CN109018988A - Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine - Google Patents
Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine Download PDFInfo
- Publication number
- CN109018988A CN109018988A CN201810624823.XA CN201810624823A CN109018988A CN 109018988 A CN109018988 A CN 109018988A CN 201810624823 A CN201810624823 A CN 201810624823A CN 109018988 A CN109018988 A CN 109018988A
- Authority
- CN
- China
- Prior art keywords
- axis
- spoil
- conveyer belt
- servo slide
- coarse
- 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
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to spoil automatic identification on a kind of coarse-fine coal conveyer belt of coal mine and pick up mechanism, including installation frame, tri- axis moving assembly of XYZ, end pick-up component, visual identity and distance-measuring device, impurity conveying assembly.The device is using spoil on multisensor automatic identification conveyer belt and measures its position, then spoil is drawn out by the three-axis moving mechanism by constituting cartesian coordinate system.When spoil and its center are obtained by visual sensor, three-axis moving system tracks the position by moving interpolation, and height of the spoil apart from sucker is measured by range sensor, sucker follows Z-direction movement quickly to draw spoil, is subsequently placed on impurity conveyer belt and send to spoil charging basket.The configuration of the present invention is simple, identification and kinematic accuracy are high, identify and movement velocity is fast, pickup suitable for spoil impurity on the coarse-fine coal conveyer belt in coal works, high-intensitive and high risk manual work can be liberated, production efficiency and out coal quality is improved, there is very big popularization space.
Description
Technical field
The invention discloses spoil automatic identification on a kind of coarse-fine coal conveyer belt of coal mine and mechanism is picked up, is related to three-axis moving
System regions and visual identity field.
Background technique
Remaining spoil impurity is always to influence coarse-fine coal quality on coarse-fine coal conveyer belt in coal industry field after coal separation
The main reason for amount, current coal works substantially uses manual work mode to pick up spoil impurity from conveyer belt, such
Working environment is severe, and the great work intensity of worker, the high labor cost in coal works, it is even more impossible to guarantee the safety of staff.
Spoil and its profile can be identified by the heterochromia between spoil and coarse-fine coal using visual sensor, then
Obtain the crawl center of spoil by obtained profile and respective algorithms, i.e. X is to the location information with Y-direction.Using distance
Sensor can measure spoil at a distance from current end sucker Z-direction, i.e. the location information of Z-direction.Finally, the fortune of comprehensive belt
Scanning frequency degree obtains final crawl position, sends this crawl position to three-axis moving system, is moved rapidly by interpolation algorithm
Spoil impurity is drawn and is placed on impurity conveyer belt by mechanism end sucker, is transported in spoil charging basket, completes spoil and picks
Work.
The device includes automatic identification, positioning function and three axis moving interpolation functions, fast by multi-sensor fusion technology
Speed identifies and positions spoil and sends three-axis moving system to, quickly completes spoil instead of manual work mode and picks movement, will
Greatly accelerate the working efficiency that spoil picks up, reduces the cost of labor in coal works.
Summary of the invention
The present invention, essentially by the artificial status for picking up spoil impurity, provides a kind of spoil for the coarse-fine coal conveyer belt of coal mine
Automatic identification and pick up mechanism, structure is simple, identification and movement velocity are fast, identification and kinematic accuracy are high.It is thick suitable for coal works
The pickup of spoil impurity on cleaned coal conveyer belt can liberate high-intensitive and high risk manual work, improve plant efficiency and
Coal quality out has very big popularization space.
The technical solution adopted by the invention is as follows:
Spoil automatic identification and mechanism, including installation frame, X-axis moving assembly, Y-axis are picked up on a kind of coarse-fine coal conveyer belt of coal mine
Moving assembly, Z axis moving assembly, end pick-up component, device for visual identification, distance-measuring device and impurity conveying assembly；Institute
X-axis moving assembly, Y-axis moving assembly, Z axis moving assembly is stated to connect and be mutually perpendicular to servo slide table by respective mounting plate
It is mounted on installation frame, constitutes standard cartesian coordinate system；The device for visual identification, end pick-up component and range measurement
Device is fixedly mounted on Y-axis component and Z axis component by respective mounting bracket, for identification and measures spoil impurity place
Position i.e. draw position, auxiliary three-axis moving mechanism complete sucking action；The impurity conveying assembly is solid by mounting bracket
Dingan County is on installation frame, for the spoil impurity of absorption to be transported in specified spoil charging basket.
