CN108247620A - A kind of micron order commercial measurement quality inspection mechanical arm and its detection method - Google Patents
A kind of micron order commercial measurement quality inspection mechanical arm and its detection method Download PDFInfo
- Publication number
- CN108247620A CN108247620A CN201810058430.7A CN201810058430A CN108247620A CN 108247620 A CN108247620 A CN 108247620A CN 201810058430 A CN201810058430 A CN 201810058430A CN 108247620 A CN108247620 A CN 108247620A
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- CN
- China
- Prior art keywords
- mechanical
- postbrachium
- arm
- forearm
- product
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
Abstract
The invention discloses a kind of micron order commercial measurement quality inspection mechanical arm and its detection methods,Including mechanical arm,Controller,Product identification imaging sensor,Acquire imaged image sensor,Workbench and source of parallel light device,And the control software of installation on the controller,Mechanical arm includes rotating base,Mechanical postbrachium and mechanical forearm,Mechanical postbrachium is connect with rotating base by postbrachium joint piece,The machinery forearm is connect with mechanical postbrachium by arm joint part,Mechanical forearm front end is connected with mechanical forearm,Machinery is connected on mechanical forearm and inhales part hand,High power suction ventilator is also fixedly connected on arm joint part,High power suction ventilator is connected with aspiration channel,Aspiration channel, which passes through inside mechanical forearm and mechanical forearm and inhales part hand with machinery, connect this,The present invention provides a kind of high-precision,At high speed,The commercial measurement quality inspection solution of full-automatic low cost.
Description
Technical field
The present invention relates to automation and field of optical equipment, specially a kind of micron order commercial measurement quality inspection mechanical arm and
Its detection method.
Background technology
The product variety of modern industrial production is various, and required precision is high, and efficiency of manual measurement is lowly with high costs, Wu Fashi
Answer the measurement request of high-precision high-speed.Such as Quadratic Finite Element of survey tool in the market, AOI etc. can only realize dimensional measurement, can not
Realize automatically working.And with the promotion of quality requirement, more and more enterprises are using 0 shortcoming as QT Quality Target, this is large quantities of
During amount production undoubtedly insurmountable problem is brought to desk checking.Thus from precision, speed requires You Geng sections in cost
Measurement and quality inspection solution.
Content
In view of the above problems, the present invention provides a kind of micron order commercial measurement quality inspection mechanical arm and its detection method,
Its purpose is to provide a kind of high-precisions, at high speed, the commercial measurement quality inspection solution of full-automatic low cost.
To achieve the above object, the present invention provides following technical solution：A kind of micron order commercial measurement quality inspection mechanical arm
And its detection method, including mechanical arm, controller, product identification imaging sensor, acquisition imaged image sensor, workbench
With the control software of source of parallel light device and installation on the controller, the mechanical arm includes rotating base, mechanical postbrachium
With mechanical forearm, the machinery postbrachium is connect with rotating base by postbrachium joint piece, and the machinery forearm leads to mechanical postbrachium
The connection of arm joint part is crossed, the machinery forearm front end is connected with mechanical forearm, and being connected with machinery on the machinery forearm inhales part
Hand is also fixedly connected with high power suction ventilator on the arm joint part, and the high power suction ventilator is connected with aspiration channel, described
Aspiration channel passes through inside mechanical forearm and mechanical forearm and inhales part hand with machinery and connect；
The first rotary electric machine device, the rear first rotary electric machine device and rotation are fixedly connected on the postbrachium joint piece
Pedestal connects, and the junction side of the postbrachium joint piece and mechanical postbrachium is provided with the second rotary electric machine device, the arm
The junction side of joint piece and mechanical postbrachium is provided with third rotary electric machine device；
Driving motor is provided in the machinery forearm, the driving motor is connect by driving rack with mechanical forearm；
It is connected between the arm joint part and mechanical forearm by arm rotation unit before being provided with；
It is described that detection method includes the following steps：
Step 1：By the image of product identification imaging sensor acquisition product, it is transmitted to controller in real time；
Step 2：Control software analyzes image, identifies product space and direction, calculates product coordinate, and transmission information returns control
Device processed assigns instruction to mechanical arm by controller；
Step 3：1~2 step of cycle grabs product until mechanical arm, and product is placed on the table；
Step 4：Source of parallel light device allows product upper surface to be covered with light particle to workbench radiation source；
Step 5：Acquisition imaged image sensor starts operation, and acquires the image of product, is transmitted to controller in real time；
Step 6：Control software analyzing and positioning product carries out dimensional measurement, and according to the size value that product is set, judgement product is
Whether no qualification, control software analysis product have open defect and determine whether qualification；
Step 7：Judge according to control software as a result, control machinery arm, designated position is put by product；
Step 8：Measurement result is preserved production upgrading products statistical information by control software.
