CN103480585A - Fully-automatic tracking appearance inspection equipment - Google Patents
Fully-automatic tracking appearance inspection equipment Download PDFInfo
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- CN103480585A CN103480585A CN201310462880.XA CN201310462880A CN103480585A CN 103480585 A CN103480585 A CN 103480585A CN 201310462880 A CN201310462880 A CN 201310462880A CN 103480585 A CN103480585 A CN 103480585A
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- 238000007689 inspection Methods 0.000 title abstract description 10
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- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 36
- 238000012545 processing Methods 0.000 claims description 15
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000012216 screening Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 abstract 1
- 239000000047 product Substances 0.000 description 88
- 239000000853 adhesive Substances 0.000 description 6
- 230000001070 adhesive effect Effects 0.000 description 6
- 238000007664 blowing Methods 0.000 description 6
- 230000002950 deficient Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000013307 optical fiber Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000005336 safety glass Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses fully-automatic tracking appearance inspection equipment which comprises a control system, a product separation conveying device, a camera shooting inspection device and a screening classification device, wherein the product separation conveying device, the camera shooting inspection device and the screening classification device are connected sequentially; conveying tracks allowing products to advance are arranged on working platforms of all the devices respectively; all the conveying tracks are in butt joint sequentially according to the connection sequence of all the devices; a feeding port of the product separation conveying device is connected with a discharging port of a machine stand arranged in front; and a product transmission belt is arranged in a conveying track of the product separation conveying device. According to the fully-automatic tracking-line appearance inspection equipment, by means of the transmission belt, shaped products or products which complete actions on the machine stand arranged in front are directly conveyed into the appearance inspection equipment for appearance inspection; the step that in the prior art, after the products are collected, secondary material supply is performed in front of the inspection equipment is omitted; and the production efficiency is effectively improved. A reflection mirror surface is used and matched with a camera shooting unit, and multidirectional inspection of the products is performed; and superior and inferior products are screened through an automatic classification system, so that consumption of labor power and material resources is reduced further, and the cost is saved.
Description
Technical field
The present invention relates to the production and processing field of electronic device, be specially a kind of full-automatic with the line appearance detecting device.
Background technology
In modern streamline production technology, need to the open defect of large-tonnage product be detected fast, to distinguish the product of bad order.Traditional handicraft mostly adopts the manual method check, this method efficiency is very low, particularly develop at present chip components and parts the most fast, all to microminiaturized future development, size is more and more less, detects by artificial means that not only speed is slow, and cost is high, there is hidden danger especially aspect quality, can't meet the demand of batch production.For this situation, developed various appearance detecting devices both at home and abroad, after generally being formed product, by the secondary feed, detected again, complex procedures, efficiency is low.
Utilize camera to carry out the equipment of automatic outward appearance grouping system product, face that generally can only testing product, as the Chinese patent that notification number is CN201277953Y and CN2845931Y, a kind of equipment that can be detected the various bad order information of product upper surface is disclosed respectively.When needs carry out the outward appearance detection to a plurality of faces of product, usually to adopt 1 ~ 6 camera to take a plurality of of same product, as the publication number invention that is CN102590224A and CN102288616A, by the position up and down at workbench, a plurality of CCD unit is set, the image that absorbs respectively a plurality of of the products processing of comparing, the complex structure of checkout equipment, price is high; Or utilize a camera repeatedly to take, as described in the publication number invention that is CN102866165A, product is overturn or camera moves, camera repeatedly shooting, collecting contrasts processing again to each surperficial image of product, detection speed has so slowed down, reduced production efficiency, and the operating maintenance difficulty.
