CN109283185B - Pin detection equipment of compressor protector - Google Patents
Pin detection equipment of compressor protector Download PDFInfo
- Publication number
- CN109283185B CN109283185B CN201811100778.4A CN201811100778A CN109283185B CN 109283185 B CN109283185 B CN 109283185B CN 201811100778 A CN201811100778 A CN 201811100778A CN 109283185 B CN109283185 B CN 109283185B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N2035/00178—Special arrangements of analysers
- G01N2035/00207—Handling bulk quantities of analyte
Abstract
The invention discloses pin detection equipment of a compressor protector, which comprises a feeding device, a material taking device, a clamping device, a detection device, a blanking device and a control console, wherein the detection device comprises a right-vertical camera and an oblique detection camera which are respectively positioned at two sides of a belt line, the right-vertical camera is opposite to a second clamping station, the oblique detection camera is positioned at an oblique first clamping station, and the included angle between the oblique detection camera and the belt line is 60 degrees. The pin detection equipment of the compressor protector, which is obtained by the invention, combines visual camera detection with a mechanical automation structure, can accurately detect whether the size of a specified position of a product exceeds a tolerance in an automatic detection mode, accurately detect the perpendicularity between an assembled shaft and an end face, accurately judge whether a ceramic block exists or not, can automatically feed and detect the product, automatically judge OK and NG, and automatically distinguish blanking. Finally, the detection speed of the pin detection equipment of the compressor protector reaches 1.2 s/pcs.
Description
Technical Field
The invention relates to the field of computer vision and nonstandard automatic design, in particular to pin detection equipment of a compressor protector.
Background
As shown in fig. 1, the pin of the compressor protector comprises a step surface 41, wherein two detection shafts 42 vertically penetrate through the step surface 41, and ceramic blocks 43 are sleeved on the detection shafts 42; the pin inspection for the above-mentioned compressor protector mainly includes the perpendicularity of the installation end face of the inspection shaft 42, the installation height of the ceramic block 43, and the installation height of the inspection shaft 42.
At present, automatic detection equipment does not exist for automatic detection, manual visual inspection is adopted for detection at present, along with the improvement of a technical process, the manual visual inspection cannot reach the capability of detecting parameters, and the efficiency of manual detection cannot meet the requirements.
Because of the continuous improvement of the existing market demands, an automatic detection device capable of rapidly completing detection is needed.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide pin detection equipment of a compressor protector, which combines visual camera detection with a mechanical automation structure to detect products in an automatic detection mode, and effectively and automatically completes detection of the products, thereby avoiding the defects of manual visual inspection.
In order to achieve the above purpose, the pin detection equipment of the compressor protector comprises a feeding device, a material taking device, a material clamping device, a detection device, a material discharging device and a control console, wherein the feeding device comprises a hopper, a vibration disc and a feeding track, the hopper is positioned above the vibration disc, the feeding track is a belt line, one end of the belt line is communicated with an outlet of the vibration disc, and the other end of the belt line is positioned below the material taking device;
the material taking device comprises a fixed plate, a cam motor and a manipulator, wherein a limiting plate is arranged in the middle of the fixed plate, a semicircular groove is formed in the limiting plate, a rotating shaft is clamped on the semicircular groove, an upper sliding groove and a lower sliding groove are respectively formed in the upper end and the lower end of the fixed plate, the upper sliding groove is connected with an upper sliding block, the lower sliding groove is connected with a lower sliding block, a connecting block is clamped between the upper sliding block and the lower sliding block, one end of the connecting block is connected with the rotating shaft, and the other end of the connecting block is connected with the manipulator; the cam motor comprises a motor shaft, a connecting rod is arranged on the motor shaft, the other end of the connecting rod is connected with the rotating shaft, and the rotating shaft rotates along with the motor shaft to reciprocate in the semicircular groove; the manipulator comprises three grabbing suction heads, and each grabbing suction head is provided with a vacuum adsorption mechanism;
the clamping device comprises a first clamping station and a second clamping station, wherein the first clamping station is close to the feeding device, the second clamping station is close to the discharging device, each clamping station comprises two clamps which are oppositely arranged, step surfaces which are oppositely arranged and used for placing products are arranged on the two clamps, and a vacuum adsorption mechanism is arranged at the bottom of each step surface;
the detection device comprises a right-vertical camera and an oblique detection camera which are respectively positioned at two sides of the belt line, wherein the right-vertical camera is opposite to the second clamping station, the oblique detection camera is positioned at the first clamping station in an oblique manner, and the included angle between the oblique detection camera and the belt line is 60 degrees;
the blanking device comprises a rotary cylinder, an OK material box and an NG box, wherein the OK material box and the NG box are vertically arranged, a blanking slideway is arranged on the rotary cylinder and can be communicated with the OK material box or the NG box after rotating along with the rotary cylinder;
the control console is a PLC control console and is used for controlling the operation of the feeding device, the material taking device, the material clamping device, the detection device and the discharging device.