Further scheme as the present invention：The first rotary electric machine device includes the first motor, first rotating shaft, first
Roller bearing and axle sleeve, first roller bearing are arranged on rotating base inner bottom surface, and the axle sleeve is arranged on rear shoulder joint
Part surface, axle sleeve bottom surface and the first roller bearing surface are connected, and first motor is arranged on axle sleeve upper surface and with the
One shaft connects, and the first rotating shaft is through connecting bushing and is connected on the first roller bearing.
Further scheme as the present invention：The second rotary electric machine device includes the second motor, the second shaft and the
Two roller bearings, second roller bearing are fixedly connected in postbrachium joint piece and are arranged on postbrachium joint piece and mechanical postbrachium
Between, second motor is fixedly connected on postbrachium joint piece side and is connect with the second shaft, and second shaft runs through
It connects the second roller bearing and is connected on mechanical postbrachium.
Further scheme as the present invention：The third rotary electric machine device includes third motor, third shaft, third
Roller bearing and shaft bearing, the third roller bearing be fixedly connected in arm joint part and be arranged on arm joint part with
Between mechanical postbrachium, the third motor is fixedly connected on arm joint part side and is connect with third shaft, the third
Shaft is through connection third roller bearing and is connected on mechanical postbrachium, wherein, the shaft bearing is arranged on arm joint
Inside part and it is sleeved in third shaft.
Further scheme as the present invention：The preceding arm rotation unit mainly include electric rotating machine, main drive gear and
Auxiliary driving gear, the electric rotating machine are fixedly connected on arm joint part one side, and the main drive gear is arranged on arm pass
It saves inside part, the electric rotating machine is connect with main drive gear by the screw connection block of setting, fixed on the machinery forearm
Be connected with rotary shaft, the auxiliary driving gear set on the rotary shaft and inside arm joint part, wherein, auxiliary driving
Gear and the ratcheting connection of main drive gear.
Compared with prior art, the beneficial effects of the invention are as follows：What the present invention took is optical mold detection method, including
Automatic positioning product, automatic measurement product size, automatic detection product is bad, selects defective products automatically and counts production and quality
Data, it is more accurate and efficient compared to artificial detection, and mechanical arm is taken to replace manual operation, it realizes full-automatic
Change substitution manual labor, reduce cost of labor.
Description of the drawings
Fig. 1 is the mechanical arm structure diagram of the present invention；
Fig. 2 is the mechanical forearm structure schematic diagram of the present invention；
Fig. 3 is the first rotary electric machine device attachment structure schematic diagram of the present invention；
Fig. 4 is the second rotary electric machine device attachment structure schematic diagram of the present invention；
Fig. 5 is the third rotary electric machine device attachment structure schematic diagram of the present invention；
Fig. 6 is the preceding arm rotation unit attachment structure schematic diagram of the present invention；
Fig. 7 is the detection method block diagram of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the present embodiment, the technical solution in the embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiment is only this part of the embodiment, instead of all the embodiments.Based in the present invention
Embodiment, the every other implementation that field those of ordinary skill of the present invention is obtained without making creative work
Example, shall fall within the protection scope of the present invention.
