CN109484852A - A kind of quartz clock dial intelligent recognition and automatic grabbing device - Google Patents
A kind of quartz clock dial intelligent recognition and automatic grabbing device Download PDFInfo
- Publication number
- CN109484852A CN109484852A CN201811495543.XA CN201811495543A CN109484852A CN 109484852 A CN109484852 A CN 109484852A CN 201811495543 A CN201811495543 A CN 201811495543A CN 109484852 A CN109484852 A CN 109484852A
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- image
- quartz clock
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- industrial
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- G—PHYSICS
- G04—HOROLOGY
- G04D—APPARATUS OR TOOLS SPECIALLY DESIGNED FOR MAKING OR MAINTAINING CLOCKS OR WATCHES
- G04D1/00—Gripping, holding, or supporting devices
- G04D1/0078—Automated gripping means
Abstract
The invention discloses a kind of quartz clock dial intelligent recognition and automatic grabbing device, including grasping mechanism and image acquisition mechanism, the side of image acquisition mechanism is arranged in grasping mechanism；Described image collecting mechanism is made of industrial camera, industrial lens and light source, and industrial camera has image processing system by USB interface communication connection computer, built-in computer.Present invention aims at the assembling process that vision detection system is applied to quartz clock dial, it realizes intelligent, Automated assembly, it improves the assembly technology of quartz clock and reduces the production cost of quartz clock, the accuracy of manufacture and accuracy of timekeeping of quartz clock are improved simultaneously, vision substitutes human eye using machine, intelligent recognition and positioning work are realized for the acquisition and processing of image, blank of the quartz clock manufacturing industry in terms of intelligence is not only filled in the assembly technology of quartz clock, or similar assembly technology is as guide, promote vision detection system in the development of industrial application.
Description
Technical field
The present invention relates to dial image identification technical field, specially a kind of quartz clock dial intelligent recognition and automatic
Grabbing device.
Background technique
As industry welcomes 4.0 intellectualization times, it is each that development intelligent plant and intelligence manufacture industry have become the world
The common recognition of a industrial power.Intelligence manufacture process is sufficiently complex, is all on traditional manufacturing industry or semi-automatic manufacturing industry basis
On improve, be usually made of multiple links, each link use one to a variety of intelligent manufacturing equipments complete.Intelligence system
The environment sensing and intelligent control technology of making equipment are the basic guarantees of high-adaptability, high-precision, intelligent operation, and are developed
The technical problem that intelligent manufacturing equipment must solve first.Traditional sensing control method is unable to satisfy intelligent manufacturing equipment reality
When, high-precision, modularization, the demands such as lossless perception, and the solution that Machine Vision Detection control technology is then the technical problem mentions
A kind of optimal case is supplied, therefore Machine Vision Detection control technology becomes the hot spot studied both at home and abroad.
Vision detection system is exactly to replace human eye to go to complete the functions such as identification measurement positioning with industrial camera.General view
Feel that detection system is synthesized by camera, camera lens, combination of light sources, can replace and be accomplished manually bar code character, slight crack, packaging, exterior view
The detections such as the whether complete, recess of layer, the detection speed and precision of production line can be effectively improved using vision detection system,
Yield and quality is greatly improved, cost of labor is reduced, while preventing the erroneous judgement generated because of human eye fatigue, improves manufacture essence
Degree.
In order to meet and adapt to the intelligent industrial age, Machine Vision Detection control technology has also started development at full speed,
Application surface is more and more wider.Current global vision detection system is broadly divided into two major classes from composition mode: being obtained based on X86
The PC system of X64 framework and embedded system based on ARM framework.PC system is the traditional mode and vision-based detection of comparison
The earliest form of system.But as deepening continuously for vision detection system is developed and in order to adapt to more complicated industry manufacture ring
Border has developed the embedded system based on ARM framework.Conventional visual detection system is generally by front-end image acquisition, image
Manage module and IO communication module three parts composition.
Therefore, at home and abroad vision detection system is applied to different industrial, is all the hot spot and difficult point of research, with
The development of vision detection system, also provide theoretical foundation and basis for the intelligence of quartz clock dial, Automated assembly
It may.On quartz clock dial, scale is smaller compared to dial relative volume, and industrial environment inclement condition, with
General image processing system is compared, and to picture quality, more stringent requirements are proposed.
