CN108580783A - A kind of automatic riveting system based on machine vision - Google Patents
A kind of automatic riveting system based on machine vision Download PDFInfo
- Publication number
- CN108580783A CN108580783A CN201810319131.4A CN201810319131A CN108580783A CN 108580783 A CN108580783 A CN 108580783A CN 201810319131 A CN201810319131 A CN 201810319131A CN 108580783 A CN108580783 A CN 108580783A
- Authority
- CN
- China
- Prior art keywords
- pot body
- panhandle
- riveting
- automatic
- robot
- 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
Links
- 230000007723 transport mechanism Effects 0.000 claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 108010074506 Transfer Factor Proteins 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
Abstract
Present invention is disclosed a kind of automatic riveting systems based on machine vision, including：Automatic control system, riveting machine, rack and it is located at the pot body transport mechanism and panhandle transport mechanism that rack both sides are set up in parallel, pot body crawl robot and panhandle crawl robot are provided with below the rack, it is provided with device for visual identification on the crossbeam of the rack, device for visual identification is used to detect the coordinate of pot body and panhandle, angle, the position offset data of rivet hole are simultaneously transmitted to automatic control system, position offset is compensated to pot body and is captured in the moving displacement that robot and panhandle capture robot by the automatic control system, and when detecting that rivet hole site is accurate, riveting signal is sent out to riveting machine.The present invention uses device for visual identification and image processing techniques, and to identify the position deviation of pot body and the angular deviation of rivet hole, the automatic track for correcting operation realizes that the automatic riveting of pot body and panhandle assembles.
Description
Technical field
The present invention relates to a kind of automatic riveting systems based on machine vision.
Background technology
At present in kitchen tools industry, the automated production level of product or relatively low, many productions, processing, assembling and
Detection is all to need manually to complete.By taking this system as an example, the automatic riveting of frying pan is exactly to be completed by manually.Frying pan
Component part is made of pot body, panhandle and rivet.The riveting method generally used at present is that a people holds pot body, a people
Panhandle is held, the two people are directed at the rivet hole of pot body and the rivet hole of panhandle and are put on the rivet of riveting machine, then by
Three people operate riveting machine, and three people coordinate to complete riveting work.If realizing automatic production line, automatic riveting is crucial
One link just still can be by manually-operated limitation if this link is still automanual mode, just can not be real
Realize output bas line, along with current human cost is continuously improved, the demand of machine substitute human labor is more and more urgent.
Also have how many companies realize that automation riveting, difficult point are on pot body pipeline in research at present, conveys
The riveting hole site in pot body come not is fixed, it is desirable to be able to the position of the rivet hole for the pot body that identification arrives each time
It sets, it could be accurately to riveting machine feeding, in addition, since offset when panhandle captures is nor fixed, it is also desirable to Neng Goushi
The not feeding position offset of panhandle each time, could accurate feeding；Thirdly, since the gap between rivet and rivet hole only has
0.5mm, it is desirable that when automatic charging, the feed mechanism of pot body and panhandle needs to have certain precision.Based on three above difficult point,
Current few companies can make the automatic riveting system based on machine vision.
Invention content
The purpose of the present invention is to provide a kind of high degree of automations, using machine vision and image processing techniques, to know
The angular deviation of other pot body, the position deviation of panhandle and rivet hole, and the position and angle of the pot body come out according to image recognition
Deviation and the position deviation of panhandle are spent, the automatic track for correcting operation is come, to solve the deviation of discharge position on pot body and panhandle,
Realize that the automatic riveting of pot body and panhandle assembles, problem is realized in the automation to solve to rivet link in current production technology.