Embodiment：
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of micron order commercial measurement quality inspection mechanical arm and its inspection
Survey method, including mechanical arm 1, controller, product identification imaging sensor, acquisition imaged image sensor, workbench peace
The control software of line light source device and installation on the controller, the mechanical arm 1 include rotating base 11, mechanical postbrachium
12 are connect with mechanical forearm 13, the machinery postbrachium 12 with rotating base 11 by postbrachium joint piece 14, the machinery forearm 13
It is connect with mechanical postbrachium 12 by arm joint part 15,13 front end of the machinery forearm is connected with mechanical forearm 16, the machinery
Machinery is connected on forearm 16 and inhales part hand 17, high power suction ventilator 18 is also fixedly connected on the arm joint part 15, it is described
High power suction ventilator 18 is connected with aspiration channel 19, the aspiration channel 19 pass through inside mechanical forearm 13 and mechanical forearm 16 and with
Machinery is inhaled part hand 17 and is connected；
Be fixedly connected with the first rotary electric machine device 2 on the postbrachium joint piece 14, it is described after the first rotary electric machine device 2 with
Rotating base 11 connects, and the junction side of the postbrachium joint piece 14 and mechanical postbrachium 12 is provided with the second rotary electric machine device
3, the junction side of the arm joint part 15 and mechanical postbrachium 12 is provided with third rotary electric machine device 4；
Driving motor 110 is provided in the machinery forearm 13, the driving motor 110 passes through driving rack 111 and machine
Tool forearm 16 connects；
It is connected between the arm joint part 15 and mechanical forearm 13 by the preceding arm rotation unit 5 of setting.
It please refers to Fig.3, the first rotary electric machine device 2 includes the first motor 21, first rotating shaft 22, the first roller bearing
23 and axle sleeve 24, first roller bearing 23 is arranged on 11 inner bottom surface of rotating base, and the axle sleeve 24 is arranged on postbrachium pass
14 surface of part is saved, 24 bottom surface of axle sleeve is connect with 23 surface engagement of the first roller bearing, and first motor 21 is arranged on axle sleeve 24
It upper surface and is connect with first rotating shaft 22, the first rotating shaft 22 is through connecting bushing 24 and is connected to the first roller bearing 23
On, it realizes mechanical postbrachium 12 using the first rotary electric machine device 2 and is rotated on rotating base 11, taken into account around mechanical arm 12
Each direction.
It please refers to Fig.4, the second rotary electric machine device 3 includes the second motor 31, the second shaft 32 and the second Roller Shaft
33 are held, second roller bearing 33 is fixedly connected in postbrachium joint piece 14 and is arranged on postbrachium joint piece 14 and mechanical postbrachium
Between 12, second motor 31 is fixedly connected on 14 side of postbrachium joint piece and is connect with the second shaft 32, described second
Shaft 32 is through the second roller bearing 33 of connection and is connected on mechanical postbrachium 12, is realized using the second rotary electric machine device 3
Mechanical arm stretches forward function, expands mechanical arm crawl distance.
Fig. 5 is please referred to, the third rotary electric machine device 4 includes third motor 41, third shaft 42, third roller bearing
43 and shaft bearing 44, the third roller bearing 43 is fixedly connected in arm joint part 15 and is arranged on arm joint part 15
Between mechanical postbrachium 12, the third motor 41 is fixedly connected on 15 side of arm joint part and connects with third shaft 42
It connecing, the third shaft 42 is through connection third roller bearing 43 and is connected on mechanical postbrachium 12, wherein, the shaft axis
It holds 44 to be arranged on 15 inside of arm joint part and be sleeved in third shaft 42, be realized using third rotary electric machine device 4
Mechanical forearm 13 stretches forward function, expands mechanical arm crawl distance.
Fig. 6 is please referred to, the preceding arm rotation unit 5 mainly includes electric rotating machine 51, main drive gear 52 and auxiliary driving tooth
Wheel 53, the electric rotating machine 51 are fixedly connected on 15 one side of arm joint part, and the main drive gear 52 is arranged on arm pass
It saves inside part 15, the electric rotating machine 51 is connect with main drive gear 52 by the screw connection block 54 of setting, before the machinery
Rotary shaft 55 is fixedly connected on arm 13, the auxiliary driving gear 53 is sleeved in rotary shaft 55 and mounted on arm joint part
Inside 15, wherein, auxiliary driving gear 53 and 52 ratcheting connection of main drive gear, before realizing machinery using preceding arm rotation unit 5
360 ° of rotations of arm 13, take into account arm crawl in all directions and adjustment.
