CN107336240A - A kind of bottom illuminated vision system of manipulator - Google Patents

A kind of bottom illuminated vision system of manipulator Download PDF

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Publication number
CN107336240A
CN107336240A CN201710574334.3A CN201710574334A CN107336240A CN 107336240 A CN107336240 A CN 107336240A CN 201710574334 A CN201710574334 A CN 201710574334A CN 107336240 A CN107336240 A CN 107336240A
Authority
CN
China
Prior art keywords
manipulator
retainer
axle
motor
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710574334.3A
Other languages
Chinese (zh)
Inventor
蒋剑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co Ltd
Original Assignee
SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co Ltd filed Critical SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co Ltd
Priority to CN201710574334.3A priority Critical patent/CN107336240A/en
Publication of CN107336240A publication Critical patent/CN107336240A/en
Priority to PCT/CN2018/095393 priority patent/WO2019011289A1/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

Abstract

The invention provides a kind of bottom illuminated vision system of manipulator; it is after manipulator picking up work piece; manipulator can be moved to directly over the bottom up camera taken pictures; camera takes the now posture of workpiece and positioning; then data calibration is carried out; complete the precisely transhipment again of follow-up manipulator, it is ensured that manipulator can precisely launch workpiece to correspondence position.It includes manipulator, workbench, the working range of the end mechanical arm of the manipulator covers the working region of the workbench, be disposed with the first upward camera of viewing angles-both vertical on the workbench, after the vacuum sucking device picking up work piece that the end mechanical arm is driven, performed behind the surface of excessively described first camera after on-carriage.