The technical scheme is that a kind of automatic riveting system based on machine vision, is used for the automatic riveting of kitchen tools,
Including：Automatic control system, riveting machine, rack and it is located at pot body transport mechanism and panhandle that rack both sides are set up in parallel
Transport mechanism, the rack lower section are provided with pot body crawl machine corresponding with the pot body transport mechanism, panhandle transport mechanism
People and panhandle capture robot, device for visual identification are provided on the crossbeam of the rack, the device for visual identification is for examining
Survey the coordinate of pot body and panhandle, angle, the position offset data of rivet hole and be simultaneously transmitted to the automatic control system, it is described from
The position offset is compensated to the pot body moving displacement for capturing robot and panhandle crawl robot by dynamic networked control systems
In, and when detecting that rivet hole site is accurate, riveting signal is sent out to riveting machine.
In a preferred embodiment of the present invention, the device for visual identification includes that just positioning camera system and fine positioning are clapped
Lighting system, the just positioning camera system are arranged in one end of the crossbeam and are directed at the pot body transport mechanism, and the essence is fixed
Position camera system is arranged the medium position in the crossbeam and captures machine to the pot body crawl robot, the panhandle that are moved to lower section
It takes pictures at the crawl position of people.
In a preferred embodiment of the present invention, just positioning camera system and the fine positioning camera system are by being correspondingly arranged
Camera, camera lens and light source composition.
In a preferred embodiment of the present invention, the end set of pot body crawl robot has pot body grasping mechanism,
The pot body grasping mechanism includes sucker ontology, connector and sucker stand.
In a preferred embodiment of the present invention, the sucker ontology is set to the pot body gripper by sucker stand
The end of device people.
In a preferred embodiment of the present invention, the end set of panhandle crawl robot has panhandle grasping mechanism,
The panhandle grasping mechanism includes cylinder, gripping finger and air cylinder support.
In a preferred embodiment of the present invention, the cylinder is double-slider pneumatic clamper cylinder and is set to by air cylinder support
Panhandle captures the end of robot.
In a preferred embodiment of the present invention, the pot body transport mechanism connects with the automatic control system signal
Connect, including transmission holder, be arranged holder both ends transmission belt wheel, be arranged and be used to place the transmission of pot body on transmission belt wheel
Band.
In a preferred embodiment of the present invention, the panhandle transport mechanism connects with the automatic control system signal
Connect, including transmission holder, be arranged holder both ends transmission belt wheel, be arranged and be used to place the transmission of panhandle on transmission belt wheel
Band.
In a preferred embodiment of the present invention, the riveting machine is set to the underface of rack, including is set to riveting
The riveter of machine body upper part, the lower cushion block being correspondingly arranged with riveter and the rivet feed mechanism that setting is connect with lower cushion block
Of the present invention is a kind of automatic riveting system based on machine vision, using machine vision and image processing techniques, is come
Identify pot body, the position deviation of panhandle and rivet hole angular deviation, and according to image recognition come out pot body position and
The position deviation of angular deviation and panhandle comes the automatic track for correcting operation, come solve pot body on panhandle discharge position it is inclined
Difference realizes that the automatic riveting of pot body and panhandle assembles.
Description of the drawings
Fig. 1 is the structural schematic diagram in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention；
Fig. 2 is the knot that pot body captures robot in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention
Structure schematic diagram；
Fig. 3 is the knot that panhandle captures robot in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention
Structure schematic diagram；
Fig. 4 is the structure of pot body grasping mechanism in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention
Schematic diagram；
Fig. 5 is the structure of panhandle grasping mechanism in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention
Schematic diagram；
Fig. 6 is the structural representation of riveting machine in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention
Figure；
Fig. 7 is the work flow diagram in a kind of one preferred embodiment of automatic riveting system based on machine vision of the present invention.
Specific implementation mode
The preferred embodiments of the present invention will be described in detail below so that advantages and features of the invention can be easier to by
It will be appreciated by those skilled in the art that so as to make a clearer definition of the protection scope of the present invention.