The X-axis moving assembly is by an X-axis motor, an X-axis retarder, an X-axis synchronous belt, and two X-axis are same
Belt wheel is walked, an X-axis rotates synchronously axis and two X-axis servo slide table compositions；The X-axis servo slide table is fixed on installation frame
On；The X-axis rotates synchronously axis both ends and is separately connected two X-axis servo slide tables；Described two X-axis synchronous pulleys, one of them
Axis side is rotated synchronously with X-axis to connect, and passes through synchronous another synchronous pulley of band connection of X-axis；The X-axis motor passes through X-axis
The rotation of retarder driving motor side synchronous pulley.
The Y-axis moving assembly is by a y-axis motor, a Y-axis retarder, a Y-axis servo slide table and a Y-axis
Mounting plate composition；The Y-axis mounting plate is fixedly mounted on the movable block of X-axis servo slide table；The fixed peace of the Y-axis servo slide table
On Y-axis mounting plate；The y-axis motor is connect by Y-axis retarder with Y-axis servo slide table, driving Y-axis servo slide table fortune
It is dynamic.
The Z axis moving assembly is by a Z axis motor, a Z axis motor brake, a Z axis servo slide table and a Z
Axle installing plate composition；The Z axis mounting plate is fixedly mounted on the movable block of Y-axis servo slide table；The Z axis servo slide table is fixed
It is mounted on Z axis mounting plate；The Z axis motor is connect by motor brake with Z axis servo slide table, driving Z axis servo slide table fortune
It is dynamic.
The end pick-up component installs board group by a vacuum generator, a vacuum chuck and a pick-up component
At；The pick-up component mounting plate is fixedly mounted on the movable block of Z axis servo slide table；The vacuum generator and vacuum chuck
It is fixedly mounted on pick-up component mounting plate by respective mounting bracket, Z axis is followed to move, complete the absorption to spoil impurity
Movement；
The device for visual identification is made of two visual sensors and two visual sensor mounting brackets；The vision passes
Sensor mounting bracket is fixedly mounted on Y-axis mounting plate；The visual sensor is then fixedly mounted on visual sensor installation branch
On frame, the transverse area of entire coarse-fine coal conveyer belt is covered, the position positioning for identification and X, Y-direction to spoil impurity.
The distance-measuring device is made of a range sensor and a range sensor mounting bracket；It is described away from
It is fixedly mounted on pick-up component mounting plate from mounting frame for sensor；The range sensor is then fixedly mounted on Distance-sensing
In device mounting bracket, measurement direction is and angled with Z-direction along running direction of conveyor belt, for the Z-direction to spoil impurity
Position positioning.
The impurity conveying assembly is by a conveyor motor, a conveyor belt, two belt rollers, a conveying
Translator shaft coupling and a set of conveyer belt mounting bracket composition；The conveyer belt mounting bracket is fixedly mounted on installation frame；
The belt roller is mounted on conveyer belt mounting bracket both ends；The conveyor belt is wound on belt roller；The conveying electrification
Machine is connect by conveyor motor shaft coupling with belt roller, and spoil is transported in spoil charging basket by driving conveyer belt.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is for spoil impurity on the coarse-fine coal conveyer belt of automatic identification and measures its position, then is transported by three-axis moving mechanism
It moves to corresponding position and picks out by spoil.Tri- axis moving assembly of X, Y, Z is mutually perpendicular to install, constitutes standard cartesian coordinate
System.Z axis component is connect with end pick-up component and distance-measuring device, Y-axis component is connect with device for visual identification.Work as cash
Stone impurity is got by visual sensor, measures the center (i.e. the position of X and Y-direction) of spoil crawl, three-axis moving system
Cash to be taken is detected by range sensor in conjunction with the belt speed of service, then while track the center by moving interpolation
Height (i.e. the position of Z-direction) of the stone apart from sucker, sucker follow Z-direction movement high speed to draw spoil.The spoil of absorption is placed on
It is transported on impurity conveyer belt in spoil charging basket.The configuration of the present invention is simple, identification and kinematic accuracy height, identification and movement velocity
Fastly.Suitable for the pickup of spoil impurity on the coarse-fine coal conveyer belt in coal works, high-intensitive and high risk manual work can be liberated,
Production efficiency and out coal quality are improved, there is very big popularization space.