OK magazine includes two magazines that set up side by side, and the bottom of every magazine is equipped with the slider and with the spout of above-mentioned slider cooperation use, the side of magazine is equipped with the cylinder, the top of cylinder is equipped with the baffle, the baffle is connected with one of them magazine.
The operation mode of the pin detection equipment of the compressor protector comprises the following steps:
step one, feeding, namely placing a product to be detected into a hopper, vibrating the product part in the hopper into a vibration disc through vibration of the vibration disc, and conveying the product onto a feeding track through the vibration disc. After the product is sent into the material loading track by the vibration dish, drive the material loading belt by belt line motor, send into the product on the ejection of compact track and wait to get the material position on, wait to get the material position just is the belt line end, and the belt line end is furnished with after the correlation inductive sensor sensed the product, and the manipulator can snatch this product and detect, and vibration material loading row material speed is about 1.3/second. Wherein 500 products can be placed on the vibration plate, the charging height of the storage hopper is 1480mm, and 5000-7000 products can be placed in the hopper at one time. The feeding belt line adopts a polyurethane belt.
And secondly, taking materials, putting the product into a material clamping station by using a vacuum grabbing device by using a manipulator, grabbing by using three grabbing suction heads, and simultaneously integrally moving and translating, and realizing rapid grabbing movement by using a cam motor, wherein the grabbing movement utilizes vacuum to suck the product. When the grabbing suction head is pressed down for the 1 st time, the first grabbing suction head is arranged right above the product, so that the first grabbing suction head is used for grabbing the product from a belt line, and the 2 nd time of pressing down is performed, and at the moment, the first grabbing suction head is opposite to a first clamping station due to the action of a cam motor, so that the product can be placed on the first clamping station from the first grabbing suction head; pressing down for the 3 rd time, wherein a second grabbing suction head is arranged above the first clamping station, and the second grabbing suction head is used for grabbing a product from the first clamping station; pressing down for the 4 th time, and placing the product from the second grabbing suction head to a second clamping station; pressing down for the 5 th time, and grabbing the product from a second clamping station by using a third grabbing suction head; pressing down for the 6 th time, and placing the product on a discharging slideway from a third grabbing suction head. The manipulator translates with three grabbing suction heads simultaneously and integrally, and sequentially performs the actions.
Step three, clamping, namely, after the mechanical arm grabs the product and puts the product into the clamp, introducing vacuum to adsorb the product, and simultaneously, detecting whether the ceramic block of the product is attached to the clamp surface or not through vacuum, wherein the detection is mainly carried out through detecting the vacuum degree of 4 points of product adsorption.
And step four, detecting, namely detecting the size of a product to be detected through two cameras, wherein the upright vertical camera can detect whether the size of the product and the ceramic block are neglected to be installed or not, and the inclined detection camera is matched with the inclined detection camera to detect whether the perpendicularity of a detection shaft of the product meets the requirement or not. The camera adopts a large depth of field camera, the light source adopts a backlight source, and the rear side is polished.
Because the size tolerance is detected by using the camera in the positive vertical direction, the detection shaft perpendicularity needs to detect the perpendicularity in two directions to carry out synthesis calculation judgment, and the optimal condition is that the two cameras are in the 90-degree direction, but because of the space limitation of the clamp, the maximum placement angle of the other camera is 60 degrees under the condition that the view can be shot.