- 6 are please referred to Fig.1, the embodiment of the present invention includes：
Of the present invention is a kind of automatic riveting system based on machine vision, is used for the automatic riveting of kitchen tools, including：Automation
Control system, riveting machine 1, rack 2 and it is located at pot body transport mechanism 3 and panhandle conveyer that 2 both sides of rack are set up in parallel
Structure 4, the lower section of the rack 2 be provided with pot body crawl robot 5 corresponding with the pot body transport mechanism, panhandle transport mechanism and
Panhandle captures robot 6, device for visual identification is provided on the crossbeam of the rack 2, the device for visual identification is for detecting
The coordinate of pot body and panhandle, angle, the position offset data of rivet hole are simultaneously transmitted to the automatic control system, described automatic
The position offset is compensated to the pot body moving displacement for capturing robot 5 and panhandle crawl robot 6 by networked control systems
In, and when the rivet hole site on detecting pot body and panhandle is accurate, riveting signal is sent out to riveting machine 1.
The device for visual identification includes just positioning camera system 7 and fine positioning camera system 8, just positions camera system 7
Be arranged in one end of the crossbeam and be directed at pot body transport mechanism 3, fine positioning camera system 8 be arranged crossbeam medium position simultaneously
The crawl position that pot body crawl robot 5, panhandle to being moved to lower section capture robot 6 carries out positioning and takes pictures, and by rivet
The position offset information in hole is transmitted to automatic control system, and automatic control system simultaneously compensates this position offset to machine
In device people's moving displacement, the accurate feeding of pot body is realized with this.
The end set of pot body crawl robot 5 has pot body grasping mechanism, and the pot body grasping mechanism includes sucker
Ontology 51, connector 52 and sucker stand 53, connector 52 connects can generate the tracheae of negative pressure all the way, and sucker stand 53 is by sucker ontology
52 installations to pot body captures robot end, and sucker ontology and pot body closely stick together, and under the action of negative pressure, realizes to pot
The crawl of body.
The end set of panhandle crawl robot 6 has panhandle grasping mechanism, and the panhandle grasping mechanism includes cylinder
61, gripping finger 62 and air cylinder support 63, cylinder 61 use double-slider pneumatic clamper type cylinder, gripping finger 62 to be mounted in pneumatic clamper, and cylinder 61 is logical
It crosses air cylinder support 63 and captures robot end mounted on panhandle, by the action of cylinder 61, gripping finger 62 is driven to realize to panhandle
Gripping.
The pot body transport mechanism 3, panhandle transport mechanism 4 are connect with the automatic control system signal, include passing
Send holder, be arranged holder both ends transmission belt wheel, be arranged on transmission belt wheel for placing the conveyer belt of pot body or panhandle.
The riveting machine 1 is set to the underface of rack 2, including is set to riveter 11 and the riveting of riveting machine body upper part
First 11 lower cushion blocks 12 being correspondingly arranged and the rivet feed mechanism 13 that setting is connect with lower cushion block 12, rivet feed mechanism 13 are automatic
The conveying rivet on lower cushion block, pot body and panhandle in place after, riveter 11 moves downward, and is under a certain pressure riveted rivet
In pot body and panhandle.
Workflow：
As shown in Fig. 7, while starting pot body transport mechanism and panhandle transport mechanism, pot body transmission line is responsible for according to certain speed
Pot body is conveyed to automatic riveting system, when pot body reaches pipeline designated position, pipeline stops, and pot body is waited for just to position bat
Then lighting system is taken pictures to the image procossing taken, calculate position and the angle coordinate value of pot body, pot body captures robot
Start vacuum cup to capture pot body, pot body captures robot with vacuum cup and pot body in pipeline, position of taking pictures, riveting
It is moved between position and lower material position, the rivet hole site confirmed in pot body of taking pictures when moving to fine positioning camera system position,
The image of shooting is subjected to processing and is sent to automatic control system, and offset error distance is calculated by control system, and is mended
It repays in robot motion to the Grid Track of riveting location；At the same time panhandle transport mechanism is also responsible for according to certain speed
Panhandle is conveyed to automatic riveting system, when panhandle reaches pipeline designated position, pipeline stops, and panhandle is waited for capture machine
People captures panhandle, and panhandle crawl robot moves to the startup of camera picture-taking position and takes pictures, confirm the rivet hole site on panhandle
Error is sent to automatic control system, and automatic control system controls site error of the panhandle crawl robot according to rivet hole
Panhandle is transported to behind adjustment position and rivets position, after the completion of first riveted holes, panhandle crawl robot keeps in the center, automatically
Networked control systems receive the signal of above each mechanism and handle the image that camera photographed, and to automatic riveting system
Flow controlled, carry out image procossing and identify pot body position on the conveyor line and angle coordinate data, identify
The position offset data of pot body rivet hole, control pot body crawl robot behind the error transfer factor position of rivet hole site according to moving
Riveting is completed to riveting position.