Summary of the invention
The purpose of the present invention is to provide a kind of quartz clock dial intelligent recognition and automatic grabbing devices, by vision-based detection
System is applied to the assembling process of quartz clock dial, realizes intelligent, Automated assembly, improve quartz clock assembly technology and
The production cost of quartz clock is reduced, while improving the accuracy of manufacture and accuracy of timekeeping of quartz clock, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the invention provides the following technical scheme:
A kind of quartz clock dial intelligent recognition and automatic grabbing device, including grasping mechanism and image acquisition mechanism, are grabbed
Take mechanism that the side of image acquisition mechanism is set；Described image collecting mechanism is by industrial camera, industrial lens and light source group
At；The industrial camera is mounted on the upper surface of camera fixed plate, is equipped in the lower end surface of camera fixed plate and takes the photograph with industry
The corresponding industrial lens in camera position；One end of the camera fixed plate is fixed on column, is welded on the side wall of column
Light source fixing plate places light source in light source fixing plate, and the lower section of industrial lens is arranged in light source；
The industrial camera is built-in with image capture module by USB interface communication connection computer, industrial camera,
Industrial camera carries out Image Acquisition to the picture that camera is shot by image capture module by acquisition window；The computer
It is programmed, is made of the data management core of more than 1,000 functions and bottom independent, and prop up using Halcon
Windows, Linux and Mac OS X operating environment are held, entire function library passes through C, C++, C#, Visual basic and Delphi
A variety of common programming language access, have been additionally provided with image processing system, image processing system includes that image is pre- in computer
Processing module, image analysis module and picture recognition module；Described image preprocessing module uses char_threshold function
It carries out Threshold segmentation and obtains image；Described image analysis module extracts image outline using target conversion in region；Described image
Identification module is calculated its difference angle and is shown using graph outline matching method, then extracts this data output processing.
Further, the grasping mechanism and image acquisition mechanism are respectively mounted on the table, are also equipped on workbench
For with grasping mechanism and the matching used feeding mechanism of image acquisition mechanism, discharging mechanism, bonding agency and rotating mechanism.
Further, the grasping mechanism is by vacuum chuck, Pneumatic slid platform and servo motor and matched planetary gear
Retarder composition, the side of Pneumatic slid platform are fixed with air cylinder fixed plate, and the upper end of air cylinder fixed plate and retarder connecting plate pass through spiral shell
Nail is fixed, and the other side of Pneumatic slid platform is fixedly connected with cylinder connecting plate, and the lower end of cylinder connecting plate is connected by screw to retarder
Mounting plate, the top of retarder mounting plate install planetary reducer, connect servo motor on planetary reducer, subtracting
Retarder connecting shaft is installed in the lower end of fast device mounting plate, and one end of retarder connecting shaft is connected in planetary reducer, the other end
It is connected in fixed disk platen and fixed disk in pallet, passes through screw between fixed disk platen, fixed disk in pallet and retarder connecting shaft
Fixed, pressing has sucker fixed disk between fixed disk platen and fixed disk in pallet, and vacuum chuck is provided with multiple groups and is mounted on suction
In disk fixed disk.
Further, the brightness of the light source is adjustable.
Further, the industrial camera presets corresponding acquisition parameters before shooting.
Compared with prior art, the beneficial effects of the present invention are:
A kind of quartz clock dial intelligent recognition provided by the invention and automatic grabbing device, it is therefore intended that by vision-based detection
System is applied to the assembling process of quartz clock dial, realizes intelligent, Automated assembly, improve quartz clock assembly technology and
The production cost of quartz clock is reduced, while improving the accuracy of manufacture and accuracy of timekeeping of quartz clock, vision substitutes human eye using machine,
It is a branch of artificial intelligence, main function is the acquisition and processing of image, intelligent recognition and positioning work is realized, by vision
Detection system introduces the assembly technology of quartz clock, not only fills blank of the quartz clock manufacturing industry in terms of intelligence, can also
Think that similar assembly technology as guide, promotes quartz clock product while international status competitiveness, also promotes vision inspection
Development of the examining system in industrial application.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is grasping mechanism structural schematic diagram of the invention；
Fig. 3 is image acquisition mechanism structure chart of the invention；
Fig. 4 is char_threshold function threshold segmentation figure of the invention；
Fig. 5 is contours extract effect picture of the invention；
Fig. 6 is image processing system module map of the invention.