And fifthly, blanking, namely judging whether the product is qualified or not after judging by the normal vertical camera and the oblique detection camera, if the product is NG, blanking the product into the NG box through a slideway, determining that the product is blanking into the NG box after the defective product sensor senses the product, and if the product is OK, blanking the product into the OK box through the slideway, and determining that the product is blanking into the OK box after the defective product sensor senses the product. And counts NG and OK products, respectively. The blanking slideway of the NG product and the OK product is shared and is switched by a rotary cylinder. Thereby completing the entire action.
The pin detection equipment of the compressor protector, which is obtained by the invention, combines visual camera detection with a mechanical automation structure, can accurately detect whether the size of a specified position of a product exceeds a tolerance or not in an automatic detection mode, accurately detect the perpendicularity between an assembled shaft and an end face, accurately judge whether a ceramic block exists or not, automatically feed and detect the product, automatically judge OK and NG and automatically distinguish blanking. Finally, the detection speed of the pin detection equipment of the compressor protector reaches 1.2 s/pcs.
Drawings
FIG. 1 is a schematic diagram of the structure of pins of a compressor protector;
fig. 2 is a schematic structural view of a pin detection device of the compressor protector of embodiment 1;
fig. 3 is a schematic structural view of a feeding device in the pin inspection apparatus of the compressor protector of embodiment 1;
fig. 4 is a schematic structural view of a material taking device in the pin inspection apparatus of the compressor protector of embodiment 1;
fig. 5 is a schematic structural view of a clamping device in a pin detection apparatus of a compressor protector of embodiment 1;
FIG. 6 is a flow chart showing the cooperation of the material taking device and the material clamping device in the pin inspection apparatus of the compressor protector of embodiment 1;
fig. 7 is a schematic structural view of a detecting device in a pin detecting apparatus of a compressor protector of embodiment 1;
fig. 8 is a schematic diagram showing the structure of the blanking device to NG box in the pin detection apparatus of the compressor protector of embodiment 1;
fig. 9 is a schematic diagram of the structure from the blanking device to the OK magazine in the pin inspection apparatus of the compressor protector of embodiment 1.
In the figure: the feeding device 1, the material taking device 2, the clamping device 3, the detection device 4, the blanking device 5, the control console 6, the hopper 7, the vibration disc 8, the feeding track 9, the fixed plate 10, the cam motor 11, the manipulator 12, the limiting plate 13, the semicircular groove 14, the rotating shaft 15, the upper sliding groove 16, the lower sliding groove 17, the upper sliding block 18, the lower sliding block 19, the connecting block 20, the motor shaft 21, the connecting rod 22, the first clamping station 23, the second clamping station 24, the clamp 25, the step surface 26, the positive vertical camera 27, the inclined detection camera 28, the rotary cylinder 29, the OK material box 30, the NG box 31, the blanking slide 32, the material box 33, the sliding groove 34, the cylinder 35, the baffle 36, the step surface 41, the detection shaft 42 and the ceramic block 43.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Example X:
as shown in fig. 1, the pin detection device of the compressor protector provided by the embodiment comprises a feeding device 1, a material taking device 2, a material clamping device 3, a detection device 4, a material discharging device 5 and a control console 6, wherein the feeding device 1 comprises a hopper 7, a vibration disc 8 and a feeding track 9, the hopper 7 is positioned above the vibration disc 8, the feeding track 9 is a belt line, one end of the belt line is communicated with an outlet of the vibration disc 8, and the other end of the belt line is positioned below the material taking device 2;
the material taking device 2 comprises a fixed plate 10, a cam motor 11 and a manipulator 12, wherein a limiting plate 13 is arranged in the middle of the fixed plate 10, a semicircular groove 14 is arranged on the limiting plate 13, a rotating shaft 15 is clamped on the semicircular groove 14, an upper sliding groove 16 and a lower sliding groove 17 are respectively arranged at the upper end and the lower end of the fixed plate 10, the upper sliding groove 16 is connected with an upper sliding block 18, the lower sliding groove 17 is connected with a lower sliding block 19, a connecting block 20 is clamped between the upper sliding block 18 and the lower sliding block 19, one end of the connecting block 20 is connected with the rotating shaft 15, and the other end of the connecting block 20 is connected with the manipulator 12; the cam motor 11 comprises a motor shaft 21, a connecting rod 22 is arranged on the motor shaft 21, the other end of the connecting rod 22 is connected with the rotating shaft 15, and the rotating shaft 15 reciprocates in the semicircular groove 14 along with the rotation of the motor shaft 21; the manipulator 12 comprises three grabbing suction heads, and each grabbing suction head is provided with a vacuum adsorption mechanism;
