CN107152915A - It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature - Google Patents
It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature Download PDFInfo
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- CN107152915A CN107152915A CN201710318525.3A CN201710318525A CN107152915A CN 107152915 A CN107152915 A CN 107152915A CN 201710318525 A CN201710318525 A CN 201710318525A CN 107152915 A CN107152915 A CN 107152915A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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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
-
- 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
- G01N21/8803—Visual inspection
Abstract
The invention discloses a kind of grand micro- combination integrated detecting device of multiple degrees of freedom for being intended for various structures feature, the device includes pose adjustment mechanism, quick change clamping device, vision-based detection mechanism and pedestal；Pose adjustment mechanism can realize x-axis, y-axis direction and the linear motion perpendicular to the z-axis direction of x/y plane in horizontal plane, and pose adjustment mechanism is realized to be rotated around x-axis ± 90 °, around 360 ° of rotations of z-axis；Quick change clamping device realizes quick-clamping for part, and vision-based detection mechanism does not obtain the three-dimensional dimension image of part using grand micro- two visual field camera lens and camera, carries out gross imperfection detection to image respectively using outer computer and microscopic dimensions are detected；Pose adjustment mechanism is fixed on pedestal, and quick change clamping device is fixed in pose adjustment structure, and vision-based detection mechanism is fixed on the part on pedestal and just to being clamped on quick change clamping device.The part by one-step clamping of the invention in detection is in place, it is no longer necessary to loads and unloads part repeatedly, saves man-hour, improve detection efficiency.
Description
Technical field
The present invention relates to a kind of product integrated detecting device, and in particular to a kind of multiple degrees of freedom towards multiple product is grand micro-
With reference to integrated detecting device, belong to product quality detection technique field.
Background technology
In the multiple fields such as Aeronautics and Astronautics, military affairs, medical treatment, the requirement to the precision and stability of complex parts is continuous
Increase, the improving complex parts precision and efficiency of detecting of the task is extremely urgent.With computer technology, Digital Image Processing skill
The fields such as art, LED light source technologies are continued to develop, and machine vision technique there has also been significant progress.Machine vision technique is in inspection
Also increasingly wider, reliability more and more higher, detection speed are also increasingly faster for the application in survey field, and having become detection field can not
Or scarce technological means.In current production practices, for the detection of part three-dimensional dimension, it is impossible to real in single detection process
The detection of existing grand micro- combination, thus whether qualified to part step by step can not judge, it is less efficient.And can not be according to actual need
The size and feature of any dimension of part are detected, function is more single.Current detecting system, all just for single structure part
And design, single features part can only be detected, without extensive adaptability.
The content of the invention
In view of this, the invention provides a kind of grand micro- integrated detection of combination of multiple degrees of freedom for being intended for various structures feature
Device, the device can complete part defect by macro field of view and detect, accessory size Precision measurement is completed by microcosmic visual field,
And various features part can be detected, with wide applicability.
A kind of grand micro- combination integrated detecting device of the multiple degrees of freedom for being intended for various structures feature, the device is adjusted including pose
Complete machine structure, quick change clamping device, vision-based detection mechanism and pedestal；
The pose adjustment mechanism can realize x-axis in horizontal plane, y-axis direction and perpendicular to the z-axis direction of x/y plane
Linear motion, pose adjustment mechanism can also be realized to be rotated around x-axis ± 90 °, around 360 ° of rotations of z-axis；
The External Shape of the quick change gripper mechanism grips be column, bulk, shaft sleeve, repetitive positioning accuracy be less than ±
0.002mm；
The vision-based detection mechanism respectively obtains the three-dimensional dimension image of part using grand micro- two visual field camera lens and camera, profit
Carry out the microscopic dimensions detection within gross imperfection detection and 10 μm to image respectively with outer computer；
The pose adjustment mechanism is fixedly connected on pedestal, and quick change clamping device is fixedly connected on pose adjustment structure
On, vision-based detection mechanism is fixedly connected on the part on pedestal and just to being clamped on quick change clamping device.