Summary of the invention
Technical purpose of the present invention is to solve problems of the prior art, and a kind of full-automatic line appearance detecting device of following that coordinates streamline to produce is provided, and overcomes the defect of secondary feed, enhances productivity.For realizing above-mentioned technical purpose, technical scheme disclosed by the invention is:
A kind of full-automatic with the line appearance detecting device, comprise the separation of products conveying device, image pick-up detection device, sifting sort device and control system, it is characterized in that, described separation of products conveying device, be respectively equipped with the delivery track of advancing for product on the workbench of image pick-up detection device and sifting sort device, described separation of products conveying device, image pick-up detection device is connected successively with the sifting sort device, the order that each delivery track connects according to each device is docked successively, the charging aperture of described separation of products conveying device is connected with the discharging opening of preposition board, be provided with product transmission belt in the delivery track of separation of products conveying device.
Above-mentioned preposition board can be the equipment such as assembling product, lettering, test, after preposition board execution, the product of its output can directly be delivered to the delivery track of separation of products conveying device of the present invention, by transport tape, product is separated and is sent into successively in image pick-up detection device and carry out visual examination.
Further, two sections transport tapes before and after being provided with in the delivery track of described separation of products conveying device, two sections transport tapes drive by having the poor belt wheel of speed ratio respectively, when back segment transport tape speed is greater than leading portion transport tape speed, compact arranged product further can be widened to interval, to facilitate subsequent detection technique, can detect analysis to single product by clear interference-free.
As preferably, described transport tape can adopt Timing Belt, by synchronous pulley and its transmission of driven by motor.
Described image pick-up detection device comprises image unit and image processing and analyzing system, and described image processing and analyzing system and control system connects; The workbench of image pick-up detection device comprises a transparent carrying platen, the delivery track of image pick-up detection device is arranged on transparent carrying platen, and described image unit is positioned at a side (can select suitable height and angle according to testing product and image unit type) of delivery track.The workbench of image pick-up detection device also is provided with more than one mirror surface around delivery track, described mirror surface tilts at a certain angle, the IMAQ that makes product imaging in minute surface fall into image unit within sweep of the eye, image unit has been realized the collection to a plurality of images of product, can to the product appearance quality, be judged by the image processing and analyzing system afterwards, and the angle of inclination of mirror surface can be regulated according to the product imaging demand.
Further, above-mentioned transporting rail is the groove of upper opening, and product is fixed in transporting rail, has avoided the generation of the situation such as product dislocation and landing in the course of conveying.Described image unit is positioned at the top of carrying platen transporting rail, and the below of carrying platen is arranged with two mirror surfaces, and carrying platen transporting rail is positioned on the center line of two mirror surfaces.Image unit is except photographing the upper surface of product, and in two mirror surfaces, the imaging of product side and bottom surface also can be collected by the shooting unit simultaneously.
In order to obtain image more clearly, but described mirror surface becomes an integral body with carrying platen production and processing, but while needing to change the mirror surface angle, needs to change whole section workbench.
The workbench of described image pick-up detection device tilts at a certain angle, makes product can pass through Gravitational sliding, reduces power output, and also can adjust further by the angle of inclination of adjusting workbench the speed that product slides.
Described sifting sort device is provided with sensor and the product supplying system of induction supplied materials, and described sensor is connected with control system with the product supplying system; Sifting sort device transporting rail end is communicated with a plurality of discharging bins, and each discharging bin is the independent storage box of correspondence one respectively.By control system, the sifting sort device after sensing supplied materials, can be according to the image processing and analyzing system judged result to product appearance, by product push in different storage boxes, place pending.
Each discharging bin and transporting rail together with position block can be set, avoid product to be strayed into wrong classification passage, described block is connected with driving mechanism, described driving mechanism is connected with control system, to control the switching of discharging bin.
Described sifting sort device can arrange respectively independent counter to each storage box, the product quantity in convenient each box of statistics.
