CN101178599A - Finishing machine image positioning control system and control method thereof - Google Patents
Finishing machine image positioning control system and control method thereof Download PDFInfo
- Publication number
- CN101178599A CN101178599A CNA2007101906189A CN200710190618A CN101178599A CN 101178599 A CN101178599 A CN 101178599A CN A2007101906189 A CNA2007101906189 A CN A2007101906189A CN 200710190618 A CN200710190618 A CN 200710190618A CN 101178599 A CN101178599 A CN 101178599A
- Authority
- CN
- China
- Prior art keywords
- finishing machine
- product
- machine image
- control system
- rotating disk
- 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.)
- Granted
Links
Images
Abstract
The invention discloses an image location control system of a finishing machine and the control method, which relates to a peripheral device control system specially matched with the finishing machine (a trimming press), and is suitable for the relevant industries such as powder metallurgy and magnetic materials, etc. The control system consists of an image mechanism, a programmable logic controller (PLC), a servo drive device and a feed mechanism. The image mechanism of the finishing machine consists of an integral plate card chip MVS-8100L for image processing, an industrial computer, a camera, a back surface light and a display; a core processing unit CPU of the programmable logic controller (PLC) is provided with two RS-485 communication ports, and one of the ports is a free communication port conducting serial communication with the image mechanism and receiving the data from the image mechanism, namely the angle deviation of actual products; the programmable logic controller changes the received angel deviation into pulse number and sends the corresponding pulse number to the servo controller through the a position module; the servo controller drives the servo motor to control and regulate the rotation direction and the angle of a rotary table.
Description
Technical field
What finishing machine image positioning control system of the present invention and control method thereof related to is to aim at the supporting peripheral unit control system of finishing machine (shaping press), is applicable to relevant industries such as powder metallurgy, magnetic material.
Background technology
At present finishing machine generally adopts the mode of artificial location and feeding, and time-consuming effort again is difficult to realize the robotization of producing, and place with product the artificial location that participates in, reduce the safety coefficient of whole production, increased potential safety hazard, and manually located product, make its precision be subjected to certain limitation, press need decommission during artificial simultaneously the placement, just opens after the adjustment, has just caused the frequent starting of finishing machine, shorten the serviceable life of associated components, and greatly reduced production efficiency.
Summary of the invention
The objective of the invention is provides a kind of finishing machine image positioning control system and control method thereof at above weak point, product is taken pictures and compare by camera lens with the standardized product orientation, rotate by programmable controller PLC control servomotor again that rotating disk is adjusted and the extracting of mechanical arm, can realize the accurate location of different complicated shape products and the placement quick and precisely of product; Can realize the serialization and the robotization of producing realizing that a people keeps an eye on many machines by finishing machine image positioning control system, greatly improve throughput rate, and the finishing process do not need artificial participation, greatly reduce rejection rate, safe and reliable.
Finishing machine image positioning control system and control method thereof realize by following scheme:
Finishing machine image positioning control system mainly is made up of finishing machine image mechanism, programmable controller (PLC), servo drive and feed mechanism.Finishing machine image mechanism adopts U.S.'s Cognex (Cognex) integrated form system, and programmable controller (PLC) is selected Siemens S7-200 for use, and servo drive adopts Delta (ASDA) series.
Finishing machine image mechanism adopts U.S.'s Cognex (Cognex) integrated form system, mainly is made up of jointly image processing integrated form integrated circuit board chip MVS-8100L, industrial computer, camera, back of the body light and display; Image processing integrated form integrated circuit board chip MVS-8100L is the core of finishing machine image mechanism, it is inserted on the industrial computer by the pci card groove, wherein industrial computer adopts Ling Huaji, display is 17 cun Philip LCD, camera adopts Sony XC-ST50, its pixel can reach 300,000, in industrial camera, belong to high pixel product, it is installed in the top of adjusting rotating disk, link to each other with industrial computer by private cable 300-0181-15, back of the body light is made up of several crystal illuminators (LED), be installed in the rotating disk bottom, light source required when taking a picture is provided, this kind light stability is reliable, antijamming capability is strong, be not subjected to the influence of external light source, thereby can guarantee shooting quality, the resolving accuracy of finishing machine image mechanism can reach 0.01 degree, shooting speed can reach the hundreds of microsecond, when finishing machine image mechanism is in continuous running status (Online state), and programmable controller (PLC) detects to adjust when on the rotating disk product being arranged just launches a trigger pip (trigger signal) by the I/O port to image processing integrated form integrated circuit board chip (MVS-8100L), accepting this order back is taken pictures to product by camera, picture is shown by display, by the dedicated processes software VisionPro that is installed in image processing integrated form integrated circuit board chip (MVS-8100L) on the industrial computer picture is analyzed simultaneously, drawn the misalignment angle of unique point.