In figure: 1 grasping mechanism, 10 fixed disk in pallet, 101 sucker fixed disks, 11 vacuum chucks, 12 Pneumatic slid platforms, 13 are watched
Motor, 14 planetary reducers, 15 air cylinder fixed plates, 16 cylinder connecting plates, 17 retarder mounting plates, 18 retarders are taken to connect
Axis, 19 fixed disk platens, 2 image acquisition mechanisms, 21 industrial cameras, 22 industrial lens, 23 light sources, 24 camera fixed plates, 25
Column, 26 light source fixing plates, 27 image capture modules, 3 computers, 31 image pre-processing modules, 32 image analysis modules, 33 figures
As identification module, 4 workbench, feeding mechanism 5,6 discharging mechanisms, 7 bonding agencies, 8 rotating mechanisms.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1-2, in the embodiment of the present invention: a kind of quartz clock dial intelligent recognition and automatic grabbing device, packet
Grasping mechanism 1 and image acquisition mechanism 2 are included, grasping mechanism 1 and image acquisition mechanism 2 are installed on workbench 4, workbench 4
On be also equipped with for grasping mechanism 1 and the matching used feeding mechanism 5 of image acquisition mechanism 2, discharging mechanism 6, bonding machine
Structure 7 and rotating mechanism 8；Grasping mechanism 1 is by vacuum chuck 11, Pneumatic slid platform 12 and servo motor 13 and matched planetary gear
Retarder 14 forms, and the side of Pneumatic slid platform 12 is fixed with air cylinder fixed plate 15, and the upper end of air cylinder fixed plate 15 and retarder connect
Plate 25 is fixed by screw, and the other side of Pneumatic slid platform 12 is fixedly connected with cylinder connecting plate 16, and the lower end of cylinder connecting plate 16 is logical
Screw connection retarder mounting plate 17 is crossed, planetary reducer 14, planetary gear reduction are installed in the top of retarder mounting plate 17
Servo motor 13 is connected on fast device 14, and retarder connecting shaft 18 is installed in the lower end of retarder mounting plate 17, retarder connecting shaft 18
One end is connected in planetary reducer 14, and the other end is connected in fixed disk platen 19 and fixed disk in pallet 10, fixed disk
It is fixed between platen 19, fixed disk in pallet 10 and retarder connecting shaft 18 by screw, in fixed disk platen 19 and fixed disk in pallet
Pressing has sucker fixed disk 101 between 10, and vacuum chuck 11 is provided with multiple groups and is mounted in sucker fixed disk 101；
In the above-described embodiments, the smoothness of scale obbbin is high, and bursting strength and stiffness are also higher, is compared to the side of clamping
Formula, vacsorb are more particularly suitable and conveniently, and paper weight is almost ignored, therefore vacuum chuck 11 is selected to draw, and paper is relatively thin,
It is more firm in order to draw, and facilitate installation, connect gas circuit, select flat sucker, interface quick change, band buffering；Secondly, control
Dial rotates angle crawl and needs relatively good precision, relative to the semiclosed loop feedback system of stepper motor, servo motor 13
Closed loop feedback system can reach higher required precision, so, using servo motor 13 be used as actuator, planetary gear reduction
Fast 14 large carrying capacity of device, stable working choose precise planetary reducer to guarantee running accuracy；In addition, crawl needs two
Point vertical movement, and demotion has certain status requirement under pointer, therefore, compared to gear and rack teeth mechanism, worm and gear machine
It is not only more efficient to directly adopt cylinder lifting, but also saves space for structure or screw body, therefore cylinder is used to execute descending operation.