Further, the pose adjustment mechanism includes X-axis straight-line displacement module, Y-axis straight-line displacement module, Z axis straight line
Displacement module and rotary module；
The X-axis straight-line displacement module is identical with the structure composition of Y-axis straight-line displacement module, including substrate, level silk
Thick stick pair of nut, horizontal guide rail component and horizontal motor, the horizontal screw lead nut in horizontal motor drive installation portion in a substrate
Leading screw in pair is rotated, and the nut being sleeved on leading screw produces rectilinear movement, and nut is fixedly connected with external agency；The level
The guide rail that guide assembly is arranged in the both sides of horizontal screw lead pair of nut, horizontal guide rail component is fixedly connected with substrate, and level is led
The sliding block of rail assembly is with guide rail to be slidably matched, and sliding block is fixedly connected with external agency；
The Z axis straight-line displacement module includes support, upright guide rail component, vertical screw pair, connecting plate and vertical
Motor, the support is of an L-shaped structure, and upright guide rail component, vertical screw pair and vertical motor are both connected to the perpendicular of support
In direct-connected junction, structure and connected mode are identical with X-axis straight-line displacement module and Y-axis straight-line displacement module, and connecting plate, which is fixed, to be connected
On the nut for being connected on the sliding block of upright guide rail component and vertical screw pair；
The rotary module includes A axles turntable, connecting seat, B axle turntable and fixed plate, and the connecting seat is L-shaped
Structure, the output end of the A axles turntable is fixedly connected with the vertical portion of connecting seat, the rotation axis and Y-axis of A axle turntables
The direction of displacement of straight-line displacement module is parallel, and the B axle turntable is fixedly connected on the horizontal component of connecting seat, B axle rotation
The rotation axis of platform is parallel with the direction of displacement of Z axis straight-line displacement module；The output end of the B axle turntable is connected plate,
Fixed plate is used to connect external agency；
The Y-axis straight-line displacement module by horizontal screw lead pair of nut in the substrate of itself and X-axis straight-line displacement module and
Nut in horizontal guide rail component is fixedly connected with sliding block, horizontal screw lead in X-axis straight-line displacement module and Y-axis straight-line displacement module
The pivot center direction of pair of nut is orthogonal；The support of the Z axis straight-line displacement module and level in Y-axis straight-line displacement module
Screw pair is fixedly connected with the nut in horizontal guide rail component with sliding block；A axles turntable and Z axis in the rotary module
Connecting plate in straight-line displacement module is fixedly connected.
Further, the quick change clamping device includes air spider, supporting plate, adapter flange, air-actuated jaw and gripper jaw
Connection air-actuated jaw, pneumatic clamping above connection air spider below arm, the supporting plate, top connection adapter flange, adapter flange
Pawl is connected with gripper jaw arm, and gripper jaw arm has different construction profiles to adapt to the product to be held of different profiles.
Further, the vision-based detection mechanism includes macroscopical camera, microcosmic camera, magazine, straight line/rotary cylinder, company
Block and stand are connect, macroscopical camera and microcosmic camera include camera, camera lens and coaxial light source；Macroscopical camera and microcosmic camera
Side by side on the cantilever beam of stand, straight line/rotary cylinder, straight line/revolution gas are installed by contiguous block on the column of stand
Magazine is connected on cylinder, magazine is used to hold the part after examining.
Beneficial effect：
1st, the pose adjustment mechanism in the present invention can carry out pose adjustment in five frees degree to part to be measured, can be by
Required according to detection and lens features parameter adjusts part pose in real time, be finally completed the size detection of required dimension, once fill
The three-dimensional dimension detection of part can be achieved in folder.
2nd, quick change clamping device of the invention, being capable of a variety of different shape features of clamping by the design of different type fixture
Complex parts, realize its three-dimensional size detection, the various parts such as bulk, column, shaft hole series, thin wall.Unified mark
Standardization supporting plate can realize interchangeability, and the quick-clamping for completing part in place, drastically increases operating efficiency, have again certain
Universality, be adapted to the quick detection of high-volume part.
3rd, vision-based detection mechanism of the invention is by the cooperations of two different enlargement ratio camera lenses, successively in grand micro- two visual field
Completion is stored classifiedly to the defects detection of part, local feature recognition, dimensional measurement, and to qualified parts and rejected part.