Beneficial effect of the present invention:
1) the present invention adopts with the line principle, directly with preposition equipment, is connected, without by secondary feed again after product-collecting, and the uniformity due to the preposition equipment discharging, can ensure the consistent of product detection faces, omit link artificial or that machine carries out the pan feeding inspection, effectively improve production efficiency;
2) by thering is the transport tape of speed difference, control adjustment and enter the interval between the image pick-up detection device product, avoided the image between product to disturb, be applicable to the preposition equipment of a large amount of dischargings;
3) according to the principle of catoptric imaging, utilize mirror surface to make an image unit can collect the multiaspect appearance images of product simultaneously, simple in structure, reduced equipment cost, improved detection speed.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of separation of products conveying device of the present invention;
Fig. 3 is the part section structural representation of Fig. 2;
Fig. 4 is the structural representation of image pick-up detection device of the present invention;
Fig. 5 is the product multiaspect imaging schematic diagram that image unit photographs;
Fig. 6 is the structural representation of sifting sort device;
In above-mentioned accompanying drawing:
1, separation of products conveying device; 10, motor; 11, synchronous pulley; 12, synchronous pulley; 13, Timing Belt; 141, synchronous pulley; 142, synchronous pulley; 143, Timing Belt; 151, synchronous pulley; 152, synchronous pulley; 153, Timing Belt; 161, synchronous pulley; 162, Timing Belt; 163, two-sided band edge bearing;
2, image pick-up detection device; 21, carrying platen; 22, mirror surface;
3, sifting sort device; 30, pen type cylinder; 31, pen type cylinder; 32, blowing nozzle; 33, blowing nozzle; 34, block; 35, block; 36 optical fiber;
4, image unit; 5, product to be checked; 51, reflected image; 6, image processing and analyzing system.
The specific embodiment
In order to illustrate technical scheme of the present invention, technical purpose and technique effect, below in conjunction with the drawings and the specific embodiments, the present invention is described further.
As shown in Figure 1, it is overall schematic of the present invention, the present invention automatically comprises control system and the separation of products conveying device 1 be connected with control system respectively, image pick-up detection device 2 and sifting sort device 3 with the line appearance detecting device, be respectively equipped with the delivery track of advancing for product on the workbench of above-mentioned each device, described separation of products conveying device 1 is connected with the discharging opening of preposition equipment, and each delivery track docks successively according to the order of connection of above-mentioned each device.
When preposition equipment continuous discharge or many products of disposable propelling movement, open and keep certain intervals for the separation of products that makes to be close together, can adopt the design of multistage transport tape, by thering is the poor transport tape of screen, the distance between product is pulled open.Take a specific embodiment as the example explanation, as shown in Figure 2 and Figure 3:
Two sections transport tapes before and after being provided with in the delivery track of described separation of products conveying device 1, described transport tape adopts Timing Belt.The head and the tail two ends of leading portion transport tape 143 are meshed with synchronous pulley 141 and synchronous pulley 142 respectively, described synchronous pulley 141 comprises with synchronous pulley 142 the band wheel unit that a pair of specification is identical separately, to drive the transmission of two Timing Belts 143 in the left and right sides in transporting rail.As shown in Figure 3, the Timing Belt of leading portion transport tape, a little more than raceway surface, makes product shelf on transport tape.
After stepper motor 10 rotates, drive synchronous pulley 11 and pull Timing Belt 13 motions, synchronous pulley 12 rotates under the drive of Timing Belt 13, described synchronous pulley 12 is locked on the same axis bar with the synchronous pulley 141 that is arranged on separation of products conveying device transporting rail entrance, synchronous pulley 12 drives described synchronous pulley 141 by this axostylus axostyle, and described synchronous pulley 142 rotates under the drive of leading portion Timing Belt 143.
Described back segment transport tape comprises Timing Belt 153 and Timing Belt 162 these two parallel Timing Belts, and described Timing Belt 153 head and the tail two ends are meshed with synchronous pulley 151 and synchronous pulley 152 respectively; Timing Belt 162 tail ends and synchronous pulley 161 are meshed, and the other end is connected on two-sided band edge bearing 163.Described synchronous pulley 151 is locked on same polished rod with synchronous pulley 142, coaxial rotation, and described two-sided band edge bearing 163 strings are on this polished rod.Synchronous pulley 142 rotates, drive polished rod and synchronous pulley 151 rotations, thereby pull Timing Belt 153 motions, then drive synchronous pulley 152 and rotate, because synchronous pulley 152 and synchronous pulley 161 are locked on same axostylus axostyle, and synchronous pulley 152 diameters are less than synchronous pulley 161 and synchronous pulley 151, thereby generation speed ratio, synchronous pulley 161 pulls Timing Belt 162 motions, because two-sided band edge bearing 163 can freely rotate on polished rod, does not affect the motion of Timing Belt 162.Wherein, synchronous pulley 142, synchronous pulley 161 are identical with two-sided band edge bearing 163 diameters, smooth smooth and easy to guarantee to transmit, and the radius of synchronous pulley 151 is smaller, makes Timing Belt 153 height lower than Timing Belt 162, does not affect the transmission effect of Timing Belt 162.