Please refer to that shown in Fig. 7 detection method includes the following steps：
Step 1：By the image of product identification imaging sensor acquisition product, it is transmitted to controller in real time；
Step 2：Control software analyzes image, identifies product space and direction, calculates product coordinate, and transmission information returns control
Device processed assigns instruction to mechanical arm by controller；
Step 3：1~2 step of cycle grabs product until mechanical arm, and product is placed on the table；
Step 4：Source of parallel light device allows product upper surface to be covered with light particle to workbench radiation source；
Step 5：Acquisition imaged image sensor starts operation, and acquires the image of product, is transmitted to controller in real time；
Step 6：Control software analyzing and positioning product carries out dimensional measurement, and according to the size value that product is set, judgement product is
Whether no qualification, control software analysis product have open defect and determine whether qualification；
Step 7：Judge according to control software as a result, control machinery arm, designated position is put by product；
Step 8：Measurement result is preserved production upgrading products statistical information by control software.
In summary, what the present invention took is optical mold detection method, in terms of image is acquired, optical speed ratio one
As method rate it is quicker, while this method includes automatic positioning product, automatic measurement product size, automatic detection production
Product are bad, select defective products automatically and count production and qualitative data, more accurate and efficient compared to artificial detection, and
Mechanical arm is taken to replace manual operation, full-automatic substitution manual labor is realized, reduces cost of labor.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of micron order commercial measurement quality inspection mechanical arm and its detection method, including mechanical arm, controller, product identification
Imaging sensor, acquisition imaged image sensor, the control of workbench and source of parallel light device and installation on the controller are soft
Part, it is characterised in that：The mechanical arm includes rotating base, mechanical postbrachium and mechanical forearm, the machinery postbrachium and rotation
Pedestal is connected by postbrachium joint piece, and the machinery forearm is connect with mechanical postbrachium by arm joint part, the machinery forearm
Front end is connected with mechanical forearm, and being connected with machinery on the machinery forearm inhales part hand, is also fixedly connected on the arm joint part
There is high power suction ventilator, the high power suction ventilator is connected with aspiration channel, and the aspiration channel passes through mechanical forearm and mechanical forearm
It is internal and inhale part hand with machinery and connect；
The first rotary electric machine device, the rear first rotary electric machine device and rotating base are fixedly connected on the postbrachium joint piece
Connection, the junction side of the postbrachium joint piece and mechanical postbrachium are provided with the second rotary electric machine device, the arm joint
The junction side of part and mechanical postbrachium is provided with third rotary electric machine device；
Driving motor is provided in the machinery forearm, the driving motor is connect by driving rack with mechanical forearm；
It is connected between the arm joint part and mechanical forearm by arm rotation unit before being provided with；
It is described that detection method includes the following steps：
Step 1：By the image of product identification imaging sensor acquisition product, it is transmitted to controller in real time；
Step 2：Control software analyzes image, identifies product space and direction, calculates product coordinate, and transmission information returns control
Device assigns instruction to mechanical arm by controller；
Step 3：1~2 step of cycle grabs product until mechanical arm, and product is placed on the table；
Step 4：Source of parallel light device allows product upper surface to be covered with light particle to workbench radiation source；
Step 5：Acquisition imaged image sensor starts operation, and acquires the image of product, is transmitted to controller in real time；
Step 6：Control software analyzing and positioning product carries out dimensional measurement, and according to the size value that product is set, whether judgement product closes
Whether lattice, control software analysis product have open defect and determine whether qualification；
Step 7：Judge according to control software as a result, control machinery arm, designated position is put by product；
Step 8：Measurement result is preserved production upgrading products statistical information by control software.
2. a kind of micron order commercial measurement quality inspection mechanical arm according to claim 1 and its detection method, feature exist
In：The first rotary electric machine device includes the first motor, first rotating shaft, the first roller bearing and axle sleeve, first roller
Bearing is arranged on rotating base inner bottom surface, and the axle sleeve is arranged on postbrachium joint piece surface, axle sleeve bottom surface and the first Roller Shaft
Surface engagement connection is held, first motor is arranged on axle sleeve upper surface and is connect with first rotating shaft, and the first rotating shaft runs through
It connecting bushing and is connected on the first roller bearing.
3. a kind of micron order commercial measurement quality inspection mechanical arm according to claim 1 and its detection method, feature exist
In：The second rotary electric machine device includes the second motor, the second shaft and the second roller bearing, and second roller bearing is consolidated
Surely it is connected in postbrachium joint piece and is arranged on postbrachium joint piece between mechanical postbrachium, after second motor is fixedly connected on
It shoulder joint part side and is connect with the second shaft, second shaft is through the second roller bearing of connection and is connected to machinery
On postbrachium.