Description

A kind of bottom illuminated vision system of manipulator
Technical field
The present invention relates to the technical field of manipulator, the bottom illuminated vision system of specially a kind of manipulator.
Background technology
Existing robotic transfer system, after manipulator is by vacuum pick-up device (sticking end) sticking workpiece, pass through biography The workpiece of sticking is transported to corresponding position by the operating of swing arm, and vacuum pick-up device picks up the process of workpiece, and workpiece occurs The changing of the relative positions of the relative vacuum pick device of small probability, the situation for rotating or not picking up to workpiece, its vacuum pick-up device are drawn To the location of workpiece and recorded position in system coordinate system it is possible that deviation, if launch workpiece need 0.2mm with Interior precision, this dislocation, the situation for rotating, not picking up to workpiece can cause workpiece dispensing not in place, and prior art is temporary transient It can not overcome.
The content of the invention
In view of the above-mentioned problems, the invention provides a kind of bottom illuminated vision system of manipulator, it picks up work in manipulator After part, manipulator can be moved to directly over the bottom up camera taken pictures, and camera takes the now posture of workpiece and positioning, Then carry out data calibration, complete follow-up manipulator again precisely transhipment, it is ensured that manipulator can precisely launch workpiece to pair Answer position.
A kind of bottom illuminated vision system of manipulator, it is characterised in that:It includes manipulator, workbench, the manipulator The working range of end mechanical arm cover the working region of the workbench, it is upward to be disposed with viewing angles-both vertical on the workbench The first camera, after the vacuum sucking device picking up work piece that the end mechanical arm is driven, through excessively described first shooting On-carriage after being performed behind the surface of head.
It is further characterized by:The workbench is horizontally disposed, and the end mechanical arm of the manipulator can be horizontal, vertical To action and upset;
The manipulator is specially five axis robots, and the end mechanical arm is located at the end of five axis robots, and it includes The base of vertical, the short transverse of the base are disposed with two parallel axial guide rods, and is fixed with the base One motor, the first retainer are set in the axial guide rod, and the first output end of first motor passes through straight line wire rod thread The feed screw nut in first retainer is connected, the straight line screw mandrel is first axle, and the first retainer level is to cloth Put, the second motor is fixed with first retainer, the second output end of second motor is connected by gear transmission structure Connect the input gear of correspondence second of the second axle, second axle is plugged in the outer end of first retainer, on second axle The second retainer is fixed with, for the second retainer level to arrangement, the 3rd axle is plugged in second retainer away from described The outer end of second axle, the 3rd motor is also fixed with second retainer, the 3rd output end of the 3rd motor is fixed with 3rd output gear, the shaft end of the 3rd axle are fixed with the 3rd input gear, and the 3rd output gear is engaged described in connection 3rd input gear, the 3rd axle are fixed with the 3rd retainer, are fixed with the 4th motor on the 3rd retainer, and described 4th output end of four motors is connected with end mechanical arm, and the 4th output end is arranged perpendicular to the 3rd axle, the end The 5th motor is provided with the mechanical arm of end, the 5th output end of the 5th motor is set with the 5th input gear, and described the Five input gears engagement the 5th output gear of connection, the 5th output gear are set in the 5th output shaft, the 5th output The output end of axle is provided with the vacuum sucking device;
The vacuum sucking device includes two holding heads, and the workpiece of each holding head institute sticking, which is both needed to first pass through first, to be taken the photograph Take pictures to go out after accurate output calibration to transport by system-computed again after positioning as head and export;
Second camera, second shooting are provided with the output end face corresponding to the 5th output shaft of end mechanical arm Head quantity is two, and second camera is used to monitor positioning during vacuum sucking device picking up work piece, it is ensured that more accurate pickup;
First motor is arranged in the lower end position in the base length direction, it is ensured that the horizontal length of whole manipulator Direction working range can be vertically to extending into whole axial guide rod;
The installation site that 3rd retainer corresponds to the 4th motor is provided with the convex mounting seat in side, and the described 4th is defeated Go out the inner that end connects the end mechanical arm after the convex mounting seat in side, the inner and described 4th of the end mechanical arm is defeated The link position for going out end is located in fourth bearing, it is ensured that transmission it is smooth;
First retainer, the second retainer, the main body end face of the 3rd retainer are arranged in parallel, are each perpendicular to first axle Arrangement, it is ensured that the covered scope of work is sufficiently large;
All gears are plastic construction, and the gear ring inner ring of all gears is provided with the discontinuous stomata knot of ring-type Structure;
The discontinuous air hole structure of ring-type can be circle, similar round, sector, arc, rectangle, the shape of class rectangle;
The discontinuous air hole structure of ring-type is three layers of arrangement.
After structure using the present invention, after manipulator picking up work piece, vacuum sucking device that end mechanical arm is driven It is moved to directly over the first camera taken pictures upwards, the first camera takes the now posture of workpiece and positioning, then carried out Data calibration, complete the precisely transhipment again of follow-up manipulator, it is ensured that manipulator can precisely launch workpiece to correspondence position, throw Putting workpiece needs precision within 0.2mm, and it can ensure the dispensing precision of workpiece.
Brief description of the drawings
Fig. 1 is the three-dimensional figure structure schematic representation one of the present invention;
Fig. 2 is the three-dimensional figure structure schematic representation two of the present invention;
Title in figure corresponding to sequence number is as follows:
Manipulator 1, workbench 2, end mechanical arm 3, the first camera 4, vacuum sucking device 5, base 6, the first motor 7th, the first retainer 8, straight line screw mandrel 9, the second axle 10, the second input gear 11, the second retainer 12, the 3rd axle the 13, the 3rd are defeated Enter gear 14, the 3rd retainer 15, the 4th motor 16, the 5th motor 17, the 5th input gear 18, the 5th output gear 19, Five output shafts 20, holding head 21, second camera 22, the convex mounting seat 23 in side, fourth bearing 24, the discontinuous stomata 25 of ring-type.