Fig. 3-6 is please referred to, the side of image acquisition mechanism 2 is arranged in grasping mechanism 1；Image acquisition mechanism 2 is taken the photograph by industry
Camera 21, industrial lens 22 and light source 23 form；Industrial camera 21 is mounted on the upper surface of camera fixed plate 24, solid in camera
The lower end surface of fixed board 24 is equipped with industrial lens 22 corresponding with 21 position of industrial camera；One end of camera fixed plate 24 is solid
It is scheduled on column 25, light source fixing plate 26 is welded on the side wall of column 25, places light source 23, light source 23 in light source fixing plate 26
The lower section of industrial lens 22 is set；Industrial camera 21 is by USB interface communication connection computer 3, in industrial camera 21
It is equipped with image capture module 27, industrial camera 21 passes through the picture that acquisition window shoots camera by image capture module 27
Carry out Image Acquisition；The computer 3 is programmed using Halcon, by more than 1,000 functions and bottom independent
Data management core constitute, and support Windows, Linux and Mac OS X operating environment, entire function library passes through C, C+
+, C#, more kinds of common programming language access of Visual basic and Delphi have been additionally provided with image procossing system in computer 3
System, image processing system includes image pre-processing module 31, image analysis module 32 and picture recognition module 33；Image preprocessing
Module 31 carries out Threshold segmentation using char_threshold function and obtains image；Image analysis module 32 is using target in region
Image outline is extracted in conversion；Picture recognition module 33 is calculated its difference angle and is shown using graph outline matching method,
This data output processing is extracted again.
Working principle: a kind of quartz clock dial intelligent recognition provided by the invention and automatic grabbing device:
(1) dial, the lifting of 12 control mechanism of Pneumatic slid platform are grabbed first, and vacuum chuck 11 draws dial, and will
Dial send to image acquisition mechanism 2 and carries out image procossing；
(2) image acquisition mechanism 2 passes through between industrial camera 21 and computer 3 through the communication connection of USB interface, benefit
Industrial camera 21 is called with Halcon, communication is a very crucial step in the entire system, subsequent if Communications failure
Program is just unable to run, and automatic checkout system also can not just start, and additionally needs to carry out video image card and corresponding I/O
Initialization is arranged acquisition parameters, realizes the generation of acquisition window and the connection of image capture module 27, pass through image capture module
The picture of 27 pairs of camera shootings carries out Image Acquisition, while the intensity of adjustable light source 23, allows to obtain suitable clear
Clear image, acquisition image are as shown in Figure 4；
(3) acquisition image is sent in computer 3 again, computer 3 is first by image pre-processing module 31 to image
It is pre-processed, due to the noise jamming by surrounding enviroment and camera itself, often will appear some dotted, pulses
Shape, salt-pepper noise need first to carry out smothing filtering to image, are conducive to extraction pair to reduce and eliminate the noise in image
As feature carries out analysis example, image filtering is divided into spatial domain and transform domain two major classes from big direction, compares in spatial domain
Classical method has median filtering, neighborhood averaging, weighted average, the more classical transformation tool of transform domain image denoising method
There are Fourier transformation, wavelet transformation, multi-scale transform etc.；Inhibit to make well since median filtering can not only have noise
With, and have preferable reservation to image edge, so the present invention is smoothed image using median filtering, to figure
In the research of picture, the area interest that only needs are identified, referred to as target or background, in order to recognize and analyze target, by background
This two parts distinguishes with target, is split to image, carries out Threshold segmentation using char_threshold function, obtains
Image is as shown in Figure 5；
(4) computer 3 analyzes image by image analysis module 32, will wish in acquisition in machine vision
Appearance is included or is shown to be exactly region segmentation with a region, and therefore, region is one in machine vision
Key concept, English name ROI (region of interest), area-of-interest, area-of-interest is mainly characterized by subtracting
The time is handled less, increases accuracy of identification etc.；There are mainly three types of methods for the acquisition in region, directly create, image segmentation is shown or XLD
It converts, the form in this figure is simple, and scale obbbin has fixture positioning, so creating one using the method directly created
Border circular areas, and the content of parameter in region is extracted, including central coordinate of circle and region area etc.；Then to the knowledge of graphic object
Not, first have to hold is the shape of graphic object, when observing and identification target, can feel the boundary of the object
Line, referred to as profile (XLD), i.e. the outer rim lines for constituting figure or target of profile, as the ROI of region, XLD is equally machine
Important composition in device vision, the English name of XLD are Extended Line Description, are then indicated from English understanding
For " underlap description ", also there are many methods for the acquisition of XLD, including directly create, region conversion and bone conversion etc., the present invention
Research object on sharp outline, and there is uniqueness, therefore directly adopt in region target and convert, extract profile, extract
Effect is as shown in Figure 5；
(5) computer 3 identifies image by picture recognition module 33: image recognition refers to right using computer 3
Image is handled, analyzed and is understood, to identify the target of various different modes and to the technology of picture, in NI Vision Builder for Automated Inspection
The method mainly used is images match, by closing to the corresponding of presentation content, feature, structure, relationship, texture and gray scale etc.