The product of closely placing moves on Timing Belt 143, by Timing Belt 143, product is sent on Timing Belt 162, the speed of Timing Belt 162 is faster than Timing Belt 143, thereby make product space out on Timing Belt 162, allow follow-up image pick-up detection device is can be clear glitch-free to be detected single product, the separation of products distance can be adjusted by the number of teeth that changes belt pulley, the speed of separation of products can be changed by the speed of adjusting stepper motor 10.Wherein stepper motor 10 use motor brackets are locked on work top.
Described image pick-up detection device 2 comprises image unit 4 and image processing and analyzing system 6, and for improving the image imaging effect, described camera detection unit can increase the detection lighting device, for example the LED lamp holder.Described image processing and analyzing system 6 is connected with control system; The workbench of image pick-up detection device comprises a transparent carrying platen 21, the delivery track of image pick-up detection device is arranged on transparent carrying platen 21 upper surfaces, described carrying platen preferably adopts the safety glass material to make, because safety glass has good transparency, wearability, and be difficult for cut, be conducive to the product catoptric imaging most.Take Fig. 4 as example, one ccd image sensor be positioned at delivery track directly over, carrying platen 21 tilts, product is after separate transfer enters image pick-up detection device, in its delivery track, slide, can change the integral inclination angle (generally caning be controlled in 30 ° ~ 80 °) of carrying platen according to the product own wt, in order to adjust the detection range of product with suitable speed landing process image unit 4.
Also be provided with two relative 22, two mirror surfaces of mirror surface 22 that tilt and be the isosceles triangle placement with carrying platen 21 below carrying platen 21, the delivery track of product is on the symmetrical center line between two mirror surfaces.According to product needed, the angle of inclination of mirror surface 22 can be adjusted according to product detection demand, angle general control between two mirror surfaces 22 is between 45 ° ~ 120 °, and three images that become with toilet all can clearly drop on ccd image sensor within sweep of the eye.When product 5 to be checked slips over the imageing sensor below, reflection through two mirror surfaces 22, in the visual field of ccd image sensor except the image of product 5 upper surfaces to be checked, also can form two with product 5 upper surface image to be checked reflected image 51 side by side, as shown in Figure 4, Figure 5, a, b, four faces of c, d (up and down) of product just can be detected.The angle of take between two mirror surfaces is 90 ° as example, the image that in the ccd image sensor visual field, the both sides image is product bottom rotation 45 degree, ccd image sensor gets off become image taking as shown in Figure 5, carry out the data analysis comparison in supporting image processing and analyzing system 6 after, the product appearance quality is judged.Although there are distortion in the b after catoptric imaging in the image of both sides, c, tri-faces of d, and distance difference is arranged, but the difference between every product is consistent, so when ccd image sensor is taken figure, three images are as shown in Figure 5 done as a wholely, are compared difference between integral body and just draw result of determination.
Product slides in the delivery track of sifting sort device 3 after outward appearance detects, and this device carries out sifting sort according to the result of determination of image processing and analyzing system to product.A kind of specific embodiment shown in Fig. 6 of take is example, described sifting sort device is provided with the optical fiber 36 of induction supplied materials at the delivery track charging aperture, its transporting rail end is communicated with two discharging bins, the position that two discharging bins are communicated with transporting rail is respectively equipped with block 34 and 35, two blocks of block and is locked at separately on a driving cylinder and controls the keying of feed bin to guide it to move up and down.