4th, the characteristics of device of the invention has integrated, device can complete parts fixation, adjustment, positioning, detection, divide
Class, it is adaptable to online mass detection.
5th, the present invention in detection part by one-step clamping in place, when needing detection different dimensions or different zones local feature
When, it is no longer necessary to part is loaded and unloaded repeatedly, is saved man-hour, is improved detection efficiency.
Brief description of the drawings
Fig. 1 is overall structure composition schematic diagram of the present invention；
Fig. 2 is the structural representation of pose adjustment mechanism in the present invention；
Fig. 3 is X, the structural representation of Y-axis straight-line displacement module in pose adjustment mechanism of the present invention；
Fig. 4 is the structural representation of Z axis straight-line displacement module in pose adjustment mechanism of the present invention；
Fig. 5 be pose adjustment mechanism of the present invention in rotary module structural representation；
Fig. 6 is the structural representation of quick change clamping device in the present invention；
Fig. 7 is the structural representation of vision-based detection mechanism in the present invention.
Wherein, 1- poses adjustment mechanism, 2- quick changes clamping device, 3- vision-based detections mechanism, 4- pedestals, 5-X axles straight line position
Shifting formwork block, 6-Y axle straight-line displacements module, 7-Z axle straight-line displacements module, 8- rotary modules, 9- substrates, 10- horizontal screw lead nuts
Pair, 11- horizontal guide rails component, 12- horizontal motors, 13- supports, 14- upright guide rails component, the vertical screw pairs of 15-, 16-
The vertical motor of connecting plate, 17-, 18-A axles turntable, 19- connecting seats, 20-B axles turntable, 21- fixed plates, 22- air spiders,
23- supporting plates, 24- adapter flanges, 25- air-actuated jaws, 26- gripper jaws arm, 27- cameras, 28- camera lenses, 29- coaxial light sources, 30-
Magazine, 31- straight lines/rotary cylinder, 32- contiguous blocks, 33- stands.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the invention provides a kind of grand micro- combination of multiple degrees of freedom for being intended for various structures feature is integrated
Detection means, the device includes pose adjustment mechanism 1, quick change clamping device 2, vision-based detection mechanism 3 and pedestal 4；
Pose adjustment mechanism 1 can realize x-axis, y-axis direction and the straight line perpendicular to the z-axis direction of x/y plane in horizontal plane
Motion, pose adjustment mechanism can also be realized to be rotated around x-axis ± 90 °, around 360 ° of rotations of z-axis；
Quick change clamping device 2 is for column of the clamping appearance and size in the range of 1~70mm, bulk, shaft sleeve, profile chi
The very little thin wall component in the range of 8~70mm realizes quick-clamping, and repetitive positioning accuracy is less than ± 0.002mm；
Vision-based detection mechanism 3 respectively obtains the three-dimensional dimension image of part using grand micro- two visual field camera lens and camera, utilizes
The microscopic dimensions that outer computer carries out within gross imperfection detection and 10 μm to image respectively are detected；
Pose adjustment mechanism 1 is fixedly connected on pedestal 4, and quick change clamping device 2 is fixedly connected in pose adjustment structure,
Vision-based detection mechanism 3 is fixedly connected on the part on pedestal 4 and just to being clamped on quick change clamping device 2.