Of the present invention is a kind of automatic riveting system based on machine vision, using machine vision to pot body and panhandle into
Row is taken pictures, and identifies position and the angle coordinate of pot body, identifies the rivet hole position offset of pot body and panhandle；By the position of pot body
With angle coordinate and pot body and the rivet hole position offset data of panhandle by the data processing conversion inside control system
The coordinate information that can be identified at robot issues robot motion's system, realizes the accurate feeding of pot body and panhandle.
The foregoing is merely the specific implementation modes of the present invention, but scope of protection of the present invention is not limited thereto, any
Those skilled in the art within the technical scope disclosed by the invention, can without the variation that creative work is expected or
It replaces, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be limited with claims
Subject to fixed protection domain.
Claims (10)
1. a kind of automatic riveting system based on machine vision is used for the automatic riveting of kitchen tools, which is characterized in that including：Automatically
Networked control systems, riveting machine, rack and it is located at pot body transport mechanism and panhandle transport mechanism that rack both sides are set up in parallel,
It is provided with pot body crawl robot corresponding with the pot body transport mechanism, panhandle transport mechanism below the rack and panhandle is grabbed
Robot is taken, device for visual identification is provided on the crossbeam of the rack, the device for visual identification is for detecting pot body and pot
The coordinate of handle, angle, the position offset data of rivet hole are simultaneously transmitted to the automatic control system, the automation control system
System captures position offset compensation to the pot body in the moving displacement that robot and panhandle capture robot, and is detecting
When accurate to rivet hole site, riveting signal is sent out to riveting machine.
2. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The visual identity dress
Set including just positioning camera system and fine positioning camera system, the just positioning camera system be arranged one end of the crossbeam simultaneously
It is directed at the pot body transport mechanism, the fine positioning camera system is arranged the medium position in the crossbeam and to being moved to lower section
Pot body crawl robot, panhandle crawl robot crawl position take pictures.
3. the automatic riveting system according to claim 2 based on machine vision, it is characterised in that：The just positioning is taken pictures
System and fine positioning camera system are made of the camera, camera lens and light source being correspondingly arranged.
4. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The pot body gripper
It includes sucker ontology, connector and sucker stand that the end set of device people, which has pot body grasping mechanism, the pot body grasping mechanism,.
5. the automatic riveting system according to claim 4 based on machine vision, it is characterised in that：The sucker ontology is logical
Cross the end that sucker stand is set to pot body crawl robot.
6. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The panhandle gripper
It includes cylinder, gripping finger and air cylinder support that the end set of device people, which has panhandle grasping mechanism, the panhandle grasping mechanism,.
7. the automatic riveting system according to claim 6 based on machine vision, it is characterised in that：The cylinder is double sliding
Block pneumatic clamper cylinder is simultaneously set to the end that panhandle captures robot by air cylinder support.
8. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The pot body conveyer
Structure is connect with the automatic control system signal, including transmission holder, be arranged holder both ends transmission belt wheel, setting passing
Conveyer belt in feed roller for placing pot body.
9. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The panhandle conveyer
Structure is connect with the automatic control system signal, including transmission holder, be arranged holder both ends transmission belt wheel, setting passing
Conveyer belt in feed roller for placing panhandle.