Product slides to above-mentioned block place along the delivery track of sifting sort device after tested, optical fiber 36 detects supplied materials, judge this product as image pick-up detection device and, as non-defective unit, export the non-defective unit signal, the supporting relay of pen cylinder 31 receives the signal adhesive, adhesive after supporting magnetic valve energising, pen cylinder 31 air inlets, cylinder moving drives block 34 and lifts, and the supporting magnetic valve of blowing nozzle 32 is connected on the supporting relay of cylinder 31, the adhesive of simultaneously switching on, blowing nozzle 32 blows into the non-defective unit storehouse to product; If be judged to be defective products, export the defective products signal, the supporting relay of pen cylinder 30 receives the signal adhesive, adhesive after supporting magnetic valve energising, pen cylinder 30 air inlets, cylinder moving drives the block 35 be locked on cylinder and lifts, and the supporting magnetic valve of blowing nozzle 33 is connected on the supporting relay of cylinder 30, the adhesive of simultaneously switching on, blowing nozzle 33 blows into the defective products storehouse to product.Wherein pen cylinder 21 and pen type cylinder 22 are locked on work top by support vertical, and described optical fiber 36 vertically is sunken in the through hole under the workbench track.
The screening plant of telling also can be selected the drive apparatus such as motor and Timing Belt, drives one section movable rail, by programming and inductor location, the product of having judged is sorted in different feed bins by transport tape.
Above demonstration and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and specification, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention, the claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (10)
1. automatically follow the line appearance detecting device for one kind, comprise the separation of products conveying device, image pick-up detection device, sifting sort device and control system, it is characterized in that, described separation of products conveying device, be respectively equipped with the delivery track of advancing for product on the workbench of image pick-up detection device and sifting sort device, described separation of products conveying device, image pick-up detection device is connected successively with the sifting sort device, the order that each delivery track connects according to each device is docked successively, the charging aperture of described separation of products conveying device is connected with the discharging opening of preposition board, be provided with product transmission belt in the delivery track of separation of products conveying device.
2. the full-automatic line appearance detecting device of following according to claim 1, is characterized in that, two sections transport tapes before and after being provided with in the delivery track of described separation of products conveying device, and two sections transport tapes drive by having the poor belt wheel of speed ratio respectively.
3. the full-automatic line appearance detecting device of following according to claim 2, is characterized in that, described transport tape is Timing Belt, and described belt wheel is synchronous pulley.
4. according to claim 1, the 2 or 3 described full-automatic line appearance detecting devices of following, it is characterized in that, described image pick-up detection device comprises image unit and image processing and analyzing system, and described image processing and analyzing system and control system connects; The workbench of image pick-up detection device comprises a transparent carrying platen, the delivery track of image pick-up detection device is arranged on transparent carrying platen, described image unit is positioned at a side of delivery track, the workbench of image pick-up detection device also is provided with more than one mirror surface around delivery track, described mirror surface tilts at a certain angle, and the IMAQ that makes product imaging in minute surface fall into image unit within sweep of the eye.
5. according to claim 4 full-automatic with the line appearance detecting device, it is characterized in that, the groove that described transporting rail is upper opening, described image unit is positioned at the top of carrying platen transporting rail, the below of carrying platen is arranged with two mirror surfaces, and carrying platen transporting rail is positioned on the center line of two mirror surfaces.
6. the full-automatic line appearance detecting device of following according to claim 5, is characterized in that, described mirror surface is one-body molded with the carrying platen.
7. the full-automatic line appearance detecting device of following according to claim 6, is characterized in that, the workbench of described image pick-up detection device tilts at a certain angle.
8. the full-automatic line appearance detecting device of following according to claim 4, is characterized in that, described sifting sort device is provided with sensor and the product supplying system of induction supplied materials, and described sensor is connected with control system with the product supplying system; Sifting sort device transporting rail end is communicated with a plurality of discharging bins, and each discharging bin is the independent storage box of correspondence one respectively.