The processing core cell CPU of programmable controller (PLC) S7-200 (the CPU model is 216-2AD23-0XB8) has two RS-485 communication interfaces, one of them can be defined as free interface communication and finishing machine image mechanism carries out serial communication, reception is from the data of finishing machine image mechanism, it is the misalignment angle of actual product, programmable controller converts umber of pulse to receiving the misalignment angle of coming, and corresponding umber of pulse is sent to servo controller with train of impulses output form (PTO) by its position module (EM253), drive rotation direction and the angle that servomotor is controlled rotating disk by servo controller.
Servo drive is made up of servo controller and servomotor, two connecting lines are arranged between servo controller and the servomotor, the one, the power lead of servomotor, be to provide by the servo controller output interface, the 2nd, servomotor encoder feedback signal wire, servomotor feeds back to the signal of its scrambler the detector interface of servo controller by this feedback signal line, servo controller compares the given pulse value of it and PLC, promptly realize a closed-loop control, thereby reached a dynamic balance state.
Feed mechanism comprises adjusts rotating disk, gripping cylinder, gripping mechanical arm and feeding cylinder (can select rod-free cylinder for use), the feeding cylinder has rail plate, aerodynamic slider, the dead electricity that gets by solenoid valve is controlled the break-make gas of feeding cylinder to drive the back and forth movement of aerodynamic slider on rail plate, promptly between adjustment rotating disk and concave template, do and move back and forth, the gripping cylinder is housed on the aerodynamic slider, the gripping mechanical arm is housed in its underpart, is used for grasping the product of adjusting on the adjustment rotating disk.
The control method of finishing machine image positioning control system is as follows:
In advance product is placed on and adjusts on the rotating disk, manual adjustment is to its correct station, adjusting the camera of rotating disk top finishing machine image mechanism takes pictures to product, there are aperture adjustment and focal length to adjust two knobs on the camera lens, it is the most clear up to the product image that generates to adjust two knobs, again the image of this standard is stored in the industrial computer storer, and by being installed in the unique point that monitoring on the industrial computer and function software (VisionPro) calibrate product, in product finishing process, programmable controller (PLC) detects and sends a trigger pip when on the rotating disk product being arranged to image processing integrated form integrated circuit board chip MVS-8100L, the triggering camera was taken pictures to product after image processing integrated form integrated circuit board chip MVS-8100L received this signal, and with image with correct and in advance the image of storage compare, by being installed in the differential seat angle that monitoring on the industrial computer and function software (VisionPro) calculate same characteristic features point in it and the normal pictures automatically, and the result is sent to programmable controller (PLC) by the serial communication mode, programmable controller (PLC) sends corresponding umber of pulse to servo-driver after receiving data, servomotor then will drive adjusts dial rotation, thereby makes product obtain correct station.
Be installed in monitoring on the industrial computer and function software (VisionPro) and be the special software of commercially available Cognex image processing, it is based on the Programming with Pascal Language environment of VB, can programme voluntarily as required, applying in a flexible way property is strong, and operation interface is intuitively simple, enter VisionPro software, only need to select the unique point of product and click training (Trainning) button, the image of standard has just been stored in the industrial computer, has greatly made things convenient for the adjustment operation when changing product, has improved the type and the scope of appropriate products greatly, in the continuous finishing process, only need to click an Online button, just activated operational system, operate very simple and convenient.