the clamping device 3 comprises a first clamping station 23 and a second clamping station 24, wherein the first clamping station 23 is close to the feeding device 1, the second clamping station 24 is close to the discharging device 5, each clamping station comprises two clamps 25 which are oppositely arranged, step surfaces 26 which are oppositely arranged and are used for placing products are arranged on the two clamps 25, a vacuum adsorption mechanism is arranged at the bottom of the step surfaces 26,
the detection device 4 comprises a right-vertical camera 27 and an oblique detection camera 28 which are respectively positioned at two sides of the belt line, wherein the right-vertical camera 27 is opposite to the second clamping station 24, the oblique detection camera 28 is positioned at the oblique first clamping station 23, and the included angle between the oblique detection camera 28 and the belt line is 60 degrees.
The discharging device 5 comprises a rotary cylinder 29, an OK material box 30 and an NG box 31, wherein the OK material box 30 and the NG box 31 are vertically arranged, a discharging slide way 32 is arranged on the rotary cylinder 29, and the discharging slide way 32 is a discharging slide way 32 which can be communicated with the OK material box 30 or the NG box 31 after rotating along with the rotary cylinder 29.
The OK magazine 30 includes two parallel magazines 33, the bottom of each magazine 33 is provided with a slide block and a slide slot 34 cooperating with the slide block, the side of the magazine 33 is provided with an air cylinder 35, the top of the air cylinder 35 is provided with a baffle 36, and the baffle 36 is connected with one of the magazines 33.
The control console 6 is PLC control and is used for controlling the operation of the feeding device 1, the material taking device 2, the material clamping device 3, the detection device 4 and the discharging device 5.
The operation mode of the pin detection equipment of the compressor protector comprises the following steps:
step one, feeding, namely placing a product to be detected into a hopper 7, vibrating a product part in the hopper 7 into a vibration disc 8 through vibration of the vibration disc 8, and conveying the product onto a feeding track 9 through the vibration disc 8. After the product is sent into the feeding track 9 by the vibration disc 8, the feeding belt is driven by the belt line motor, the product on the feeding track is sent into the position to be taken, the position to be taken is the tail end of the belt line, after the correlation induction sensor is arranged at the tail end of the belt line to sense the product, the mechanical arm 12 can grab the product for detection, and the vibration feeding and discharging speed is about 1.3 pieces/second. Wherein 500 products can be placed on the vibration plate 8, the charging height of the hopper 7 is 1480mm, and 5000-7000 products can be placed on the hopper 7 at one time. The feeding belt line adopts a polyurethane belt.
And secondly, taking materials, wherein the manipulator 12 utilizes vacuum to grab products and puts the products into a clamping station, the manipulator 12 grabs three grabbing suction heads to simultaneously and integrally move and translate, the cam motor 11 is utilized to realize rapid grabbing movement, and the grabbing movement utilizes vacuum to suck the products. When the grabbing suction head is pressed down for the 1 st time, the first grabbing suction head is arranged right above the product, so that the first grabbing suction head is used for grabbing the product from a belt line, and the product is pressed down for the 2 nd time, and at the moment, the first grabbing suction head is opposite to the first clamping station 23 due to the action of the cam motor 11, so that the product can be placed on the first clamping station 23 from the first grabbing suction head; pressing down for the 3 rd time, wherein a second grabbing suction head is arranged above the first clamping station 23, and the second grabbing suction head is used for grabbing a product from the first clamping station 23; pressing down for the 4 th time, and placing the product from the second grabbing suction head onto a second clamping station 24; depressing for the 5 th time, grabbing the product from the second clamping station 24 by using a third grabbing suction head; pressing down for the 6 th time, the product is placed on the discharging slideway 32 from the third grabbing suction head. The manipulator 12 translates with three gripping heads simultaneously and integrally, and sequentially.