10. the automatic riveting system according to claim 1 based on machine vision, it is characterised in that：The riveting machine is set
It is placed in the underface of rack, including is set to the riveter of riveting machine body upper part, the lower cushion block being correspondingly arranged with riveter and under
The rivet feed mechanism of cushion block connection setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319131.4A CN108580783A (en) | 2018-04-11 | 2018-04-11 | A kind of automatic riveting system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319131.4A CN108580783A (en) | 2018-04-11 | 2018-04-11 | A kind of automatic riveting system based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108580783A true CN108580783A (en) | 2018-09-28 |
Family
ID=63621920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319131.4A Pending CN108580783A (en) | 2018-04-11 | 2018-04-11 | A kind of automatic riveting system based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108580783A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109554736A (en) * | 2018-12-11 | 2019-04-02 | 佛山市阳和智能科技有限公司 | One kind can pinpoint circuit board electroplating line intelligence method for charging and discharging plate |
| CN109550879A (en) * | 2018-12-24 | 2019-04-02 | 福建渃博特自动化设备有限公司 | A kind of metal plate riveting method of view-based access control model |
| CN110987932A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly coordinate vision measurement method |
| CN113941684A (en) * | 2021-09-10 | 2022-01-18 | 首都航天机械有限公司 | Automatic assembling device and method for supporting plate nut |
| CN114408484A (en) * | 2021-12-06 | 2022-04-29 | 中国电器科学研究院股份有限公司 | Robot workpiece automatic hanging system based on visual identification detection |
| CN115608907A (en) * | 2022-12-20 | 2023-01-17 | 山西天宝集团有限公司 | Automatic oil press centering device and method based on wind power flange forging |
| CN116214132A (en) * | 2023-02-22 | 2023-06-06 | 重庆精鸿益科技股份有限公司 | Integrated rivet assembly system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203140676U (en) * | 2013-02-22 | 2013-08-21 | 苏州杰锐思自动化设备有限公司 | Automatic squeeze riveter |
| CN204603774U (en) * | 2015-04-28 | 2015-09-02 | 深圳市南斗星科技有限公司 | Antenna assemblies riveting system |
| CN105500390A (en) * | 2014-10-10 | 2016-04-20 | 上海沃迪自动化装备股份有限公司 | Parallel robot sucker gripper device |
| CN106625676A (en) * | 2016-12-30 | 2017-05-10 | 易思维（天津）科技有限公司 | Three-dimensional visual accurate guiding and positioning method for automatic feeding in intelligent automobile manufacturing |
| CN106743351A (en) * | 2017-04-06 | 2017-05-31 | 贵州伊诺生物科技有限公司 | A kind of mining belt conveyer with automatic cleaning function |
| CN206764780U (en) * | 2017-04-12 | 2017-12-19 | 王庆表 | One kind clamps turning manipulator |
| CN208067234U (en) * | 2018-04-11 | 2018-11-09 | 苏州香农智能科技有限公司 | A kind of automatic riveting system based on machine vision |
-
2018
- 2018-04-11 CN CN201810319131.4A patent/CN108580783A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203140676U (en) * | 2013-02-22 | 2013-08-21 | 苏州杰锐思自动化设备有限公司 | Automatic squeeze riveter |
| CN105500390A (en) * | 2014-10-10 | 2016-04-20 | 上海沃迪自动化装备股份有限公司 | Parallel robot sucker gripper device |
| CN204603774U (en) * | 2015-04-28 | 2015-09-02 | 深圳市南斗星科技有限公司 | Antenna assemblies riveting system |
| CN106625676A (en) * | 2016-12-30 | 2017-05-10 | 易思维（天津）科技有限公司 | Three-dimensional visual accurate guiding and positioning method for automatic feeding in intelligent automobile manufacturing |
| CN106743351A (en) * | 2017-04-06 | 2017-05-31 | 贵州伊诺生物科技有限公司 | A kind of mining belt conveyer with automatic cleaning function |
| CN206764780U (en) * | 2017-04-12 | 2017-12-19 | 王庆表 | One kind clamps turning manipulator |