After the product adjustment finishes, then grasp adjusted product and deliver to directly over the die by the feeding cylinder by mechanical arm, wait for finishing.
Reasonable in design, the compact conformation of finishing machine image positioning control system of the present invention and control method thereof, product is taken pictures and compare by camera lens with the standardized product orientation, rotate by programmable controller (PLC) control servomotor again that rotating disk is adjusted and the extracting of mechanical arm, can realize the accurate location of different complicated shape products, product is placed fast and accurately; Can realize the serialization and the robotization of producing greatly reducing rejection rate by finishing machine image positioning control system, improve throughput rate and do not needed artificial participation, safe and reliable.
Description of drawings
The invention will be further described below with reference to accompanying drawing.
Fig. 1 is the finishing machine image positioning control system theory diagram.
Fig. 2 is the finishing machine image positioning control system process flow diagram.
Fig. 3 is the servo-driver and the feed mechanism synoptic diagram of finishing machine image positioning control system.
Embodiment
With reference to accompanying drawing 1-3, finishing machine image positioning control system mainly is made up of finishing machine image mechanism, programmable controller (PLC), servo drive and feed mechanism.Finishing machine image mechanism adopts U.S.'s Cognex (Cognex) integrated form system, and programmable controller (PLC) is selected Siemens S7-200 for use, and servo drive adopts Delta (ASDA) series.
Finishing machine image mechanism adopts U.S.'s Cognex (Cognex) integrated form system, mainly is made up of jointly image processing integrated form integrated circuit board chip MVS-8100L, industrial computer, camera, back of the body light and display; Image processing integrated form integrated circuit board chip MVS-8100L is the core of finishing machine image mechanism, it is inserted on the industrial computer by the pci card groove, wherein industrial computer adopts Ling Huaji, display is 17 cun Philip LCD, camera adopts Sony XC-ST50, its pixel can reach 300,000, in industrial camera, belong to high pixel product, it is installed in the top of adjusting rotating disk, link to each other with industrial computer by private cable 300-0181-15, back of the body light 9 is made up of several crystal illuminators (LED), be installed in and adjust rotating disk 8 bottoms, light source required when taking a picture is provided, this kind light stability is reliable, antijamming capability is strong, be not subjected to the influence of external light source, thereby can guarantee shooting quality, the resolving accuracy of finishing machine image mechanism can reach 0.01 degree, shooting speed can reach the hundreds of microsecond, when finishing machine image mechanism is in continuous running status (Online state), and programmable controller (PLC) detects to adjust when on the rotating disk 8 product being arranged just launches a trigger pip (trigger signal) by the I/O port to image processing integrated form integrated circuit board chip (MVS-8100L), accepting this order back is taken pictures to product by camera, picture is shown by display, by the dedicated processes software VisionPro that is installed in image processing integrated form integrated circuit board chip (MVS-8100L) on the industrial computer picture is analyzed simultaneously, drawn the misalignment angle of unique point.
The processing core cell CPU of programmable controller (PLC) S7-200 (the CPU model is 216-2AD23-0XB8) has two RS-485 communication interfaces, one of them can be defined as free interface communication and finishing machine image mechanism carries out serial communication, reception is from the data of finishing machine image mechanism, it is the misalignment angle of actual product, programmable controller converts umber of pulse to receiving the misalignment angle of coming, and corresponding umber of pulse is sent to servo controller with train of impulses output form (PTO) by its position module (EM253), drive servomotor 10 by servo controller and control rotation direction and the angle of adjusting rotating disk 8.
Servo drive is made up of servo controller and servomotor 10, two connecting lines are arranged between servo controller and the servomotor 10, the one, the power lead of servomotor 10, be to provide by the servo controller output interface, the 2nd, servomotor encoder feedback signal wire, servomotor feeds back to the detector interface of servo controller to the signal of its scrambler by this feedback signal line, and servo controller compares the value of it and external given, to reach a mobile equilibrium.