Embodiment
A kind of bottom illuminated vision system of manipulator, is shown in Fig. 1, Fig. 2:It includes manipulator 1, workbench 2, manipulator 1 The working range of end mechanical arm 3 covers the working region of workbench 2, and first of viewing angles-both vertical upwards is disposed with workbench 2 Camera 4, after the picking up work piece of vacuum sucking device 5 that end mechanical arm 3 is driven, the surface through excessively the first camera 4 On-carriage after performing afterwards;
Workbench 2 is horizontally disposed, the end mechanical arm 3 of manipulator 1 can it is horizontal, vertically to action and upset.
In specific embodiment:Manipulator 1 is specially five axis robots, and end mechanical arm 3 is located at the end of five axis robots, It includes the base 6 of vertical, and the short transverse of base 6 is disposed with two parallel axial guide rods and (is not drawn into, belongs in figure Existing mature structure), it is fixed with the first motor 7 in base 6, the first retainer 8 is set in axial guide rod, and the of the first motor 7 One output end by straight line screw mandrel 9 be threadedly coupled the first retainer 8 in feed screw nut, straight line screw mandrel 9 be first axle, first Retainer 8 is horizontal to arrangement, and the second motor (be not drawn into figure, belong to existing mature structure) is fixed with the first retainer 8, Second output end of the second motor connects the second input gear of correspondence 11 of the second axle 10, the second axle 10 by gear transmission structure The outer end of the first retainer 8 is plugged in, is fixed with the second retainer 12 on the second axle 10, the second retainer 12 is horizontal to arrangement, 3rd axle 13 is plugged in outer end of second retainer 12 away from the second axle 10, and the 3rd motor is also fixed with the second retainer 12 (be not drawn into figure, belong to existing mature structure), the 3rd output end of the 3rd motor are fixed with the 3rd output gear, the 3rd axle 13 Shaft end be fixed with the 3rd input gear 14, the 3rd output gear engagement the 3rd input gear 14 of connection, the 3rd axle 13 is fixed with 3rd retainer 15, the 4th motor 16 is fixed with the 3rd retainer 15, the 4th output end of the 4th motor 16 is connected with end Mechanical arm 3, the 4th output end are arranged perpendicular to the 3rd axle 13, and the 5th motor 17, the 5th motor are provided with end mechanical arm 3 17 the 5th output end is set with the 5th input gear 18, and the 5th input gear 18, which engages, connects the 5th output gear 19, and the 5th Output gear 19 is set in the 5th output shaft 20, and the output end of the 5th output shaft 20 is provided with vacuum sucking device 5;
Vacuum sucking device 5 includes two holding heads 21, and the workpiece of each 21 stickings of holding head is both needed to first pass through first Camera 4 is taken pictures to go out after accurate output calibration to transport by system-computed again after positioning and exported;
Second camera 22 is provided with the output end face corresponding to the 5th output shaft 20 of end mechanical arm 3, second takes the photograph First 22 quantity of picture is two, and second camera 22 is used to monitor positioning during vacuum sucking device picking up work piece, it is ensured that is relatively defined Really pickup;
First motor 7 is arranged in the lower end position of the length direction of base 3, it is ensured that the horizontal length direction work of whole manipulator Making scope can be vertically to extending into whole axial guide rod;
The installation site that 3rd retainer 15 corresponds to the 4th motor 16 is provided with the convex mounting seat 23 in side, and the 4th output end is passed through Wear the inner that end mechanical arm 3 is connected after the convex mounting seat 23 in side, the inner of end mechanical arm 3 and the link position of the 4th output end In fourth bearing 24, it is ensured that transmission it is smooth;
First retainer 8, the second retainer 12, the main body end face of the 3rd retainer 15 are arranged in parallel, are each perpendicular to first Axle is arranged, it is ensured that the covered scope of work is sufficiently large;
All gears are plastic construction, and the gear ring inner ring of all gears is provided with the discontinuous air hole structure of ring-type 25;
The discontinuous structure of stomata 25 of ring-type can be circle, similar round, sector, arc, rectangle, the shape of class rectangle;
The discontinuous air hole structure 25 of ring-type is three layers of arrangement.
After structure using the present invention, because the first motor, the second motor, the 3rd motor are vertically arranged, first axle, Vertically to parallel arrangement, it make it that the structure of five axis robots is simple, easy for installation for second axle, the 3rd axle;First motor driven First retainer is advanced along first axle rectilinear direction is horizontal, and second the second axle of motor driven rotates, the 3rd motor driven the 3rd Axle rotates so that and the working range of whole manipulator is big, and the 4th motor causes mechanical arm to be turned round around the central shaft of mechanical arm, the Five motor driven vacuum suction means carry out angle positioning, further ensure that the working range of whole mechanical arm is big;And due to court Second camera is disposed with to the end face of operating area, the influence that system is fed back according to second camera drives vacuum sucking device Complete the pickup to workpiece;After manipulator picking up work piece, the vacuum sucking device that end mechanical arm is driven is moved to upwards Directly over the first camera taken pictures, the first camera takes the now posture of workpiece and positioning, then carries out data calibration, complete Into the precisely transhipment again of subsequent mechanical hand, it is ensured that manipulator can precisely launch workpiece to correspondence position;It is placed in workpiece Before, workpiece first is shone according to mode vision the bottom of with, bottom can detect the new orientation of workpiece again according to mode vision, update accurate number System is arrived according to (workpiece of the changing of the relative positions), if not being drawn onto workpiece, this step can also detect, after data renewal, manipulator can be accurate True missile expects correspondence position.
The specific embodiment of the present invention is described in detail above, but content is only the preferable implementation of the invention Example, it is impossible to be considered as the practical range for limiting the invention.All impartial changes made according to the invention application range Change and improvement etc., all should still be belonged within this patent covering scope.