Detailed description of the invention
Fig. 1, Fig. 2 are structural schematic diagram of the invention.
Fig. 3 is X-axis moving assembly structural schematic diagram of the invention.
Fig. 4 is Y-axis moving assembly schematic diagram of the invention.
Fig. 5 is Z axis moving assembly schematic diagram of the invention.
Fig. 6 is end pick-up component schematic diagram of the invention.
Fig. 7, Fig. 8 are device for visual identification schematic diagram of the invention.
Fig. 9 is distance-measuring device schematic diagram of the invention.
Figure 10 is impurity conveying assembly schematic diagram of the invention.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention are described further.
As shown in Figure 1 and Figure 2, spoil automatic identification and mechanism, including installing frame are picked up on a kind of coarse-fine coal conveyer belt of coal mine
Frame 1, X-axis moving assembly 2, Y-axis moving assembly 3, Z axis moving assembly 4, end pick-up component 5, device for visual identification 6, distance are surveyed
Measure device 7 and impurity conveying assembly 8；The X-axis moving assembly 2, Y-axis moving assembly 3, Z axis moving assembly 4 pass through respective peace
Loading board connect with servo slide table and is mutually perpendicular to be mounted on installation frame, constitutes standard cartesian coordinate system；The vision is known
Other device 6, end pick-up component 5 and distance-measuring device 7 are fixedly mounted on Y-axis moving assembly 3 by respective mounting bracket
On Z axis moving assembly 4, for identification and position is drawn in the position where measuring spoil impurity, assists three-axis moving mechanism
Complete sucking action；The impurity conveying assembly 8 is fixedly mounted on installation frame by mounting bracket, the cash for will draw
Stone impurity is transported in specified spoil charging basket.
As shown in figure 3, the X-axis moving assembly 2 is by an X-axis motor 21, an X-axis retarder 22, an X-axis is same
Band 23, two X-axis synchronous pulleys 24 are walked, an X-axis rotates synchronously axis 25 and two X-axis servo slide tables 26 form；The X-axis is watched
Slide unit 26 is taken to be fixed on installation frame 1；The X-axis rotates synchronously 25 both ends of axis and is separately connected two X-axis servo slide tables 26；Institute
Two X-axis synchronous pulleys 24 are stated, one of them rotates synchronously 25 side of axis with X-axis and connect, and connects separately by X-axis synchronous belt 23
One synchronous pulley；The X-axis motor 21 is rotated by 22 driving motor side synchronous pulley of X-axis retarder.
As shown in figure 4, the Y-axis moving assembly 3, by a y-axis motor 31, a Y-axis retarder 32 a, Y-axis is watched
It takes slide unit 33 and a Y-axis mounting plate 34 forms；The Y-axis mounting plate 34 is fixedly mounted on the movable block of X-axis servo slide table 26
On；The Y-axis servo slide table 33 is fixedly mounted on Y-axis mounting plate 34；The y-axis motor 31 passes through Y-axis retarder 32 and Y-axis
Servo slide table 33 connects, and driving Y-axis servo slide table 33 moves.
As shown in figure 5, the Z axis moving assembly 4 is by a Z axis motor 41, a Z axis motor brake 42, a Z axis
Servo slide table 43 and a Z axis mounting plate 44 form；The Z axis mounting plate 44 is fixedly mounted on the movement of Y-axis servo slide table 33
On block；The Z axis servo slide table 43 is fixedly mounted on Z axis mounting plate 44；The Z axis motor 41 passes through Z axis motor brake 42
It is connect with Z axis servo slide table 43, driving Z axis servo slide table 43 moves.
As shown in fig. 6, the end pick-up component 5 is by a vacuum generator 51, a vacuum chuck 52 and one
Pick-up component mounting plate 53 forms；The pick-up component mounting plate 53 is fixedly mounted on the movable block of Z axis servo slide table 43；Institute
It states vacuum generator 51 and vacuum chuck 52 is fixedly mounted on pick-up component mounting plate 53 by respective mounting bracket, follow
Z axis movement, completes the sucking action to spoil impurity.