Feed mechanism comprises adjusts rotating disk 8, gripping cylinder 6, gripping mechanical arm 4 and feeding cylinder (can select rod-free cylinder for use) 3, feeding cylinder 3 has rail plate, aerodynamic slider 5, the dead electricity that gets by solenoid valve is controlled the break-make gas of feeding cylinder 3 to drive aerodynamic slider 5 the back and forth movement on the rail plate (promptly adjusting to do between rotating disk 8 and the concave template 1 and moving back and forth), gripping cylinder 6 is housed on the aerodynamic slider 5, gripping mechanical arm 4 is housed in its underpart, is used for grasping the product of adjusting on the adjustment rotating disk 8.Feeding cylinder 3 can be selected rod-free cylinder for use.
The control method of finishing machine image positioning control system is as follows:
In advance product 7 is placed on and adjusts on the rotating disk 8, manual adjustment is to its correct station, adjusting the camera of rotating disk 8 top finishing machine image mechanisms takes pictures to product, there are aperture adjustment and focal length to adjust two knobs on the camera lens, it is the most clear up to the product image that generates to adjust two knobs, again the image of this standard is stored in the industrial computer storer, and by being installed in the unique point that monitoring on the industrial computer and function software (VisionPro) calibrate product, in product finishing process, programmable controller (PLC) detects to adjust when on the rotating disk 8 product being arranged and sends a trigger pip to image processing integrated form integrated circuit board chip MVS-8100L, the triggering camera was taken pictures to product after image processing integrated form integrated circuit board chip MVS-8100L received this signal, and with image with correct and in advance the image 12 of storage compare, by being installed in the differential seat angle that monitoring on the industrial computer and function software (VisionPro) calculate same characteristic features point in it and the normal pictures automatically, and the result is sent to programmable controller (PLC) by the serial communication mode, programmable controller (PLC) sends corresponding umber of pulse to servo-driver after receiving data, servomotor 10 then will drive adjusts rotating disk 8 rotations, thereby makes product obtain correct station.
Be installed in monitoring on the industrial computer and function software (VisionPro) and be the special software of commercially available Cognex image processing, it is based on the Programming with Pascal Language environment of VB, can programme voluntarily as required, its operation interface is intuitively simple, enter VisionPro software, only need to select the unique point of product and click training (Trainning) button, the image of standard has just been stored in the industrial computer, greatly made things convenient for the adjustment operation when changing product, in the continuous finishing process, only need to click a 0nline button, just activated operational system, operate very simple and convenient.
After the product adjustment finishes, then grasp adjusted product 11 and deliver to directly over the die 2 by feeding cylinder 3 by mechanical arm 4, wait for finishing.Die 2 is contained on the concave template 1.
The resolving accuracy of described finishing machine image mechanism can reach 0.01 degree, shooting speed can reach the hundreds of microsecond, when finishing machine image mechanism is in continuous running status (Online state), and programmable controller (PLC) detects to adjust when on the rotating disk 8 product being arranged just launches a trigger pip (trigger signal) by the I/O port to image processing integrated form integrated circuit board chip (MVS-8100L), accepting this order back is taken pictures to product by camera, picture is shown by display, by the dedicated processes software VisionPro that is installed in image processing integrated form integrated circuit board chip (MVS-8100L) on the industrial computer picture is analyzed simultaneously, drawn the misalignment angle of unique point.