As shown in Figure 2, pose adjustment mechanism 1 is straight including X-axis straight-line displacement module 5, Y-axis straight-line displacement module 6, Z axis
Displacement of the lines module 7 and rotary module 8；
As shown in Figure 3, X-axis straight-line displacement module 5 is identical with the structure composition of Y-axis straight-line displacement module 6, including base
Plate 9, horizontal screw lead pair of nut 10, horizontal guide rail component 11 and horizontal motor 12, the drive installation of horizontal motor 12 is in substrate 9
Leading screw in the horizontal screw lead pair of nut 10 in portion is rotated, and the nut being sleeved on leading screw produces rectilinear movement, nut and Y-axis straight line
Displacement module 6 is fixedly connected；Horizontal guide rail component 11 is arranged in the both sides of horizontal screw lead pair of nut 10, horizontal guide rail component 11
Guide rail be fixedly connected with substrate 9, the sliding block of horizontal guide rail component 11 and guide rail is are slidably matched, sliding block and Y-axis straight-line displacement
Substrate in module 6 is fixedly connected；
As shown in Figure 4, Z axis straight-line displacement module includes support 13, upright guide rail component 14, vertical screw pair
15th, connecting plate 16 and vertical motor 17, support 13 are of an L-shaped structure, upright guide rail component 14, vertical screw pair 15 and vertical
Motor 17 is both connected on the vertical joint face of support 13, structure and connected mode and X-axis straight-line displacement module and Y-axis straight line position
Shifting formwork block is identical, and connecting plate 16 is fixedly connected on the nut of the sliding block of upright guide rail component 14 and vertical screw pair 15；
As shown in Figure 5, rotary module includes A axles turntable 18, connecting seat 19, B axle turntable 20 and fixed plate 21, even
Joint chair 19 is is of an L-shaped structure, and the output end of the A axles turntable 18 is fixedly connected with the vertical portion of connecting seat 19, the rotation of A axles
The rotation axis of turntable 18 is parallel with the direction of displacement of Y-axis straight-line displacement module, and the B axle turntable 20 is fixedly connected on connection
On the horizontal component of seat 19, the rotation axis of B axle turntable 20 is parallel with the direction of displacement of Z axis straight-line displacement module；The B axle
The output end of turntable 20 is connected plate 21, and fixed plate is used to connect external agency；
Y-axis straight-line displacement module passes through horizontal screw lead pair of nut 10 and water on the substrate 9 of itself and X-axis straight-line displacement module
Nut in level gauge component 11 is fixedly connected with sliding block, horizontal screw lead in X-axis straight-line displacement module and Y-axis straight-line displacement module
The pivot center direction of pair of nut 10 is orthogonal；The support 13 of Z axis straight-line displacement module and level in Y-axis straight-line displacement module
Screw pair 10 is fixedly connected with the nut in horizontal guide rail component 11 with sliding block；A axle turntables in the rotary module
18 are fixedly connected with the connecting plate 16 in Z axis straight-line displacement module.
As shown in Figure 6, quick change clamping device 2 includes air spider 22, supporting plate 23, adapter flange 24, air-actuated jaw 25
With gripper jaw arm 26, the lower section of the supporting plate 23 connection air spider 22, top connects adapter flange 24, and the top of adapter flange 24 connects
Air-actuated jaw 25 is connect, air-actuated jaw 25 is connected with gripper jaw arm 26, and gripper jaw arm 26 has different construction profiles to adapt to difference
The gripper jaw arm 26 of eight kinds of different structures is shown in the product to be held of profile, figure.
As shown in Figure 7, vision-based detection mechanism 3 includes macroscopical camera, microcosmic camera, magazine 30, straight line/rotary cylinder
31st, contiguous block 32 and stand 33, macroscopical camera and microcosmic camera include camera 27, camera lens 28 and coaxial light source 29；It is grand
Camera and microcosmic camera are seen side by side on the cantilever beam of stand 33, passes through the installation straight line of contiguous block 32 on the column of stand 33
On/rotary cylinder 31, straight line/rotary cylinder 31 connect magazine 30, magazine 30 be used for hold examine after part, magazine 30 by
Straight line/rotary cylinder 31 drives, rotating range ± 90 °, Z axis forward stroke 20mm, can be to qualified parts and rejected part
Store classifiedly.
The present invention is using the serial telecentric lens of NAVITOR-Zoom 6000.Macroscopic view can realize feature based matching
Parts Recognition and part gross imperfection detect, using 0.5 × times rate converter and 0.5 × attachment objective, operating distance 175mm,
Actually detected field range 50mm × 50mm, accuracy of detection 0.05mm；Microscopic view realizes the measurement and zero of accessory size feature
Part microdefect is detected, using 0.67 × times rate converter and 1.5 × attachment objective, operating distance 51mm, the actually detected visual field
Scope 10mm × 10mm, accuracy of detection 0.01mm.