4. a kind of micron order commercial measurement quality inspection mechanical arm according to claim 1 and its detection method, feature exist
In：The third rotary electric machine device includes third motor, third shaft, third roller bearing and shaft bearing, the third
Roller bearing is fixedly connected in arm joint part and is arranged on arm joint part between mechanical postbrachium, and the third motor is consolidated
Surely be connected to arm joint part side and connect with third shaft, the third shaft through connection third roller bearing and
It is connected on mechanical postbrachium, wherein, the shaft bearing is arranged on inside arm joint part and is sleeved in third shaft.
5. a kind of micron order commercial measurement quality inspection mechanical arm according to claim 1 and its detection method, feature exist
In：The preceding arm rotation unit mainly includes electric rotating machine, main drive gear and auxiliary driving gear, and the electric rotating machine, which is fixed, to be connected
Arm joint part one side is connected on, the main drive gear is arranged on inside arm joint part, the electric rotating machine and main transmission
Gear is connected by the screw connection block of setting, and rotary shaft, the auxiliary driving geared sleeve are fixedly connected on the machinery forearm
It fills on the rotary shaft and inside arm joint part, wherein, auxiliary driving gear and the ratcheting connection of main drive gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058430.7A CN108247620A (en) | 2018-01-22 | 2018-01-22 | A kind of micron order commercial measurement quality inspection mechanical arm and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058430.7A CN108247620A (en) | 2018-01-22 | 2018-01-22 | A kind of micron order commercial measurement quality inspection mechanical arm and its detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108247620A true CN108247620A (en) | 2018-07-06 |
Family
ID=62741600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810058430.7A Pending CN108247620A (en) | 2018-01-22 | 2018-01-22 | A kind of micron order commercial measurement quality inspection mechanical arm and its detection method |
Country Status (1)
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| CN (1) | CN108247620A (en) |
Citations (7)
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|---|---|---|---|---|
| US5055755A (en) * | 1989-05-31 | 1991-10-08 | Kabushiki Kaisha Toshiba | Distribution control apparatus |
| US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
| CN2791598Y (en) * | 2005-04-30 | 2006-06-28 | 西安工业学院 | Micro abnormal-shape pipece automatic detecting device |
| CN201107639Y (en) * | 2007-11-30 | 2008-08-27 | 华南理工大学 | Large-sized producing workpiece geometric measuring apparatus using machine vision |
| CN102410924A (en) * | 2011-08-08 | 2012-04-11 | 山东省科学院海洋仪器仪表研究所 | Door body hinge durability detection method and apparatus thereof |
| CN105108748A (en) * | 2015-10-13 | 2015-12-02 | 广州市柯西机械设备有限公司 | Two-section folding arm type semi-automatic feeding manipulator |
| CN105904476A (en) * | 2016-06-24 | 2016-08-31 | 美克国际家私（天津）制造有限公司 | Drawer plate collecting mechanical arm for automatic production line in drawer plate dovetail joint processing |
-
2018
- 2018-01-22 CN CN201810058430.7A patent/CN108247620A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5055755A (en) * | 1989-05-31 | 1991-10-08 | Kabushiki Kaisha Toshiba | Distribution control apparatus |
| US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
| CN2791598Y (en) * | 2005-04-30 | 2006-06-28 | 西安工业学院 | Micro abnormal-shape pipece automatic detecting device |
| CN201107639Y (en) * | 2007-11-30 | 2008-08-27 | 华南理工大学 | Large-sized producing workpiece geometric measuring apparatus using machine vision |
| CN102410924A (en) * | 2011-08-08 | 2012-04-11 | 山东省科学院海洋仪器仪表研究所 | Door body hinge durability detection method and apparatus thereof |
| CN105108748A (en) * | 2015-10-13 | 2015-12-02 | 广州市柯西机械设备有限公司 | Two-section folding arm type semi-automatic feeding manipulator |
| CN105904476A (en) * | 2016-06-24 | 2016-08-31 | 美克国际家私（天津）制造有限公司 | Drawer plate collecting mechanical arm for automatic production line in drawer plate dovetail joint processing |
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