Claims (7)
1. finishing machine image positioning control system is characterized in that control system is made up of finishing machine image mechanism, programmable controller (PLC), servo drive and feed mechanism;
Finishing machine image mechanism is made of jointly image processing integrated form integrated circuit board chip (MVS-8100L), industrial computer, camera, back of the body light and display; Image processing integrated form integrated circuit board chip (MVS-8100L) is the core of finishing machine image mechanism, is inserted on the industrial computer by the pci card groove, and camera is installed in the top of adjusting rotating disk, links to each other with industrial computer by private cable, and back of the body light is installed in the rotating disk bottom,
The processing core cell CPU of programmable controller (PLC) has two RS-485 communication interfaces, one of them carries out serial communication for free interface communication and finishing machine image mechanism, reception is from the data of finishing machine image mechanism, it is the misalignment angle of actual product, programmable controller converts umber of pulse to receiving the misalignment angle of coming, and corresponding umber of pulse is sent to servo controller with train of impulses output form (PTO) by its position module (EM253), drive rotation direction and the angle that servomotor is controlled rotating disk by servo controller;
Servo drive is made up of servo controller and servomotor, two connecting lines are arranged between servo controller and the servomotor, the one, the power lead of servomotor, be to provide by the servo controller output interface, the 2nd, servomotor encoder feedback signal wire, servomotor feeds back to the detector interface of servo controller to the signal of its scrambler by this feedback signal line, and servo controller compares the value of it and external given, to reach a mobile equilibrium;
Feed mechanism comprises adjusts rotating disk, gripping cylinder, gripping mechanical arm and feeding cylinder, the feeding cylinder has rail plate, aerodynamic slider, the dead electricity that gets by solenoid valve is controlled the break-make gas of feeding cylinder to drive the back and forth movement of aerodynamic slider on rail plate, promptly between adjustment rotating disk and concave template, do and move back and forth, the gripping cylinder is housed on the aerodynamic slider, the gripping mechanical arm is housed in its underpart, is used for grasping the product of adjusting on the adjustment rotating disk.
2. finishing machine image positioning control system according to claim 1 is characterized in that display is a LCD.
3. finishing machine image positioning control system according to claim 1 is characterized in that carrying on the back light and is made up of several crystal illuminators (LED).
4. finishing machine image positioning control system according to claim 1 is characterized in that the feeding cylinder adopts rod-free cylinder.
5. the control method of a finishing machine image positioning control system is characterized in that control method is as follows:
In advance product is placed on and adjusts on the rotating disk, be adjusted to its correct station, adjusting the camera of rotating disk top finishing machine image mechanism takes pictures to product, there are aperture adjustment and focal length to adjust two knobs on the camera lens, it is the most clear up to the product image that generates to adjust two knobs, again the image of this standard is stored in the industrial computer storer, and by being installed in the unique point that monitoring on the industrial computer and function software calibrate product, in product finishing process, programmable controller (PLC) detects to adjust when on the rotating disk product being arranged and sends a trigger pip to image processing integrated form integrated circuit board chip (MVS-8100L), the triggering camera was taken pictures to product after image processing integrated form integrated circuit board chip (MVS-8100L) was received this signal, and with image with correct and in advance the image of storage compare, by being installed in the differential seat angle that monitoring on the industrial computer and function software calculate same characteristic features point in it and the normal pictures automatically, and the result is sent to programmable controller (PLC) by the serial communication mode, programmable controller (PLC) sends corresponding umber of pulse to servo-driver after receiving data, servomotor then will drive adjusts dial rotation, thereby makes product obtain correct station;
After the product adjustment finishes, then grasp adjusted product by mechanical arm, deliver to directly over the die by the feeding cylinder, wait for finishing.
6. the control method of finishing machine image positioning control system according to claim 5, the resolving accuracy that it is characterized in that described finishing machine image mechanism can reach 0.01 degree, shooting speed can reach the hundreds of microsecond, when finishing machine image mechanism is in continuous running status, and programmable controller (PLC) detects to adjust when on the rotating disk product being arranged just launches a trigger pip by the I/O port to image processing integrated form integrated circuit board chip (MVS-8100L), accepting this order back is taken pictures to product by camera, picture is shown by display, by the dedicated processes software that is installed in image processing integrated form integrated circuit board chip (MVS-8100L) on the industrial computer picture is analyzed simultaneously, drawn the misalignment angle of unique point.
