CN106596571A - Detection method and detection mechanism for revolving workpiece - Google Patents
Detection method and detection mechanism for revolving workpiece Download PDFInfo
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- CN106596571A CN106596571A CN201710045248.3A CN201710045248A CN106596571A CN 106596571 A CN106596571 A CN 106596571A CN 201710045248 A CN201710045248 A CN 201710045248A CN 106596571 A CN106596571 A CN 106596571A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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Abstract
The invention discloses a detection method and detection mechanism for a revolving workpiece. According to the detection method, when a motor output shaft drives the revolving workpiece to rotate, a signal is output in the form of hardware or software to notify a camera of shooting the revolving workpiece; a controller synchronously records the positional information of the motor output shaft and positioning pictures shot by the camera; a positioning unit of the controller searches for a positioning picture meeting requirements and the corresponding positional information of the motor output shaft; an arithmetical unit of the controller finds out a set of to-be-detected positional information of the motor output shaft used for shooting of the revolving workpiece; then the rotation of the motor and the shooting of the camera are controlled so as to obtain analysis pictures; and an analysis unit of the controller is used for analyzing the analysis pictures so as to determine whether the revolving workpiece is qualified.
Description
Technical field
The present invention relates to a kind of detection method and testing agency, a kind of detection method more particularly to revolution class workpiece and
Testing agency.
Background technology
Currently, the detection of screw tap, mainly adopts and manually allows screw tap to rotate again in the method for probe contact measurement along its axis,
During production in enormous quantities, cost of labor is big, it is impossible to realize automated production, and, using probe contact type measurement, probe tip is held
It is easy to wear, the easy deflection in axle center of screw tap, rotational angle displacement also cannot keep uniformly, constant speed, these all directly affect detection effect
Really.
In view of this, the present inventor specially have developed a kind of method for turning round class workpiece sensing and control accuracy of detection
Thus satisfactory testing agency, this case produces.
The content of the invention
It is an object of the invention to provide a kind of detection method of revolution class workpiece, it is found using controller and camera
The test position of revolution class workpiece, and the image information of revolution class workpiece is shot in test position, through the analysis list of controller
Whether unit meets the requirements come the quality for judging revolution class workpiece.
To achieve these goals, technical scheme is as follows：
A kind of detection method of revolution class workpiece, it is characterised in that：Drive what revolution class workpiece was rotated in motor output shaft
Meanwhile, the output signal in the form of hardware or software notifies that camera shoots to the revolution class workpiece, by controller synchronization
The positioning picture that the positional information and the camera of the motor output shaft shoot is recorded, is looked for by the positioning unit of the controller
To the satisfactory positioning picture and the corresponding motor output shaft positional information, in the computing of the controller
Unit is found out after one group of to be detected described motor output shaft positional information for shooting the revolution class workpiece, then controls institute
The rotation of motor and the shooting of the camera are stated, analysis picture is obtained, by the analytic unit of the controller to the analysis chart
Piece is analyzed, and judges whether the revolution class workpiece is qualified.
The method is divided into two processes, and process one is used to find the motor output shaft position to be detected of workpiece, process dual-purpose
In detection revolution class workpiece quality.After searching out one group and suitably detecting motor output shaft position, shoot this group of position,
The movement locus of revolution class workpiece are clearly recorded, and thus judge whether the quality for drawing revolution class workpiece meets the requirements.
In the embodiment recommended, while the motor output shaft drives the revolution class workpiece to rotate, transmission is compiled
Code device, the encoder notifies that the camera shoots to the revolution class workpiece, while institute with impulse form output signal
State controller and record the motor output shaft positional information.
Another object of the present invention is to provide a kind of revolution class workpiece detection mechanism.
One kind revolution class workpiece detection mechanism, it is characterised in that：Including controller, to drive what revolution class workpiece was rotated
Motor and the camera to shoot the revolution class workpiece, the controller includes recording the position of output axle information of the motor
Recording unit and synchronous receive the camera and be continuously shot the first receiving unit of positioning picture, find and meet sets requirement
The positioning unit of the positioning picture and the corresponding motor output shaft positional information, find one group it is described for shooting
Turn round the arithmetic element of the positional information to be detected of the motor output shaft of class workpiece, export to the camera and the motor
The positional information to be detected, the control motor rotates described with the output unit of camera shooting analysis picture, reception
Second receiving unit of analysis picture and the analytic unit that the analysis picture is analyzed.