Claims (10)

  1. A kind of 1. bottom illuminated vision system of manipulator, it is characterised in that:It includes manipulator, workbench, the manipulator The working range of end mechanical arm covers the working region of the workbench, and it is upward that viewing angles-both vertical is disposed with the workbench First camera, after the vacuum sucking device picking up work piece that the end mechanical arm is driven, through excessively described first camera Surface after perform after on-carriage.
  2. A kind of 2. bottom illuminated vision system of manipulator as claimed in claim 1, it is characterised in that:The driving water plain cloth Put, the end mechanical arm of the manipulator can it is horizontal, vertically to action and upset.
  3. A kind of 3. bottom illuminated vision system of manipulator as claimed in claim 2, it is characterised in that:The manipulator is specially Five axis robots, the end mechanical arm are located at the end of five axis robots, and it includes the base of vertical, the base Short transverse is disposed with two parallel axial guide rods, is fixed with the first motor in the base, the first retainer is set in institute Axial guide rod is stated, the first output end of first motor connects the screw mandrel in first retainer by straight line wire rod thread Nut, the straight line screw mandrel is first axle, and the first retainer level is fixed with to arrangement on first retainer Two motors, the second output end of second motor connect the input gear of correspondence second of the second axle by gear transmission structure, Second axle is plugged in the outer end of first retainer, and the second retainer is fixed with second axle, and described second passes For dynamic seat level to arrangement, the 3rd axle is plugged in outer end of second retainer away from second axle, second retainer On be also fixed with the 3rd motor, the 3rd output end of the 3rd motor is fixed with the 3rd output gear, the axle of the 3rd axle End is fixed with the 3rd input gear, and the 3rd output gear engagement connects the 3rd input gear, and the 3rd axle is fixedly mounted with There is the 3rd retainer, the 4th motor is fixed with the 3rd retainer, the 4th output end of the 4th motor is connected with end Mechanical arm is held, the 4th output end is arranged perpendicular to the 3rd axle, and the 5th motor is provided with the end mechanical arm, 5th output end of the 5th motor is set with the 5th input gear, the 5th input gear engagement the 5th output gear of connection Wheel, the 5th output gear are set in the 5th output shaft, and the output end of the 5th output shaft is provided with the vacsorb Device.
  4. A kind of 4. bottom illuminated vision system of manipulator as claimed in claim 3, it is characterised in that:The vacuum sucking device Including two holding heads, the workpiece of each holding head institute sticking is both needed to first pass through the first camera and taken pictures passes through system after positioning again Output is transported after calculating accurate output calibration.
  5. A kind of 5. bottom illuminated vision system of manipulator as claimed in claim 1, it is characterised in that:The correspondence of end mechanical arm In being provided with second camera on the output end face of the 5th output shaft, the second camera quantity is two.
  6. A kind of 6. bottom illuminated vision system of manipulator as claimed in claim 3, it is characterised in that:The first motor arrangement Lower end position in the base length direction.
  7. A kind of 7. bottom illuminated vision system of manipulator as claimed in claim 3, it is characterised in that:3rd retainer pair The installation site of 4th motor described in Ying Yu is provided with the convex mounting seat in side, and the 4th output end connects after running through the convex mounting seat in side The inner of the end mechanical arm, the link position of inner and described 4th output end of the end mechanical arm are located at the 4th axle In holding.
  8. A kind of 8. bottom illuminated vision system of manipulator as claimed in claim 3, it is characterised in that:All gears are modeling Expect structure, the gear ring inner ring of all gears is provided with the discontinuous air hole structure of ring-type.
  9. A kind of 9. bottom illuminated vision system of manipulator as claimed in claim 8, it is characterised in that:The discontinuous gas of ring-type Pore structure can be circle, similar round, sector, arc, rectangle, the shape of class rectangle.
  10. A kind of 10. bottom illuminated vision system of manipulator as claimed in claim 8 or 9, it is characterised in that:The ring-type does not connect Continuous air hole structure is three layers of arrangement.
CN201710574334.3A 2017-07-14 2017-07-14 A kind of bottom illuminated vision system of manipulator Pending CN107336240A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710574334.3A CN107336240A (en) 2017-07-14 2017-07-14 A kind of bottom illuminated vision system of manipulator
PCT/CN2018/095393 WO2019011289A1 (en) 2017-07-14 2018-07-12 Bottom-photographing vision system of manipulator and working method for the system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710574334.3A CN107336240A (en) 2017-07-14 2017-07-14 A kind of bottom illuminated vision system of manipulator