The course of work of the present invention is as follows：Holding action before detection process starts is completed by gripper jaw arm 26, can be clamped
Column of the appearance and size in the range of 1~70mm, bulk, shaft sleeve, thin wall of the appearance and size in the range of 8~70mm etc. are more
Plant the complex parts with different structure feature；Parts fixation in place after, according to macro field of view part image, can be to part
No existing defects are judged that rejected part then is sent into specified magazine deposits, and is adjusted if part is qualified by pose
Straight-line displacement module in mechanism 1 and rotary module coordinate to be adjusted to the pose of part, can realize to part 5 from
By the adjustment spent；After part positioning, part is shot by microcosmic camera lens, the part dimension image is collected, transmit to
Computer, carries out image procossing using the accurate recognizer in micro-image edge, completes the quick accurate detection of part, according to survey
Accessory size it is whether qualified to part judge, and part be sent to specified magazine respectively deposited.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (4)
1. the grand micro- combination integrated detecting device of the multiple degrees of freedom for being intended for various structures feature, it is characterised in that the device includes
Pose adjustment mechanism, quick change clamping device, vision-based detection mechanism and pedestal；
The pose adjustment mechanism can realize x-axis, y-axis direction and the straight line perpendicular to the z-axis direction of x/y plane in horizontal plane
Motion, pose adjustment mechanism can also be realized to be rotated around x-axis ± 90 °, around 360 ° of rotations of z-axis；
The External Shape of the quick change gripper mechanism grips be column, bulk, shaft sleeve, repetitive positioning accuracy be less than ±
0.002mm；
The vision-based detection mechanism respectively obtains the three-dimensional dimension image of part using grand micro- two visual field camera lens and camera, using outer
The microscopic dimensions that portion's computer carries out within gross imperfection detection and 10 μm to image respectively are detected；
The pose adjustment mechanism is fixedly connected on pedestal, and quick change clamping device is fixedly connected in pose adjustment structure, depending on
Feel that testing agency is fixedly connected on the part on pedestal and just to being clamped on quick change clamping device.
2. the multiple degrees of freedom grand micro- combination integrated detecting device as claimed in claim 1 for being intended for various structures feature, it is special
Levy and be, the pose adjustment mechanism include X-axis straight-line displacement module, Y-axis straight-line displacement module, Z axis straight-line displacement module and
Rotary module；
The X-axis straight-line displacement module is identical with the structure composition of Y-axis straight-line displacement module, including substrate, horizontal screw lead spiral shell
Female secondary, horizontal guide rail component and horizontal motor, the horizontal motor drive installation is in a substrate in the horizontal screw lead pair of nut in portion
Leading screw rotate, be sleeved on nut on leading screw and produce rectilinear movement, nut is fixedly connected with external agency；The horizontal guide rail
The guide rail that component is arranged in the both sides of horizontal screw lead pair of nut, horizontal guide rail component is fixedly connected with substrate, horizontal guide rail group
The sliding block of part is with guide rail to be slidably matched, and sliding block is fixedly connected with external agency；
The Z axis straight-line displacement module includes support, upright guide rail component, vertical screw pair, connecting plate and vertical motor,
The support is of an L-shaped structure, and upright guide rail component, vertical screw pair and vertical motor are both connected to the vertical connection of support
On face, structure and connected mode are identical with X-axis straight-line displacement module and Y-axis straight-line displacement module, and connecting plate is fixedly connected on perpendicular
On the nut of the sliding block of straight guide component and vertical screw pair；
The rotary module includes A axles turntable, connecting seat, B axle turntable and fixed plate, and the connecting seat is to be of an L-shaped structure,
The output end of the A axles turntable is fixedly connected with the vertical portion of connecting seat, rotation axis and the Y-axis straight line of A axle turntables
The direction of displacement of displacement module is parallel, and the B axle turntable is fixedly connected on the horizontal component of connecting seat, B axle turntable
Rotation axis is parallel with the direction of displacement of Z axis straight-line displacement module；The output end of the B axle turntable is connected plate, fixed
Plate is used to connect external agency；
The Y-axis straight-line displacement module passes through horizontal screw lead pair of nut and level on the substrate of itself and X-axis straight-line displacement module
Nut in guide assembly is fixedly connected with sliding block, horizontal feed screw nut in X-axis straight-line displacement module and Y-axis straight-line displacement module
Secondary pivot center direction is orthogonal；The support of the Z axis straight-line displacement module and horizontal screw lead in Y-axis straight-line displacement module
Pair of nut is fixedly connected with the nut in horizontal guide rail component with sliding block；A axles turntable and Z axis straight line in the rotary module
Connecting plate in displacement module is fixedly connected.