By above-mentioned structure, realize that motor rotates synchronous with what camera shot, so as to lift detection elaboration and detection
Effect.
In the embodiment recommended, also including the adjustable ball bearing of roller group and position, the roller group is included at least
The roller of two, the motor output shaft is driven each roller simultaneously；The ball bearing is rotatably pressed on the rolling
In wheel group, the gap for accommodating the revolution class workpiece is collectively forming.
When using, the testing agency of the present invention is arranged on board, tested revolution base part is put in gap (such as silk
Cone, bar etc.), revolution class workpiece is pressed between ball bearing and roller group, and whole process can ensure tested revolution class workpiece
Fit all the time with double rollers periphery, the axle center for turning round class workpiece hardly glances off, and can be controlled in a μm rank, anglec of rotation position
Move and keep uniform, constant speed.
In the embodiment recommended, also include exporting the encoder that pulse shoots signal, the motor to the camera
For twin shaft motor, the roller group is double rollers, and output shaft one end of the twin shaft motor is each by two Timing Belts
From roller described in transmission one, its output shaft other end is driven the encoder；The ball bearing is connected to adjust its position
Pressing mechanism on.
Twin shaft motor drives double rollers rotating in same direction, double rollers to drive revolution class workpiece to rotate again, turn round class workpiece
It is fitted on roller group periphery, on the basis of double rollers periphery, by calculating double rollers circumference with revolution class workpiece
The ratio of circumference, draws the position that revolution class workpiece is rotated.
Control mode is as follows：Double rollers rotation is driven by twin shaft motor, so as to drive revolution class workpiece high accuracy to revolve
Turn, the axle center for making revolution class workpiece hardly glances off.Meanwhile, twin shaft motor gearing encoder is realized same with camera
Step, after controller recognizes and calculate motor output shaft rotation node, control twin shaft motor and camera work, and replace
Manual action, realizes automatic detection, is adapted to produce in enormous quantities.
In addition, by adjusting pressing mechanism, ball bearing position is adjusted, between regulating ball bearing and double rollers
Gap, to be suitable for the revolution class workpiece of different size.
In the embodiment recommended, one end of the twin shaft stepper motor output shaft connects the one of a first shaft coupling
End, the other end of the first shaft coupling connects a driving shaft, and the driving shaft is each connected by two Timing Belts and rolled described in one
Wheel；The other end of the twin shaft stepper motor output shaft is connected to one end of a second shaft coupling, the second shaft coupling it is another
One end connects the encoder.
Control mode is as follows：Double rollers rotation is driven by first shaft coupling by twin shaft motor, so as to drive revolution
Class workpiece high-precision rotary, twin shaft motor passes through second shaft coupling gearing encoder.
In the embodiment recommended, also including a pedestal, the double rollers are the rotating shaft of double fine grindings, and each fine grinding turns
The afterbody of axle forms respectively a synchronous pulley, is arranged the Timing Belt for driving it to rotate on each synchronous pulley respectively,
The endoporus of the first deep groove ball bearing is respectively arranged in the middle part of the rotating shaft of each fine grinding, the head of each fine grinding rotating shaft is equal
In circular table distribution or column type distribution, each first deep groove ball bearing is respectively arranged in the fine grinding hole of the pedestal.
Fine grinding rotating shaft is arranged in the fine grinding hole of pedestal by deep groove ball bearing, the shake of double fine grindings rotating shaft can be further limited, can
In the spinning movement of revolution class workpiece, to control its axle center and hardly glance off, and then reduce turning round the shake of class workpiece,
Testing result is more accurate.
In the embodiment recommended, the head of double fine grindings rotating shaft is in three sections of circular table distributions.Head is arranged
Into after three sections of circular table distributions, the contact area of tested revolution class workpiece and fine grinding rotating shaft can be reduced, so, even if returning
Turn when class working surface has a small amount of out-of-flatness, also not interfering with the movement locus of revolution class workpiece, its rotary motion is more steady
It is fixed, i.e. not affect Detection results.
In the embodiment recommended, the ball bearing is the second deep groove ball bearing, second deep groove ball bearing and institute
State and the gap for accommodating the revolution class workpiece is formed between double rollers.By adjusting pressing wheel mechanism, deep groove ball bearing can be adjusted
Gap between double rollers, to be suitable for the revolution class workpiece of different size.