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CN107336240A true CN107336240A (en) 2017-11-10

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Country Status (2)

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CN (1) CN107336240A (en)
WO (1) WO2019011289A1 (en)

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CN108839005A (en) * 2018-09-10 2018-11-20 苏州小工匠机器人有限公司 Manipulator with gas storage space
CN108858279A (en) * 2018-09-10 2018-11-23 苏州小工匠机器人有限公司 End has the manipulator of spindle motor
CN109041568A (en) * 2018-09-25 2018-12-18 苏州小工匠机器人有限公司 Automate chip mounter
WO2019011289A1 (en) * 2017-07-14 2019-01-17 苏州工业园区凯艺精密科技有限公司 Bottom-photographing vision system of manipulator and working method for the system

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CN110125036B (en) * 2019-04-25 2020-12-22 广东工业大学 Self-recognition sorting method based on template matching

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CN101893060A (en) * 2010-08-10 2010-11-24 中国人民解放军国防科学技术大学 Self-adaptation clearance-dispelling gear transmission mechanism based on compliant structure
CN103317506A (en) * 2013-06-07 2013-09-25 深圳华意隆电气股份有限公司 Lifting and rotation device for manipulator and manipulator adopting same
CN103692433A (en) * 2013-12-23 2014-04-02 厦门理工学院 Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof
CN104786216A (en) * 2014-01-17 2015-07-22 斗山重工业株式会社 Multi-articulated manipulator
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Publication number Priority date Publication date Assignee Title
WO2019011289A1 (en) * 2017-07-14 2019-01-17 苏州工业园区凯艺精密科技有限公司 Bottom-photographing vision system of manipulator and working method for the system
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CN108858279A (en) * 2018-09-10 2018-11-23 苏州小工匠机器人有限公司 End has the manipulator of spindle motor
CN109041568A (en) * 2018-09-25 2018-12-18 苏州小工匠机器人有限公司 Automate chip mounter

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Application publication date: 20171110