7. the control method of finishing machine image positioning control system according to claim 5, the monitoring and the function software that it is characterized in that being installed on the industrial computer are the special softwares of Cognex image processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101906189A CN100573386C (en) | 2007-11-27 | 2007-11-27 | Finishing machine image positioning control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101906189A CN100573386C (en) | 2007-11-27 | 2007-11-27 | Finishing machine image positioning control system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101178599A true CN101178599A (en) | 2008-05-14 |
| CN100573386C CN100573386C (en) | 2009-12-23 |
Family
ID=39404875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101906189A Expired - Fee Related CN100573386C (en) | 2007-11-27 | 2007-11-27 | Finishing machine image positioning control system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100573386C (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101446817B (en) * | 2008-12-29 | 2011-06-08 | 重庆大学 | Control system based on PLC for picking, placing, loading and transporting in powder metallurgy production line |
| CN102122175A (en) * | 2010-01-08 | 2011-07-13 | 广东正业科技股份有限公司 | Image positioning method |
| CN102700163A (en) * | 2012-05-28 | 2012-10-03 | 天津市天锻压力机有限公司 | Servo positioning system of longitudinal beam hydraulic press pushing handle device |
| CN102886917A (en) * | 2012-10-09 | 2013-01-23 | 南通大学 | Hydraulic servo control system for efficiently improving pressing precision of powder-forming hydraulic machine |
| CN104827472A (en) * | 2013-10-31 | 2015-08-12 | 精工爱普生株式会社 | Control device, robot, robot system, and control method |
| CN105509777A (en) * | 2015-12-09 | 2016-04-20 | 天津大学 | Programmable realization method and encoder with combination of processor and magnetic sensor |
| CN106292735A (en) * | 2016-08-19 | 2017-01-04 | 泉州市汉威机械制造有限公司 | A kind of material image position control method |
| CN106338980A (en) * | 2016-08-03 | 2017-01-18 | 岳周丰 | Intelligent station state detection device |
| CN107913925A (en) * | 2017-12-26 | 2018-04-17 | 深圳市富优驰科技有限公司 | A kind of MIM Full automatic shapings equipment |
| CN104475724B (en) * | 2014-12-20 | 2018-08-07 | 扬州市海力精密机械制造有限公司 | A kind of finishing machine and its course of work of robot manipulator structure |
| CN109839557A (en) * | 2019-01-14 | 2019-06-04 | 普联技术有限公司 | Automatization test system, method and test platform |
| CN111015367A (en) * | 2019-12-20 | 2020-04-17 | 珠海格力智能装备有限公司 | Flange locating system based on vision and locating method thereof |
| CN111524186A (en) * | 2020-04-21 | 2020-08-11 | 广州番禺职业技术学院 | Rotary mechanical device and method for pistachio nut head and tail replacement and posture adjustment |
| CN111711751A (en) * | 2020-06-16 | 2020-09-25 | 南京认知物联网研究院有限公司 | Method, system and equipment for controlling photographing and processing photos based on PLC pulse signals |
| CN113495523A (en) * | 2020-03-19 | 2021-10-12 | 松下知识产权经营株式会社 | Programmable controller and updating method of programmable controller |
-
2007
- 2007-11-27 CN CNB2007101906189A patent/CN100573386C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101446817B (en) * | 2008-12-29 | 2011-06-08 | 重庆大学 | Control system based on PLC for picking, placing, loading and transporting in powder metallurgy production line |
| CN102122175A (en) * | 2010-01-08 | 2011-07-13 | 广东正业科技股份有限公司 | Image positioning method |
| CN102700163A (en) * | 2012-05-28 | 2012-10-03 | 天津市天锻压力机有限公司 | Servo positioning system of longitudinal beam hydraulic press pushing handle device |
| CN102700163B (en) * | 2012-05-28 | 2015-07-15 | 天津市天锻压力机有限公司 | Servo positioning system of longitudinal beam hydraulic press pushing handle device |
| CN102886917A (en) * | 2012-10-09 | 2013-01-23 | 南通大学 | Hydraulic servo control system for efficiently improving pressing precision of powder-forming hydraulic machine |
| CN102886917B (en) * | 2012-10-09 | 2014-04-23 | 南通大学 | Hydraulic servo control system for efficiently improving pressing precision of powder-forming hydraulic machine |
| US9555549B2 (en) | 2013-10-31 | 2017-01-31 | Seiko Epson Corporation | Control device, robot, robot system, and control method |