3. the multiple degrees of freedom grand micro- combination integrated detecting device as claimed in claim 1 or 2 for being intended for various structures feature, its
It is characterised by, the quick change clamping device includes air spider, supporting plate, adapter flange, air-actuated jaw and gripper jaw arm, the support
Connection air-actuated jaw, air-actuated jaw and gripper jaw above connection air spider below plate, top connection adapter flange, adapter flange
Arm is connected, and gripper jaw arm has different construction profiles to adapt to the product to be held of different profiles.
4. the multiple degrees of freedom grand micro- combination integrated detecting device as claimed in claim 3 for being intended for various structures feature, it is special
Levy and be, the vision-based detection mechanism includes macroscopical camera, microcosmic camera, magazine, straight line/rotary cylinder, contiguous block and stand,
Macroscopical camera and microcosmic camera include camera, camera lens and coaxial light source；Macroscopical camera and microcosmic camera are arranged on side by side
On the cantilever beam of stand, binder on straight line/rotary cylinder, straight line/rotary cylinder is installed by contiguous block on the column of stand
Box, magazine is used to hold the part after examining.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710318525.3A CN107152915A (en) | 2017-05-08 | 2017-05-08 | It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710318525.3A CN107152915A (en) | 2017-05-08 | 2017-05-08 | It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature |
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| CN107152915A true CN107152915A (en) | 2017-09-12 |
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| CN201710318525.3A Pending CN107152915A (en) | 2017-05-08 | 2017-05-08 | It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature |
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| CN108168433A (en) * | 2017-12-30 | 2018-06-15 | 广州番禺职业技术学院 | The part pose detection adjusting apparatus and method of a kind of view-based access control model |
| CN109099843A (en) * | 2018-10-24 | 2018-12-28 | 哈工大机器人集团（哈尔滨）华粹智能装备有限公司 | A kind of profiled piece non-contact measurement device for measuring |
| CN109158871A (en) * | 2018-09-20 | 2019-01-08 | 上海交通大学 | A kind of non-centripetal porous shaft precise vision successive alignment system and method |
| CN109192673A (en) * | 2018-08-27 | 2019-01-11 | 苏州精濑光电有限公司 | A kind of wafer detection method |
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| CN110646374A (en) * | 2019-08-19 | 2020-01-03 | 深圳市矽赫科技有限公司 | IC detection device and method based on terahertz time-domain spectroscopy |
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| CN109613013A (en) * | 2018-10-23 | 2019-04-12 | 广州量子激光智能装备有限公司 | Tab pole piece burr detection method and system |
| CN109613013B (en) * | 2018-10-23 | 2023-09-01 | 广州量子激光智能装备有限公司 | Method for detecting burrs of pole piece of pole lug |
| CN109099843A (en) * | 2018-10-24 | 2018-12-28 | 哈工大机器人集团（哈尔滨）华粹智能装备有限公司 | A kind of profiled piece non-contact measurement device for measuring |
| CN109470724A (en) * | 2018-11-27 | 2019-03-15 | 上海航天精密机械研究所 | Conduit weld inspection system |
| CN109470724B (en) * | 2018-11-27 | 2021-06-15 | 上海航天精密机械研究所 | Conduit weld joint detection system |
| CN110646374A (en) * | 2019-08-19 | 2020-01-03 | 深圳市矽赫科技有限公司 | IC detection device and method based on terahertz time-domain spectroscopy |
| CN112710660A (en) * | 2020-12-23 | 2021-04-27 | 长安大学 | Macro-micro texture separate acquisition device based on pavement texture frequency spectrum analysis |
| CN113686872A (en) * | 2021-08-06 | 2021-11-23 | 中国计量大学 | Micro-nano scale defect detection device and method for integrated circuit chip |
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