In the embodiment recommended, second deep groove ball bearing and rotating shaft, support, rod failure cylinder, choke valve, decompression
Valve forms the pressing wheel mechanism to adjust the second deep groove ball bearing position, and the pressing wheel mechanism is arranged on the pedestal,
Second deep groove ball bearing is rotatably installed on support by the rotating shaft, and the support connects with the rod failure cylinder
Connect, the rod failure cylinder place air-channel system arranges the choke valve and the air relief valve.Choke valve and air relief valve are used to adjust
Airline pressure, to adjust pinch roller pressure.
Double rollers are individual components with pressing wheel mechanism, and quick release is easily adjusted, convenient maintenance, replacing.
In the embodiment recommended, also can slide up and down locating rod including one, the locating rod is located at the revolution
The underface of class workpiece, the bottom surface of the top surface contact revolution class workpiece of the locating rod.Locating rod can prevent from turning round class work
Make in spinning movement, due to the effect of gravity, and downward movement occurs.
In the embodiment recommended, the twin shaft motor, the double rollers, the pressing wheel mechanism, the coding
Device, the pedestal and the first shaft coupling, the second shaft coupling are completed after assembling, are installed on electronic slide unit.By electricity
The movement of dynamic slide unit, drives said apparatus to move up and down, with suitable for the control of different length workpiece.It is of course also possible to by electricity
Dynamic slide unit is arranged to the mode that can be moved up and down, can also move left and right.
Description of the drawings
Fig. 1 is the attached view of present invention revolution class workpiece detection mechanism；
Fig. 2 is the sectional view for turning round class workpiece detection mechanism (not including camera and light source)；
Fig. 3 is the schematic perspective view for turning round class workpiece detection mechanism (not including camera and light source)；
Fig. 4 is arranged on the schematic diagram in pedestal for double rollers.
Specific embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, it is presently preferred embodiments of the present invention, turns round class workpiece detection mechanism, including it is double
Shaft step motor 8, encoder 6, pedestal 1, double rollers 10 and pressing wheel mechanism 2.
One end of the output shaft of twin shaft motor 8 connects one end of a first shaft coupling 5, first shaft coupling 5 it is another
One driving shaft (not shown) of end connection, driving shaft (not shown) each connects a roller by two Timing Belt (not shown)
10；The other end of twin shaft stepper motor output shaft 8 is connected to one end of a second shaft coupling 9, and the other end of second shaft coupling 9 connects
Connect encoder 6.Twin shaft motor 8 connects controller (not shown).
Pressing wheel mechanism 2 is arranged on pedestal 1.Formed between the deep groove ball bearing 21 of double rollers 10 and pressing wheel mechanism 2 and accommodated
The gap 3 of revolution class workpiece (such as screw tap, does not show in figure).Pressing wheel mechanism 2 is individual components with double rollers 10, can quickly be torn open
Unload, easily adjust, convenient maintenance, replacing.
By the position of deep groove ball bearing 21 for adjusting pressing wheel mechanism 2, can adjust the deep groove ball bearing 21 of pressing wheel mechanism 2 with
Gap between double rollers 10, to be suitable for the revolution class workpiece of different size.
Double rollers 10 are the rotating shaft of double fine grindings, and the afterbody of each fine grinding rotating shaft forms respectively (the Timing Belt of a synchronous pulley 101
Wheel), the above-mentioned Timing Belt (not shown) for driving it to rotate each is arranged on each synchronous pulley 101, each fine grinding turns
The endoporus of deep groove ball bearing 102 is respectively arranged in the middle part of axle, the head 103 of each fine grinding rotating shaft is in respectively three sections of round platforms
Formula is distributed, and each deep groove ball bearing 102 is fixedly installed in respectively in the fine grinding hole of pedestal 1.
Pressing wheel mechanism 2 include deep groove ball bearing 21, rotating shaft 22, support 23, rod failure cylinder 24, choke valve (not shown) and
Air relief valve (not shown), deep groove ball bearing 21 is rotatably installed on support 23 by rotating shaft 22, support 23 and rod failure gas
Cylinder 24 connects, and the place air-channel system of rod failure cylinder 24 arranges choke valve and air relief valve.Choke valve and air relief valve are used to adjust gas circuit
Pressure, to adjust pressing wheel mechanism pressure.