9. the full-automatic line appearance detecting device of following according to claim 8, is characterized in that, the position that each discharging bin is communicated with transporting rail is equipped with block, and described block is connected with driving mechanism, and described driving mechanism is connected with control system.
10. the full-automatic line appearance detecting device of following according to claim 8, is characterized in that, described storage box is respectively equipped with independent counter.
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| CN201310462880.XA CN103480585B (en) | 2013-10-08 | 2013-10-08 | Fully-automatic tracking appearance inspection equipment |
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| CN201310462880.XA CN103480585B (en) | 2013-10-08 | 2013-10-08 | Fully-automatic tracking appearance inspection equipment |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104536055A (en) * | 2015-01-13 | 2015-04-22 | 上海瑞示电子科技有限公司 | Differential conveying security check system |
| CN104759417A (en) * | 2014-01-07 | 2015-07-08 | 南京恒创磁电有限责任公司 | Automatic collection and paring system for magnetic cores |
| CN105107748A (en) * | 2015-09-29 | 2015-12-02 | 山东新华医疗器械股份有限公司 | Light inspection equipment |
| CN106370663A (en) * | 2016-09-21 | 2017-02-01 | 南京恒创磁电有限责任公司 | Inspection mechanism |
| CN107246841A (en) * | 2017-05-27 | 2017-10-13 | 武汉理工大学 | A kind of multiple views grouping system device of auto parts and components |
| CN107282462A (en) * | 2017-05-26 | 2017-10-24 | 昆明理工大学 | A kind of pseudo-ginseng self-grading device and its control method |
| CN108057734A (en) * | 2017-11-30 | 2018-05-22 | 芜湖戎征达伺服驱动技术有限公司 | The component test device of punch line |
| CN108082841A (en) * | 2017-12-21 | 2018-05-29 | 芜湖戎征达伺服驱动技术有限公司 | A kind of dual-array line tail belt feeder |
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| CN104759417A (en) * | 2014-01-07 | 2015-07-08 | 南京恒创磁电有限责任公司 | Automatic collection and paring system for magnetic cores |
| CN104536055A (en) * | 2015-01-13 | 2015-04-22 | 上海瑞示电子科技有限公司 | Differential conveying security check system |
| CN104536055B (en) * | 2015-01-13 | 2017-07-11 | 上海瑞示电子科技有限公司 | Differential conveys safe examination system |
| CN105107748A (en) * | 2015-09-29 | 2015-12-02 | 山东新华医疗器械股份有限公司 | Light inspection equipment |
| CN105107748B (en) * | 2015-09-29 | 2018-04-10 | 山东新华医疗器械股份有限公司 | A kind of candling apparatus |
| CN106370663A (en) * | 2016-09-21 | 2017-02-01 | 南京恒创磁电有限责任公司 | Inspection mechanism |
| CN107282462A (en) * | 2017-05-26 | 2017-10-24 | 昆明理工大学 | A kind of pseudo-ginseng self-grading device and its control method |
| CN107246841A (en) * | 2017-05-27 | 2017-10-13 | 武汉理工大学 | A kind of multiple views grouping system device of auto parts and components |
| CN108057734A (en) * | 2017-11-30 | 2018-05-22 | 芜湖戎征达伺服驱动技术有限公司 | The component test device of punch line |
| CN108082841A (en) * | 2017-12-21 | 2018-05-29 | 芜湖戎征达伺服驱动技术有限公司 | A kind of dual-array line tail belt feeder |
| CN108709892A (en) * | 2018-07-04 | 2018-10-26 | 杭州智感科技有限公司 | Detecting system and its method |
| CN109277313A (en) * | 2018-10-12 | 2019-01-29 | 何方 | A kind of detection method and detection device |
| CN109513639A (en) * | 2019-01-03 | 2019-03-26 | 菲特(天津)智能科技有限公司 | Annular work piece inner wall defect detection device and method based on machine vision |
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| Publication number | Publication date |
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| CN103480585B (en) | 2015-03-25 |
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