As shown in Figure 7, Figure 8, the device for visual identification 6 is by two visual sensors 61 and two visual sensor peaces
Bracket 62 is filled to form；The visual sensor mounting bracket 62 is fixedly mounted on Y-axis mounting plate 34；The visual sensor 61
It is then fixedly mounted in visual sensor mounting bracket 62, the transverse area of entire coarse-fine coal conveyer belt is covered, for spoil
The position positioning of the identification of impurity and X, Y-direction.
As shown in figure 9, the distance-measuring device 7 is by a range sensor 71 and a range sensor installation branch
Frame 72 forms；The range sensor mounting bracket 72 is fixedly mounted on pick-up component mounting plate 53；The range sensor
71 are fixedly mounted in range sensor mounting bracket 72, and measurement direction is along running direction of conveyor belt, and with Z-direction at certain
Angle, for the Z-direction position positioning to spoil impurity.
As shown in Figure 10, the impurity conveying assembly 8 is by a conveyor belt 82, two of conveyor motor 81, one
83, conveyor motor shaft couplings 84 of belt roller and a set of conveyer belt mounting bracket 85 composition；The conveyer belt installation branch
Frame 85 is fixedly mounted on installation frame 1；The belt roller 83 is mounted on 85 both ends of conveyer belt mounting bracket；The conveying skin
Band 82 is wound on belt roller 83；The conveyor motor 81 is connect by conveyor motor shaft coupling 84 with belt roller 83,
Spoil is transported in spoil charging basket by driving conveyor belt 82.
Claims (8)
1. spoil automatic identification moves group with mechanism, including installation frame (1), X-axis is picked up on a kind of coarse-fine coal conveyer belt of coal mine
Part (2), Y-axis moving assembly (3), Z axis moving assembly (4), end pick-up component (5), device for visual identification (6), range measurement
Device (7) and impurity conveying assembly (8)；The X-axis moving assembly (2), Y-axis moving assembly (3), Z axis moving assembly (4) pass through
Respective mounting plate connect with servo slide table and is mutually perpendicular to be mounted on installation frame, constitutes standard cartesian coordinate system；Institute
Device for visual identification (6), end pick-up component (5) and distance-measuring device (7) is stated to be fixedly mounted by respective mounting bracket
On Y-axis moving assembly (3) and Z axis moving assembly (4), for identification and the position i.e. gettering site where spoil impurity is measured
It sets, auxiliary three-axis moving mechanism completes sucking action；The impurity conveying assembly (8) is fixedly mounted on installation by mounting bracket
On frame, for the spoil impurity of absorption to be transported in specified spoil charging basket.
2. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The X-axis moving assembly (2) is by an X-axis motor (21), an X-axis retarder (22), an X-axis synchronous belt (23), and two
A X-axis synchronous pulley (24), an X-axis rotate synchronously axis (25) and two X-axis servo slide table (26) compositions；The X-axis servo
Slide unit (26) is fixed on installation frame (1)；The X-axis rotates synchronously axis (25) both ends and is separately connected two X-axis servo slide tables
(26)；Described two X-axis synchronous pulleys (24), one of them rotates synchronously axis (25) side with X-axis and connect, and same by X-axis
Step band (23) connects another synchronous pulley；The X-axis motor (21) passes through X-axis retarder (22) driving motor side synchronous pulley
Rotation.
3. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The Y-axis moving assembly (3) is by a y-axis motor (31), a Y-axis retarder (32), a Y-axis servo slide table (33) and
One Y-axis mounting plate (34) composition；The Y-axis mounting plate (34) is fixedly mounted on the movable block of X-axis servo slide table (26)；Institute
Y-axis servo slide table (33) is stated to be fixedly mounted on Y-axis mounting plate (34)；The y-axis motor (31) by Y-axis retarder (32) with
Y-axis servo slide table (33) connection, driving Y-axis servo slide table (33) movement.
4. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The Z axis moving assembly (4) is by a Z axis motor (41), a Z axis motor brake (42), a Z axis servo slide table (43)
It is formed with a Z axis mounting plate (44)；The Z axis mounting plate (44) is fixedly mounted on the movable block of Y-axis servo slide table (33)；
The Z axis servo slide table (43) is fixedly mounted on Z axis mounting plate (44)；The Z axis motor (41) passes through Z axis motor brake
(42) it is connect with Z axis servo slide table (43), driving Z axis servo slide table (43) movement.
5. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The end pick-up component (5) is by a vacuum generator (51), a vacuum chuck (52) and a pick-up component installation
Plate (53) composition；The pick-up component mounting plate (53) is fixedly mounted on the movable block of Z axis servo slide table (43)；The vacuum
Generator (51) and vacuum chuck (52) are fixedly mounted on pick-up component mounting plate (53) by respective mounting bracket, are followed
Z axis movement, completes the sucking action to spoil impurity.
6. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The device for visual identification (6) is made of two visual sensors (61) and two visual sensor mounting brackets (62)；Institute
Visual sensor mounting bracket (62) is stated to be fixedly mounted on Y-axis mounting plate (34)；The visual sensor (61) is then fixed to pacify
On visual sensor mounting bracket (62), the transverse area of entire coarse-fine coal conveyer belt is covered, for spoil impurity
The position positioning of identification and X, Y-direction.
7. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The distance-measuring device (7) is made of a range sensor (71) and a range sensor mounting bracket (72)；Institute
Range sensor mounting bracket (72) is stated to be fixedly mounted on pick-up component mounting plate (53)；(71 solid for the range sensor
Dingan County is on range sensor mounting bracket (72), and measurement direction is along running direction of conveyor belt, and with Z-direction at certain angle
Degree, for the Z-direction position positioning to spoil impurity.
8. spoil automatic identification and picking up mechanism on the coarse-fine coal conveyer belt of coal mine according to claim 1, it is characterised in that:
The impurity conveying assembly (8) by a conveyor motor (81), a conveyor belt (82), two belt rollers (83),
One conveyor motor shaft coupling (84) and a set of conveyer belt mounting bracket (85) composition；The conveyer belt mounting bracket (85) is solid
Dingan County is on installation frame (1)；The belt roller (83) is mounted on conveyer belt mounting bracket (85) both ends；The conveying skin
Band (82) is wound on belt roller (83)；The conveyor motor (81) passes through conveyor motor shaft coupling (84) and belt roller
(83) it connects, spoil is transported in spoil charging basket by driving conveyor belt (82).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624823.XA CN109018988A (en) | 2018-06-17 | 2018-06-17 | Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810624823.XA CN109018988A (en) | 2018-06-17 | 2018-06-17 | Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109018988A true CN109018988A (en) | 2018-12-18 |
Family
ID=64609497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810624823.XA Pending CN109018988A (en) | 2018-06-17 | 2018-06-17 | Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109018988A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017490A (en) * | 2019-12-20 | 2020-04-17 | 成都工业学院 | Automatic sampling device is used in mechanical component production |
| CN111239513A (en) * | 2020-01-16 | 2020-06-05 | 深圳市蓝眼博科科技有限公司 | Measuring device |
| CN113666105A (en) * | 2021-08-19 | 2021-11-19 | 霍中保 | Online tracking automatic machining device and operation method thereof |
| CN115180367A (en) * | 2022-08-06 | 2022-10-14 | 山西华智弘兴科技有限公司 | Belt transmission band foreign matter recognition device |
| CN116081233A (en) * | 2022-12-01 | 2023-05-09 | 中信重工开诚智能装备有限公司 | Foreign matter removing device for transportation track, control method and application |
| CN116550466A (en) * | 2023-07-10 | 2023-08-08 | 山西品东智能控制有限公司 | Dense medium sorting intelligent control method, control system, equipment and medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2934033A (en) * | 1956-03-26 | 1960-04-26 | Atomic Energy Authority Uk | Fluid operated pick-up mechanism for lifting and transporting articles under water |
| CN103473568A (en) * | 2013-09-13 | 2013-12-25 | 山东科技大学 | Separation device for coal and waste rocks and separation method thereof |
| CN106216219A (en) * | 2016-10-11 | 2016-12-14 | 山东为华智能设备制造有限公司 | A kind of visual identity coal and gangue also carry out the technology separated with mechanical hand |
| CN106269564A (en) * | 2016-08-23 | 2017-01-04 | 北京柯林柯矿业科技有限公司 | Ore sorting process based on image recognition technology and mechanical arm and equipment |