The camera 50 of 10000000 pixels is arranged on the position that can detect that screw tap motion track information, the conveying arteries and veins of encoder 6
Signal is rushed to camera 50.Camera 50 connects controller (not shown).
Light source 60 is arranged on the position that can be irradiated to screw tap.
Twin shaft motor 8, pedestal 1, double rollers 10, pressing wheel mechanism 2, encoder 6 and first shaft coupling 5, described second
Shaft coupling 9 is after connecting plate 4 completes assembling, then connecting plate 4 is installed on electronic slide unit 7.By the movement of electronic slide unit 7,
Said apparatus are driven to move up and down, with suitable for the control of different length screw tap.
Also can slide up and down locating rod 11 including one, locating rod 11 is located at the underface of tested revolution class workpiece, positioning
The bottom surface of the top surface contact Rotating class workpiece of bar 11.
Certainly, in the embodiment of change, locating rod 11 can be not provided with.
After using such scheme, the present invention is turned into class workpiece detection mechanism on board, when using, screw tap is inserted
It is mounted between the double rollers 10 of the deep groove ball bearing 21 of pressing wheel mechanism 2 and miniature punching pin device 1, the periphery with double rollers 10 is as base
Standard, screw tap is compressed be fitted on the periphery of double rollers 10 by deep groove ball bearing 21.
When using, screw tap be pressed in the deep groove ball bearing 21 of pressing wheel mechanism 2 and miniature punching pin device 1 double rollers 10 it
Between, double rollers 10 rotating in same direction of the twin shaft motor 8 with actuating miniature punching pin device 1, double rollers 10 drive screw tap to rotate, by meter
The ratio of the circumference of double rollers 10 and screw tap circumference is calculated, the position that screw tap is rotated is drawn.Whole process can ensure screw tap with it is double
The periphery of roller 10 is fitted all the time, and the axle center of screw tap is not skewed, and rotational angle displacement keeps uniform, constant speed, can be by circular runout
Control in a μm rank with axial runout, so as to lift control effect.In general, between deep groove ball bearing 21 and double rollers 10
Pressure force is bigger, and the circular runout of screw tap is less with axial runout, and the pressure force between deep groove ball bearing 21 and double rollers 10 is got over
Little, circular runout and the axial runout of screw tap can increased.
Control mode is as follows：Double rollers 10 are driven to rotate by first shaft coupling 5 by twin shaft motor 8, so as to drive
The high-precision rotary of screw tap, twin shaft motor 8 is recognized and calculated by the gearing encoder 6 of second shaft coupling 9 in controller
After the output shaft rotation node of twin shaft motor 8, Synchronization Control twin shaft motor 8 and camera 50 work, and replace artificial dynamic
Make, realize automatic detection, be adapted to produce in enormous quantities.
Controller includes that the recording unit of the position of output axle information of record twin shaft motor 8 and the synchronous camera 50 that receives connect
Continuous shooting positions the first receiving unit of picture, finds the positioning picture and corresponding twin shaft stepping electricity for meeting sets requirement
The positioning unit of the position of output axle information of machine 8, find one group for shoot revolution class workpiece (such as screw tap, does not show in figure) pair
The arithmetic element of the positional information to be detected of the output shaft of shaft step motor 8, export to be detected to camera 50 and twin shaft motor 8
Positional information, controls that twin shaft motor 8 is rotated and camera 50 shoots the output unit of analysis picture, receives the of analysis picture
Two receiving units and the analytic unit that analysis picture is analyzed.
For example, twin shaft motor 8 is continuously rotated in the way of absolute position, encoder 6 and twin shaft stepping
Motor 8 links, and twin shaft motor 8 is every to turn n degree, and encoder 6 notifies that camera 50 is shot with impulse form output signal,
Positioning picture captured by the first receiving unit storage of controller, the recording unit synchronous recording motor output shaft position of controller
Confidence ceases, and by the feedback of twin shaft motor 8, will believe with the rotating shaft position of twin shaft motor 8 per a positioning picture
Breath is corresponded, and the positioning unit of controller finds out the picture that screw tap highest rib can be clearly recognized in positioning picture, controller
Arithmetic element recall the rotating shaft position information of the twin shaft motor 8 corresponding to positioning picture, 8 turns of control twin shaft motor
The position is moved, signal is simultaneously emitted by, control camera 50 is shot, and afterwards the arithmetic element of controller is single by its output again
Unit controls twin shaft motor 8 and rotates, and by the circumference ratio for calculating double rollers and screw tap, control screw tap turns to detection angles
(for the screw tap of 4 swords is to turn 4 90 degree, for the screw tap of 3 swords is to turn 3 120 degree, by that analogy), signal is simultaneously emitted by, is controlled
Camera processed 50 is shot.According to this method, the arithmetic element of controller controls twin shaft motor 8 and rotates by its output unit
Detection angles are rotated further by control screw tap, at corresponding position, computer all can send shooting instruction to camera, to obtain
Picture need to be analyzed, these pictures are exactly the analysis picture for being subsequently used for testing and analyzing.On second receiving unit of controller is received
After stating analysis picture, it is analyzed to analyzing picture by the analytic unit of controller, judges whether screw tap is qualified.
In addition, the position of deep groove ball bearing 21 by adjusting pressing wheel mechanism 2, can adjust the deep-groove ball axle of pressing wheel mechanism 2
The gap between 21 and double rollers 10 is held, to be suitable for the screw tap of different size.
In the present invention, each feature duplicate detection result of single screw tap (M2.5) is investigated, as shown in table 1.
The each feature duplicate detection result of the single screw tap (M2.5) of table 1 (this sample shank external diameter is beated about 3 μm)
Can see from table 1, using this detection method and the detecting system of testing agency, dimensional accuracy error is less than 3 μ
m。
In addition, processing, the assembly precision by improving testing agency, can further reduce detecting system error.
The specific embodiment that the present invention is enumerated is these are only, but the design concept of the present invention is not limited thereto, all utilizations
This design carries out the change of unsubstantiality to the present invention, all should belong to the behavior for invading the scope of the present invention.
Claims (11)
1. it is a kind of revolution class workpiece detection method, it is characterised in that：The same of revolution class workpiece rotation is driven in motor output shaft
When, the output signal in the form of hardware or software notifies that camera shoots to the revolution class workpiece, is synchronously remembered by controller
The positioning picture that the positional information and the camera of the motor output shaft shoot is recorded, is found by the positioning unit of the controller
The satisfactory positioning picture and the corresponding motor output shaft positional information, in the computing list of the controller
Unit is found out after one group of to be detected described motor output shaft positional information for shooting the revolution class workpiece, then is controlled described
The rotation and the shooting of the camera of motor, obtains analysis picture, by the analytic unit of the controller to the analysis picture
It is analyzed, judges whether the revolution class workpiece is qualified.
2. the detection method of a kind of revolution class workpiece as claimed in claim 1, it is characterised in that：The motor output shaft drives
While the revolution class workpiece is rotated, gearing encoder, the encoder notifies the camera with impulse form output signal
The revolution class workpiece is shot, while the controller records the motor output shaft positional information.
It is 3. a kind of to turn round class workpiece detection mechanism, it is characterised in that：Including controller, the electricity to drive revolution class workpiece to rotate
Machine and the camera to shoot the revolution class workpiece, the controller includes recording the position of output axle information of the motor
Recording unit and the synchronous reception camera are continuously shot the first receiving unit of positioning picture, find the institute for meeting sets requirement
State and position the positioning unit of picture and the corresponding motor output shaft positional information, find one group for shooting described returning
Turn the arithmetic element of the positional information to be detected of the motor output shaft of class workpiece, export institute to the camera and the motor
Positional information to be detected is stated, the control motor is rotated and the camera shoots described point of the output unit of analysis picture, reception
Second receiving unit of analysis picture and the analytic unit that the analysis picture is analyzed.
4. one kind as claimed in claim 3 turns round class workpiece detection mechanism, it is characterised in that：Also include that roller group and position can
The ball bearing of tune, the roller group includes at least two roller, and the motor output shaft is driven each roller simultaneously；Institute
State ball bearing to be rotatably pressed in the roller group, be collectively forming the gap for accommodating the revolution class workpiece.