| CN104827472A (en) * | 2013-10-31 | 2015-08-12 | 精工爱普生株式会社 | Control device, robot, robot system, and control method |
| CN104475724B (en) * | 2014-12-20 | 2018-08-07 | 扬州市海力精密机械制造有限公司 | A kind of finishing machine and its course of work of robot manipulator structure |
| CN105509777A (en) * | 2015-12-09 | 2016-04-20 | 天津大学 | Programmable realization method and encoder with combination of processor and magnetic sensor |
| CN106338980A (en) * | 2016-08-03 | 2017-01-18 | 岳周丰 | Intelligent station state detection device |
| CN106292735A (en) * | 2016-08-19 | 2017-01-04 | 泉州市汉威机械制造有限公司 | A kind of material image position control method |
| CN106292735B (en) * | 2016-08-19 | 2019-06-28 | 泉州市汉威机械制造有限公司 | A kind of material image position control method |
| CN107913925A (en) * | 2017-12-26 | 2018-04-17 | 深圳市富优驰科技有限公司 | A kind of MIM Full automatic shapings equipment |
| CN109839557A (en) * | 2019-01-14 | 2019-06-04 | 普联技术有限公司 | Automatization test system, method and test platform |
| CN111015367A (en) * | 2019-12-20 | 2020-04-17 | 珠海格力智能装备有限公司 | Flange locating system based on vision and locating method thereof |
| CN113495523A (en) * | 2020-03-19 | 2021-10-12 | 松下知识产权经营株式会社 | Programmable controller and updating method of programmable controller |
| CN111524186A (en) * | 2020-04-21 | 2020-08-11 | 广州番禺职业技术学院 | Rotary mechanical device and method for pistachio nut head and tail replacement and posture adjustment |
| CN111711751A (en) * | 2020-06-16 | 2020-09-25 | 南京认知物联网研究院有限公司 | Method, system and equipment for controlling photographing and processing photos based on PLC pulse signals |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100573386C (en) | 2009-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100573386C (en) | Finishing machine image positioning control system and control method thereof | |
| CN106081223A (en) | A kind of automatic film applicator based on machine vision location | |
| CN103386388B (en) | Full-automatic vision LED point gum machine | |
| CN203037227U (en) | Detection device for spring | |
| CN202506936U (en) | Automatic welding equipment for large thin-wall conduit longitudinal joint | |
| CN103111753A (en) | Full-automatic wafer dicing saw control system based on vision | |
| CN107991795B (en) | Method for detecting liquid crystal module by using automatic optical detection system of liquid crystal module | |
| CN108759754A (en) | Height dimension automatic checkout equipment | |
| CN201107660Y (en) | Finishing machine image positioning control system | |
| CN205404440U (en) | Online vision detection system of cross cutting product | |
| CN109228214B (en) | Injection molding process quality detection device, detection management system and monitoring method | |
| CN205952404U (en) | Automatic sticking film machine based on machine vision location | |
| CN205317686U (en) | Work piece direction automatic checkout device | |
| CN209598437U (en) | Full-automatic double position laser index carving device | |
| CN109848571A (en) | Full-automatic double position laser index carving device and method | |
| CN102756429A (en) | Ceramic-substrate-based high-precision automatic drilling machine | |
| CN207816183U (en) | A kind of contact inner thread parameter detection device | |
| CN205334203U (en) | Monocular vision positioning system based on go up unloading robot | |
| CN104536362A (en) | Electric control system of numerical-control plate shearing machine | |
| CN111047578B (en) | Tool detection device and detection method thereof | |
| CN206573808U (en) | An a kind of key changing device based on TFT LCD | |
| CN202727122U (en) | High-precision automatic type drilling machine based on ceramic wafer | |
| CN106477855B (en) | A kind of control method based on pid algorithm intelligence bottle-making machine | |
| CN107498387B (en) | Intelligent regulation and control system of precise vertical machining center | |
| CN110524548A (en) | A kind of robot based on closed-loop control and sewing machine speed Synergistic method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091223 Termination date: 20141127 |
|
| EXPY | Termination of patent right or utility model |