| CN207404466U (en) * | 2017-07-19 | 2018-05-25 | 宁波易拓智谱机器人有限公司 | A kind of three axis truss manipulators applied to automobile door plate assembling |
-
2018
- 2018-06-17 CN CN201810624823.XA patent/CN109018988A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2934033A (en) * | 1956-03-26 | 1960-04-26 | Atomic Energy Authority Uk | Fluid operated pick-up mechanism for lifting and transporting articles under water |
| CN103473568A (en) * | 2013-09-13 | 2013-12-25 | 山东科技大学 | Separation device for coal and waste rocks and separation method thereof |
| CN106269564A (en) * | 2016-08-23 | 2017-01-04 | 北京柯林柯矿业科技有限公司 | Ore sorting process based on image recognition technology and mechanical arm and equipment |
| CN106216219A (en) * | 2016-10-11 | 2016-12-14 | 山东为华智能设备制造有限公司 | A kind of visual identity coal and gangue also carry out the technology separated with mechanical hand |
| CN207404466U (en) * | 2017-07-19 | 2018-05-25 | 宁波易拓智谱机器人有限公司 | A kind of three axis truss manipulators applied to automobile door plate assembling |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017490A (en) * | 2019-12-20 | 2020-04-17 | 成都工业学院 | Automatic sampling device is used in mechanical component production |
| CN111239513A (en) * | 2020-01-16 | 2020-06-05 | 深圳市蓝眼博科科技有限公司 | Measuring device |
| CN113666105A (en) * | 2021-08-19 | 2021-11-19 | 霍中保 | Online tracking automatic machining device and operation method thereof |
| CN115180367A (en) * | 2022-08-06 | 2022-10-14 | 山西华智弘兴科技有限公司 | Belt transmission band foreign matter recognition device |
| CN115180367B (en) * | 2022-08-06 | 2024-01-09 | 山西华智弘兴科技有限公司 | Belt conveying belt foreign matter recognition device |
| CN116081233A (en) * | 2022-12-01 | 2023-05-09 | 中信重工开诚智能装备有限公司 | Foreign matter removing device for transportation track, control method and application |
| CN116550466A (en) * | 2023-07-10 | 2023-08-08 | 山西品东智能控制有限公司 | Dense medium sorting intelligent control method, control system, equipment and medium |
| CN116550466B (en) * | 2023-07-10 | 2023-09-08 | 山西品东智能控制有限公司 | Dense medium sorting intelligent control method, control system, equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109018988A (en) | Spoil automatic identification and mechanism is picked up on a kind of coarse-fine coal conveyer belt of coal mine | |
| CN105692251B (en) | Article automatic loading system | |
| CN105900610B (en) | The lossless harvesting hierarchical intelligence all-in-one of Table Grape and its control method | |
| CN109013384A (en) | A kind of sorting equipment and its method for sorting of building waste material | |
| CN111964591B (en) | Electronic product part detection system | |
| CN206276628U (en) | A kind of express mail automatic sorting device of view-based access control model | |
| CN105865355B (en) | Contactless part external diameter measuring device | |
| CN111941422A (en) | Tile pasting robot system | |
| CN102590244B (en) | Multi-shaft movement mechanical arm of X-ray digital flat imaging detection system | |
| CN209754888U (en) | A manipulator for glass sweeps ray apparatus | |
| CN111051177B (en) | Tyre type conveyor for transport device | |
| CN208747204U (en) | A kind of servo-actuated frame structure of entrucking robot | |
| CN202471621U (en) | Multi-shaft motion mechanical arm of X-ray digital panel imaging detection system | |
| CN107499876A (en) | A kind of control method of the conveying device for correction of turning | |
| CN207746132U (en) | A kind of sorting equipment of packing box | |
| CN107891010A (en) | A kind of structure optimization type carton sorting equipment | |
| CN209406866U (en) | A kind of screen pin automatic detecting machine | |
| CN117074912A (en) | Special encapsulation testing arrangement of integrated circuit | |
| CN208745399U (en) | A kind of tyre surface automatic feeding system | |
| CN110589587A (en) | Automatic molding, picking and inspecting integrated production line for grinding wheel net piece | |
| CN206344147U (en) | A kind of material grasping mechanism | |
| CN210335044U (en) | Press-fitting machine with screening device capable of avoiding overlapping | |
| CN211926823U (en) | Online measuring system for straightness of bar | |
| CN107899963A (en) | Automate carton sorting device | |
| CN109018992B (en) | Automatic frock of going up line of compressor |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181218 |
|
| WD01 | Invention patent application deemed withdrawn after publication |