5. one kind as claimed in claim 4 turns round class workpiece detection mechanism, it is characterised in that：Also include being exported to the camera
Pulse shoots the encoder of signal, and the motor is twin shaft motor, and the roller group is double rollers, the twin shaft stepping electricity
Output shaft one end of machine is each driven roller described in by two Timing Belts, and its output shaft other end is driven the encoder；Institute
State on the pressing mechanism that ball bearing is connected to adjust its position.
6. one kind as claimed in claim 5 turns round class workpiece detection mechanism, it is characterised in that：The twin shaft motor output
One end of axle connects one end of a first shaft coupling, and the other end of the first shaft coupling connects a driving shaft, the driving shaft
Each connect roller described in by two Timing Belts；The other end of the twin shaft stepper motor output shaft is connected to one second shaft coupling
One end of device, the other end of the second shaft coupling connects the encoder.
7. the one kind as described in claim 4 or 5 or 6 turns round class workpiece detection mechanism, it is characterised in that：Also include a pedestal,
The double rollers are the rotating shaft of double fine grindings, and the afterbody of each fine grinding rotating shaft forms respectively a synchronous pulley, each synchronization
It is arranged the Timing Belt for driving it to rotate on belt wheel respectively, in the middle part of the rotating shaft of each fine grinding the first zanjon is respectively arranged in
The endoporus of ball bearing, the head of each fine grinding rotating shaft is in circular table distribution or column type distribution, and each described first is deep
Ditch ball bearing is respectively arranged in the fine grinding hole of the pedestal.
8. one kind as claimed in claim 7 turns round class workpiece detection mechanism, it is characterised in that：The head of double fine grindings rotating shaft
In three sections of circular table distributions.
9. one kind as claimed in claim 5 turns round class workpiece detection mechanism, it is characterised in that：The ball bearing is the second zanjon
Ball bearing, forms the gap for accommodating the revolution class workpiece between second deep groove ball bearing and the double rollers；Described
Two deep groove ball bearings are formed to adjust second deep groove ball bearing with rotating shaft, support, rod failure cylinder, choke valve, air relief valve
The pressing wheel mechanism of position, second deep groove ball bearing is rotatably installed on the support by the rotating shaft, described
Frame is connected with the rod failure cylinder, and the rod failure cylinder place air-channel system arranges the choke valve and the air relief valve.
10. one kind as claimed in claim 9 turns round class workpiece detection mechanism, it is characterised in that：Can also slide up and down including one
Locating rod, the locating rod is located at the underface of the revolution class workpiece, and the top surface of the locating rod contacts the revolution class
The bottom surface of workpiece.
A kind of 11. revolution class workpiece detection mechanisms as claimed in claim 9, it is characterised in that：The twin shaft motor, institute
State double rollers, the pressing wheel mechanism, the encoder, the pedestal and the first shaft coupling, the second shaft coupling to complete
After assembling, it is installed on electronic slide unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045248.3A CN106596571B (en) | 2017-01-19 | 2017-01-19 | A kind of detection method for turning round class workpiece and testing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045248.3A CN106596571B (en) | 2017-01-19 | 2017-01-19 | A kind of detection method for turning round class workpiece and testing agency |
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| CN106596571A true CN106596571A (en) | 2017-04-26 |
| CN106596571B CN106596571B (en) | 2018-03-02 |
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| CN111360584A (en) * | 2020-04-28 | 2020-07-03 | 中南大学 | Large-size revolving body workpiece surface detection device and method |
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| CN117142046B (en) * | 2023-03-17 | 2024-07-02 | 荣耀终端有限公司 | Control method, overturning station, motion control assembly and track detection system |
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| CN112711230A (en) * | 2020-12-08 | 2021-04-27 | 占朗智能科技(上海)有限公司 | Inspection process of automatic inspection equipment for workpiece production quality |
| CN112711230B (en) * | 2020-12-08 | 2022-12-13 | 占朗智能科技(上海)有限公司 | Inspection process of automatic inspection equipment for workpiece production quality |
| CN117142046A (en) * | 2023-03-17 | 2023-12-01 | 荣耀终端有限公司 | Control method, overturning station, motion control assembly and track detection system |
| CN117142046B (en) * | 2023-03-17 | 2024-07-02 | 荣耀终端有限公司 | Control method, overturning station, motion control assembly and track detection system |
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| CN106596571B (en) | 2018-03-02 |
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