And thirdly, clamping, namely, after the product is grabbed by the mechanical arm 12 and put into a clamp, introducing vacuum to adsorb the product, and simultaneously, detecting whether the ceramic block of the product is attached to the clamp surface or not by vacuum, wherein the detection is mainly carried out by detecting the vacuum degree of 4 points of product adsorption.
Step four, detecting, namely detecting the size of the product to be detected through two cameras, wherein the vertical camera 27 can detect whether the size of the product and the ceramic block are neglected to be installed or not, and the inclined detection camera 28 is matched with the vertical detection camera to detect whether the verticality of a detection shaft of the product meets the requirement or not. The camera adopts a large depth of field camera, the light source adopts a backlight source, and the rear side is polished.
Because the size tolerance is detected by using the camera in the positive vertical direction, the detection shaft perpendicularity needs to detect the perpendicularity in two directions to carry out synthesis calculation judgment, and the optimal condition is that the two cameras are in the 90-degree direction, but because of the space limitation of the clamp, the maximum placement angle of the other camera is 60 degrees under the condition that the view can be shot.
The verticality detection principle is that a product datum line is taken as a coordinate system X axis, a central axis of a cylinder and a datum line crossing point are taken as coordinate system dots, and a camera optical axis is taken as a coordinate system Y axis. The two cameras take pictures and form two coordinate systems, and because the two cameras are erected at an angle of 60 degrees, the two coordinate systems form 60 degrees, namely the coordinate system XYZ rotates around the Z axis anticlockwise by 60 degrees and then coincides with the coordinate system X1Y1Z 1.
And fifthly, blanking, namely judging whether the product is qualified or not after judging by the vertical camera 27 and the inclined detection camera 28, if the product is NG, blanking the product into the NG box 31 through a slideway, and determining that the product is blanking into the NG box 31 after the defective product sensor senses the product, if the product is OK, blanking the product into the OK box 30 through the slideway, and determining that the product is blanking into the OK box 30 after the defective product sensor senses the product. And counts NG and OK products, respectively. The blanking chute 32 for NG and OK products is common and is switched by the rotary cylinder 29. Thereby completing the entire action.
Claims (2)
1. The utility model provides a pin check out test set of compressor protector which characterized in that: the feeding device comprises a feeding device (1), a material taking device (2), a material clamping device (3), a detection device (4), a material discharging device (5) and a control console (6), wherein the feeding device (1) comprises a hopper (7), a vibration disc (8) and a feeding track (9), the hopper (7) is positioned above the vibration disc (8), the feeding track (9) is a belt line, one end of the belt line is communicated with an outlet of the vibration disc (8), and the other end of the belt line is positioned below the material taking device (2); the material taking device (2) comprises a fixed plate (10), a cam motor (11) and a manipulator (12), wherein a limiting plate (13) is arranged in the middle of the fixed plate (10), a semicircular groove (14) is formed in the limiting plate (13), a rotating shaft (15) is clamped on the semicircular groove (14), an upper sliding groove (16) and a lower sliding groove (17) are respectively formed in the upper end and the lower end of the fixed plate (10), the upper sliding groove (16) is connected with an upper sliding block (18), the lower sliding groove (17) is connected with a lower sliding block (19), a connecting block (20) is clamped between the upper sliding block (18) and the lower sliding block (19), one end of the connecting block (20) is connected with the rotating shaft (15), and the other end of the connecting block (20) is connected with the manipulator (12); the cam motor (11) comprises a motor shaft (21), a connecting rod (22) is arranged on the motor shaft (21), the other end of the connecting rod (22) is connected with the rotating shaft (15), and the rotating shaft (15) rotates along with the motor shaft (21) to reciprocate in the semicircular groove (14); the manipulator (12) comprises three grabbing suction heads, and each grabbing suction head is provided with a vacuum adsorption mechanism; the clamping device (3) comprises a first clamping station (23) and a second clamping station (24), wherein the first clamping station (23) is close to the feeding device (1), the second clamping station (24) is close to the discharging device (5), each clamping station comprises two clamps (25) which are oppositely arranged, step surfaces (26) which are oppositely arranged and are used for placing products are arranged on the two clamps (25), a vacuum adsorption mechanism is arranged at the bottom of each step surface (26), the detection device (4) comprises a positive vertical camera (27) and an oblique detection camera (28) which are respectively arranged at two sides of a belt line, the positive vertical camera (27) is opposite to the second clamping station (24), the oblique detection camera (28) is arranged obliquely to the first clamping station (23), and the included angle between the oblique detection camera (28) and the belt line is 60 degrees; the blanking device (5) comprises a rotary cylinder (29), an OK material box (30) and an NG box (31); the OK material box (30) and the NG box (31) are vertically arranged, a discharging slide way (32) is arranged on the rotary cylinder (29), and the discharging slide way (32) is a discharging slide way (32) which can be communicated with the OK material box (30) or the NG box (31) after rotating along with the rotary cylinder (29); the control console (6) is PLC control and is used for controlling the operation of the feeding device (1), the material taking device (2), the material clamping device (3), the detection device (4) and the discharging device (5).