| CN208067234U (en) * | 2018-04-11 | 2018-11-09 | 苏州香农智能科技有限公司 | A kind of automatic riveting system based on machine vision |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109554736A (en) * | 2018-12-11 | 2019-04-02 | 佛山市阳和智能科技有限公司 | One kind can pinpoint circuit board electroplating line intelligence method for charging and discharging plate |
| CN109550879A (en) * | 2018-12-24 | 2019-04-02 | 福建渃博特自动化设备有限公司 | A kind of metal plate riveting method of view-based access control model |
| CN110987932A (en) * | 2019-12-28 | 2020-04-10 | 成都行必果光电科技有限公司 | Automatic assembly coordinate vision measurement method |
| CN113941684A (en) * | 2021-09-10 | 2022-01-18 | 首都航天机械有限公司 | Automatic assembling device and method for supporting plate nut |
| CN114408484A (en) * | 2021-12-06 | 2022-04-29 | 中国电器科学研究院股份有限公司 | Robot workpiece automatic hanging system based on visual identification detection |
| CN114408484B (en) * | 2021-12-06 | 2024-03-15 | 中国电器科学研究院股份有限公司 | Automatic robot workpiece hanging system based on visual identification and detection |
| CN115608907A (en) * | 2022-12-20 | 2023-01-17 | 山西天宝集团有限公司 | Automatic oil press centering device and method based on wind power flange forging |
| CN116214132A (en) * | 2023-02-22 | 2023-06-06 | 重庆精鸿益科技股份有限公司 | Integrated rivet assembly system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108580783A (en) | A kind of automatic riveting system based on machine vision | |
| US20190388940A1 (en) | Automatic Magnetic Core Sorting System Based on Machine Vision | |
| CN208067234U (en) | A kind of automatic riveting system based on machine vision | |
| CN105817422A (en) | Robot-based automatic-collection random-placing express package information system and method thereof | |
| US10625415B2 (en) | Robot system | |
| CN206665009U (en) | A kind of intelligent sorting packaging facilities of SMD metalworks | |
| US20200080944A1 (en) | Image Acquisition System And Image Acquisition Method | |
| CN106862097A (en) | Photovoltaic module aluminium frame full-automatic detection apparatus | |
| CN104191232B (en) | The method that the robot device and a variety of small sizes, flat parts that a variety of small sizes, flat parts assemble automatically in order sequentially assemble automatically | |
| CN206813979U (en) | Slim plate conveyer | |
| CN111843981A (en) | Multi-robot cooperative assembly system and method | |
| CN112224868A (en) | FPC (Flexible printed Circuit) light bar feeding method based on CCD (Charge coupled device) | |
| CN113113338A (en) | Full-automatic transfer system between graphite boat stations | |
| CN205008248U (en) | Equipment is examined to lamp | |
| CN106057986A (en) | Battery piece shunting, laying and feeding system | |
| CN209601476U (en) | A kind of pcb board automatic blanking lamination points equipment | |
| CN203972336U (en) | A kind of printed matter on-line detecting system | |
| CN106501274A (en) | Brshless DC motor control circuit production line | |
| CN105107748A (en) | Light inspection equipment | |
| CN109466225A (en) | A kind of mosaic paving system based on machine vision | |
| CN207198050U (en) | A kind of PLC outward appearances and LED status detection means based on machine vision | |
| CN210775248U (en) | Image detection device for solar drum spring production line | |
| CN111031686B (en) | Positioning method for grabbing PCB and positioning hole glue removing device for PCB | |
| CN210614396U (en) | Six-degree-of-freedom sorting robot device with multi-sensor fusion | |
| CN107609473A (en) | A kind of 3D visual identifying systems and its recognition methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215000 F201, no.388 Ruoshui Road, Suzhou Industrial Park, Jiangsu Province Applicant after: Suzhou Shannon Technology Co.,Ltd. Address before: 215000 F201, no.388 Ruoshui Road, Suzhou Industrial Park, Jiangsu Province Applicant before: SUZHOU XIANGNONG INTELLIGENT TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |