speed, adopts the mode of image acquisition to analyze and detect the appearance of the product, intelligently controls shooting light rays during image acquisition, ensures that the brightness in the obtained image information meets the requirement, and then carries out comparative analysis with the information of qualified products stored in the system to judge whether the appearance of the current product is qualified or not; the invention has the advantages of convenient use, high degree of institutional, good detection effect on products, greatly reduced probability of outflow of unqualified products and contribution to improving the public praise reputation of enterprises.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a cross-sectional view of the inspection box of fig. 1 in accordance with the present invention.
Fig. 3 is a schematic block diagram of an embodiment of the present invention.
Reference numerals: 1. a conveying device; 3. a manipulator A; 4. a manipulator B; 5. a detection box; 6. an opening; 7. a control box; 8. a support column; 9. a door body; 10. a telescoping device; 11. a driving device; 12. placing a tray; 13. a fixing frame; 14. an image acquisition module; 15. a light supplementing module; 16. a fixing plate; 101. a central processing unit; 102. a data acquisition module; 103. an image light analysis module; 104. a calling module; 105. a contrast analysis module; 106. a database; 107. and updating the module.
Detailed Description
Example 1
As shown in fig. 1-3, the invention provides a dynamic sorting and carrying automation system, which comprises a conveying device 1, a detection box 5, a control box 7, a driving device 11, a placing tray 12 and a fixing frame 13;
the lower end face of the detection box 5 is provided with a plurality of support columns 8, each support column 8 is of a telescopic structure, and the height of the detection box 5 can be adjusted through the support columns 8;
the detection box 5 is internally provided with an illuminating lamp, two side end faces of the detection box 5 are respectively provided with two openings 6, the end face provided with the openings 6 of the detection box 5 is provided with an induction module, and the induction module is used for detecting whether articles exist on the front side of the openings 6; two sealing door assemblies for sealing or opening the two openings 6 are arranged on the detection box 5, and two manipulators A3 are arranged on the detection box 5;
the conveying device 1 is provided with two conveying devices; one end of each of the two conveying devices 1 is respectively positioned at one side of the two openings 6, the other end of each of the two conveying devices 1 is respectively distributed along one side far away from the detection box 5, one side of each conveying device 1 is provided with a manipulator B, and the conveying devices 1 and the manipulators A3 are in one-to-one correspondence with the openings 6;
the driving device 11 is connected with the inner wall of the detection box 5, and an output shaft of the driving device 11 is connected with the placing disc 12; the placing plate 12 is made of transparent materials; the driving device 11 is a variable frequency motor;
the fixing frame 13 is arranged in the detection box 5; the placing plate 12 is positioned on the inner side of the fixing frame 13; the inner end surface of the fixing frame 13 facing the placing plate 12 is uniformly provided with a plurality of image acquisition modules 14 and a plurality of light supplementing modules 15; the image acquisition modules 14 and the light supplementing modules 15 are in one-to-one correspondence;
further, the fixing frame 13 is of an incomplete annular structure, so that the plurality of image acquisition modules 14 mounted on the fixing frame 13 are distributed uniformly and almost circumferentially, and of course, in order to make the plurality of image acquisition modules 14 distributed uniformly and almost circumferentially, the image acquisition modules 14 and the light supplementing modules 15 can be mounted on the inner bottom surface of the detection box 5;
the control box 7 is connected with the detection box 5, a key module and a display screen are arranged on the control box 7, and a central processing unit 101, a data acquisition module 102, an image light analysis module 103, a retrieval module 104, a comparison analysis module 105 and a database 106 are arranged in the control box 7;
the sensing module, the key module, the display screen, the plurality of image acquisition modules 14, the data acquisition module 102, the image light analysis module 103, the retrieval module 104, the contrast analysis module 105 and the database 106 are all in communication connection with the central processing unit 101; the central processing unit 101 is respectively in control connection with a plurality of light supplementing modules 15, a driving device 11, two manipulators A3, two manipulators B, two sealing door assemblies and an illuminating lamp.
Example two
As shown in fig. 1-2, the present invention provides a dynamic sorting and handling automation system, and compared with the first embodiment, the present embodiment also discloses a specific structure of the sealing door assembly; each sealing door assembly comprises two fixing plates 16, a plurality of telescopic devices 10 and a door body 9; the bottom surface of the detection box 5 is provided with a strip-shaped hole;
the two fixing plates 16 are connected with the inner wall of the detection box 5, the two fixing plates 16 are positioned at two sides of the opening 6, and sliding grooves are formed in the end faces, close to each other, of the two fixing plates 16;
the fixed ends of the telescopic devices 10 are connected with the bottom surface of the detection box 5, the telescopic ends of the telescopic devices 10 are connected with the door body 9, and the telescopic devices 10 are controlled and connected with the central processing unit 101;
the door body 9 slides through the strip-shaped hole, and both sides of the door body 9 are connected with the sliding groove in a sliding manner;
furthermore, the inner wall of the strip-shaped hole is provided with an elastic sealing layer, so that good sealing performance is realized between the door body 9 and the strip-shaped hole, and light leakage is avoided; the upper end face of the door body 9 and the end face of the door body 9 in sliding fit with the sliding groove are both provided with sealing layers.
In use, the central processing unit 101 controls the telescopic devices 10 to operate so as to drive the door body 9 to slide up and down along the length direction of the fixed plate 16, and then the opening 6 is opened or the opening 6 is sealed through the door body 9.
Example III
As shown in fig. 3, the present invention provides a dynamic sorting and handling automation system, which further includes a storage module, a communication module and an update module compared with the first embodiment; the storage module communication module and the updating module are all arranged in the control box 7;
the communication module is in communication connection with the central processing unit 101, and is used for enabling the central processing unit 101 to establish data transmission with the background terminal, receiving data information sent by the background terminal and sending detection results stored in the central processing unit 101 to the background terminal;
the updating module 107 is respectively in communication connection with the central processing unit 101 and the database 106, and the updating module 107 is used for updating the product information sent by the background terminal into the database 106;
the storage module is in communication connection with the central processing unit 101, and is used for storing the detection result.
Example IV
The application method of the dynamic sorting and carrying automation system specifically comprises the following steps:
s1, placing a product to be detected on a conveying device 1 at one side for conveying;
s2, when the one-side sensing module detects a product, the central processing unit 101 controls the one-side sealing door assembly to be opened, and controls the one-side manipulator A3 to convey the product into the detection box 5 from the one-side opening 6, and the product is placed on the placement tray 12;
s3, the central processing unit 101 controls the mechanical arm A3 and the sealing door assembly to reset, and controls the driving device 11 to operate, and the driving device 11 drives the placing disc 12 to rotate;
s4, the data acquisition module 102 acquires image information A acquired by the plurality of image acquisition modules 14;
s5, the image light analysis module 103 analyzes and determines the brightness of the image information A,
if the brightness of the image information A is qualified, the image information A is reserved, and S6 is continuously executed;
if the brightness in the image information a is not qualified, the central processing unit 101 controls the light compensation module 15 to perform brightness adjustment, and continues to execute S4;
s6, the comparison analysis module 105 identifies the product in the image information A, retrieves the detection information of the product from the database 106, analyzes and judges whether the product in the image information A is qualified;
s7, after the detection is finished, the central processing unit 101 controls the sealing door assembly on the other side to be opened, and controls the mechanical arm A3 on the other side to take out the product on the placing tray 12 from the opening 6 on the other side and place the product on the conveying device 1 on the other side;
s8, the central processing unit 101 controls the manipulator B beside the other side conveying device 1 to take down the detected product, and if the product is qualified, the manipulator B clamps the product to a qualified conveying line for the next processing of the product; if the product is unqualified, the mechanical arm B clamps the product to the unqualified conveying line for the next processing.
When the image information can be acquired for the product to be detected, the brightness of the image is controlled, so that the brightness in the acquired image information is consistent, and the acquired image information is compared with the qualified product information under the same light adjustment, so that whether the appearance of the product meets the requirement is finally determined, and the accuracy of the appearance inspection of the product can be greatly improved;
in addition, the method of using the dynamic sorting and handling automation system can also be applied to sort products.
Example five
Compared with the fourth embodiment, the use method of the dynamic sorting and carrying automation system provided by the invention further comprises that the central processing unit 101 is in communication connection with the background terminal through the communication module, and the received product information is updated into the database 106 through the updating module 107.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. The dynamic sorting and carrying automation system is characterized by comprising a conveying device (1), a detection box (5), a control box (7), a driving device (11), a placing disc (12) and a fixing frame (13);
the lower end face of the detection box (5) is provided with a plurality of support columns (8), the detection box (5) is internally provided with an illuminating lamp, two side end faces of the detection box (5) are respectively provided with two openings (6), the detection box (5) is provided with an induction module on the end face provided with the openings (6), the detection box (5) is provided with two sealing door assemblies for sealing or opening the two openings (6), and the detection box (5) is provided with two manipulators A (3);
the conveying device (1) is provided with two conveying devices; one end of each of the two conveying devices (1) is respectively positioned at one side of the two openings (6), the other end of each of the two conveying devices is respectively distributed along one side far away from the detection box (5), one side of each conveying device (1) is provided with a manipulator B, and the conveying devices (1), the manipulators A (3) and the openings (6) are in one-to-one correspondence;
the driving device (11) is connected with the inner wall of the detection box (5), and an output shaft of the driving device (11) is connected with the placing disc (12); the fixing frame (13) is arranged in the detection box (5); the placing plate (12) is positioned at the inner side of the fixing frame (13); a plurality of image acquisition modules (14) and a plurality of light supplementing modules (15) are uniformly arranged on the inner end surface of the fixing frame (13) facing the placing plate (12); the image acquisition modules are in one-to-one correspondence with the light supplementing modules (15);
the control box (7) is connected with the detection box (5), a key module and a display screen are arranged on the control box (7), and a central processing unit (101), a data acquisition module (102), an image light analysis module (103), a calling module (104), a comparison analysis module (105) and a database (106) are arranged in the control box (7);
the sensing module, the key module, the display screen, the plurality of image acquisition modules (14), the data acquisition module (102), the image light analysis module (103), the calling module (104), the comparison analysis module (105) and the database (106) are all in communication connection with the central processing unit (101); the central processing unit is respectively in control connection with the light supplementing modules (15), the driving device (11), the two manipulators A, the two manipulators B, the two sealing door assemblies and the illuminating lamp.
2. A dynamic sorting and handling automation system according to claim 1, characterized in that each sealing door assembly comprises two fixed plates (16), a plurality of telescopic devices (10) and a door body (9); the bottom surface of the detection box (5) is provided with a strip-shaped hole;
the two fixing plates (16) are connected with the inner wall of the detection box (5), the two fixing plates (16) are positioned at two sides of the opening (6), and sliding grooves are formed in the end faces, close to each other, of the two fixing plates (16);
the fixed ends of the telescopic devices (10) are connected with the bottom surface of the detection box (5), and the telescopic ends of the telescopic devices (10) are connected with the door body (9); the door body (9) passes through the strip-shaped hole in a sliding way, and both sides of the door body (9) are connected with the sliding groove in a sliding way.
3. A dynamic sorting and handling automation system according to claim 1, characterised in that the inner wall of the strip-shaped aperture is provided with an elastic sealing layer.
4. A dynamic sorting and handling automation system according to claim 1, characterised in that each support column (8) is of telescopic construction.
5. A dynamic sorting and handling automation system according to claim 1, characterized in that the control box (7) is also provided with a communication module; the communication module is in communication connection with the central processing unit (101).
6. A dynamic sorting and handling automation system according to claim 4, characterized in that the control box (7) is also provided with an update module (107); the updating module (107) is respectively in communication connection with the central processing unit (101) and the database (106).
7. A method of using a dynamic sorting and handling automation system comprising a dynamic sorting and handling automation system according to any of claims 1-6, characterized in that it comprises in particular the following steps:
s1, placing a product to be detected on a conveying device (1) at one side for conveying;
s2, when the sensing module at one side detects a product, the central processing unit (101) controls the sealing door assembly at one side to be opened, and controls the manipulator A (3) at one side to convey the product into the detection box (5) from the opening (6) at one side, and the product is placed on the placement disc (12);
s3, a central processing unit (101) controls the mechanical arm A (3) and the sealing door assembly to reset, and controls a driving device (11) to operate, and the driving device (11) drives a placing disc (12) to rotate;
s4, the data acquisition module (102) acquires image information A acquired by the image acquisition modules (14);
s5, the image light analysis module (103) analyzes and determines the brightness of the image information A,
if the brightness of the image information A is qualified, the image information A is reserved, and S6 is continuously executed;
if the brightness in the image information A is unqualified, the central processing unit (101) controls the light supplementing module (15) to adjust the brightness, and the S4 is continuously executed;
s6, a comparison analysis module (105) identifies the product in the image information A, and retrieves the detection information of the product from a database (106), analyzes and judges whether the product in the image information A is qualified;
s7, after the detection is finished, the central processing unit (101) controls the sealing door assembly on the other side to be opened, and controls the mechanical arm A (3) on the other side to take out the product on the placing disc (12) from the opening (6) on the other side and place the product on the conveying device (1) on the other side;
s8, the central processing unit (101) controls the manipulator B beside the other side conveying device (1) to take down the detected product.
8. The method according to claim 7, wherein the central processing unit (101) is communicatively connected to the background terminal via a communication module, and updates the received product information to the database (106) via an update module (107).
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| CN202111498249.6A CN114160434B (en) | 2021-12-09 | 2021-12-09 | Automatic system for dynamic sorting and carrying |
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| CN105416650A (en) * | 2015-12-16 | 2016-03-23 | 湖南湘光机械模具有限公司 | Automatic dust cap sleeving device and method |
| CN107515226A (en) * | 2017-09-22 | 2017-12-26 | 苏州天键衡电子信息科技有限公司 | A kind of method of work of the image measuring device of product automatic detection sorting |
| WO2019126905A1 (en) * | 2017-12-29 | 2019-07-04 | 陈建宇 | Beverage bottle sorting device |
| CN109530255A (en) * | 2019-01-11 | 2019-03-29 | 蚌埠汉策供应链有限公司 | A kind of intelligent sorting equipment |
| CN110092224A (en) * | 2019-05-14 | 2019-08-06 | 浙江圣德隆服饰有限公司 | A kind of cloth inspecting and rolling machine for silk dyeing and finishing technique |
| CN212229739U (en) * | 2019-05-14 | 2020-12-25 | 克莱维罗股份公司 | Console assembly for terminal for automatic access of retail goods |
| CN211070921U (en) * | 2019-09-03 | 2020-07-24 | 广州能源检测研究院 | Instrument appearance detection device based on 3D scanning method |
| CN111596624A (en) * | 2020-05-20 | 2020-08-28 | 芜湖职业技术学院 | Take safety monitoring's food production control system |
| CN112264316A (en) * | 2020-09-22 | 2021-01-26 | 苏州徽盈纺织科技有限公司 | Automatic sorting equipment and method for textile materials |
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