2. The pin detection apparatus of a compressor protector according to claim 1, wherein: OK magazine (30) include two magazine (33) that set up side by side, the bottom of every magazine (33) is equipped with slider and spout (34) that use with above-mentioned slider cooperation, the side of magazine (33) is equipped with cylinder (35), the top of cylinder (35) is equipped with baffle (36), baffle (36) are connected with one of them magazine (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100778.4A CN109283185B (en) | 2018-09-20 | 2018-09-20 | Pin detection equipment of compressor protector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100778.4A CN109283185B (en) | 2018-09-20 | 2018-09-20 | Pin detection equipment of compressor protector |
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| Publication Number | Publication Date |
|---|---|
| CN109283185A CN109283185A (en) | 2019-01-29 |
| CN109283185B true CN109283185B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811100778.4A Active CN109283185B (en) | 2018-09-20 | 2018-09-20 | Pin detection equipment of compressor protector |
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| Country | Link |
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| CN (1) | CN109283185B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114212490A (en) * | 2021-12-30 | 2022-03-22 | 无锡创思达精密机械有限公司 | PPU clamping direction blind rod and vision straightening direction device and working process thereof |
| CN115027913B (en) * | 2022-08-11 | 2022-10-28 | 江苏美克美斯自动化科技有限责任公司 | Electronic chip visual detection equipment with adjusting mechanism |
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| CN105548203A (en) * | 2016-01-19 | 2016-05-04 | 东莞市德速达精密设备有限公司 | Method and device for visually detecting pins of multi-pin element |
| WO2018041016A1 (en) * | 2016-08-29 | 2018-03-08 | 广州敏实汽车零部件有限公司 | Car sheet metal-related automatic punching and die cutting apparatus having manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06300541A (en) * | 1993-02-22 | 1994-10-28 | Fujitsu Autom Ltd | Lead pin inspection device and position control device |
| JPH09321498A (en) * | 1996-06-03 | 1997-12-12 | Yamaha Motor Co Ltd | Method and device for inspecting parts of mounting machine |
| CN103041995A (en) * | 2012-11-28 | 2013-04-17 | 东莞市凯昶德电子科技股份有限公司 | Automatic deformation screening machine for pins of connector housings |
| CN203044362U (en) * | 2012-11-28 | 2013-07-10 | 东莞市凯昶德电子科技股份有限公司 | Automatic screening machine for deformation of pins of connector housings |
| CN103808732A (en) * | 2014-01-21 | 2014-05-21 | 图灵视控（北京）科技有限公司 | Capacitance detection system and capacitance detection method based on machine vision |
| CN105548203A (en) * | 2016-01-19 | 2016-05-04 | 东莞市德速达精密设备有限公司 | Method and device for visually detecting pins of multi-pin element |
| WO2018041016A1 (en) * | 2016-08-29 | 2018-03-08 | 广州敏实汽车零部件有限公司 | Car sheet metal-related automatic punching and die cutting apparatus having manipulator |
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|---|---|
| CN109283185A (en) | 2019-01-29 |
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