Similar view mesh calibration method is sought in system, the analysis of similitude and consistency, and images match is it in weight in machine vision
Weight, and realize the main place of function；The method of images match mainly has Gray-scale Matching, NCC (fuzzy) Rapid matching, figure
Outline, Model Matching, deformation matching and descriptors match etc.；Since the scale outer edge contour feature on scale obbbin is fresh
It is bright, there is good resolution, therefore, appropriate using graph outline matching, matching process not only simply matches object,
Also its difference angle can be calculated simultaneously in the matching process, and shown, then extracted this data output processing, that is, complete
The work of vision system.
In summary: a kind of quartz clock dial intelligent recognition provided by the invention and automatic grabbing device, it is therefore intended that
Vision detection system is applied to the assembling process of quartz clock dial, intelligent, Automated assembly is realized, improves quartz clock
Assembly technology and the production cost for reducing quartz clock, while the accuracy of manufacture and accuracy of timekeeping of quartz clock are improved, vision uses machine
Device substitutes human eye, is a branch of artificial intelligence, and main function is the acquisition and processing of image, realizes intelligent recognition and positioning
Vision detection system is introduced the assembly technology of quartz clock by work, not only fills quartz clock manufacturing industry in terms of intelligence
Blank, or similar assembly technology promotes quartz clock product while international status competitiveness as guide,
Promote vision detection system in the development of industrial application.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of quartz clock dial intelligent recognition and automatic grabbing device, which is characterized in that including grasping mechanism (1) and image
Collecting mechanism (2), grasping mechanism (1) are arranged in the side of image acquisition mechanism (2)；Described image collecting mechanism (2) is by industry
Video camera (21), industrial lens (22) and light source (23) composition；The industrial camera (21) is mounted on camera fixed plate (24)
Upper surface, industrial lens corresponding with industrial camera (21) position are installed in the lower end surface of camera fixed plate (24)
(22)；One end of the camera fixed plate (24) is fixed on column (25), is welded with light source on the side wall of column (25) and is fixed
Plate (26) places light source (23) in light source fixing plate (26), and light source (23) is arranged in the lower section of industrial lens (22)；
The industrial camera (21) is built-in with image and is adopted by USB interface communication connection computer (3), industrial camera (21)
Collect module (27), industrial camera (21) carries out the picture that camera is shot by image capture module (27) by acquisition window
Image Acquisition；The computer (3) is programmed using Halcon, by more than 1,000 a functions and bottom independent
Data management core is constituted, and supports Windows, Linux and Mac OS X operating environment, and entire function library passes through C, C++,
More kinds of common programming language access of C#, Visual basic and Delphi, have been additionally provided with image procossing system in computer (3)
System, image processing system includes image pre-processing module (31), image analysis module (32) and picture recognition module (33)；It is described
Image pre-processing module (31) carries out Threshold segmentation using char_threshold function and obtains image；Described image analysis module
(32) image outline is extracted using target conversion in region；Described image identification module (33) is calculated using graph outline matching method
It its difference angle and shows out, then extracts this data output processing.
2. a kind of quartz clock dial intelligent recognition as described in claim 1 and automatic grabbing device, it is characterised in that: described
Grasping mechanism (1) and image acquisition mechanism (2) are installed on workbench (4), be also equipped on workbench (4) for crawl
Mechanism (1) and image acquisition mechanism (2) matching used feeding mechanism (5), discharging mechanism (6), bonding agency (7) and whirler
Structure (8).
3. a kind of quartz clock dial intelligent recognition as described in claim 1 and automatic grabbing device, it is characterised in that: described
Grasping mechanism (1) is by vacuum chuck (11), Pneumatic slid platform (12) and servo motor (13) and matched planetary reducer
(14) it forms, the side of Pneumatic slid platform (12) is fixed with air cylinder fixed plate (15), the upper end of air cylinder fixed plate (15) and retarder
Connecting plate (25) is fixed by screw, and the other side of Pneumatic slid platform (12) is fixedly connected with cylinder connecting plate (16), cylinder connecting plate
(16) lower end is connected by screw to retarder mounting plate (17), and planetary gear speed-reduction is installed in the top of retarder mounting plate (17)
Device (14) connects servo motor (13) on planetary reducer (14), installs and slows down in the lower end of retarder mounting plate (17)
Device connecting shaft (18), one end of retarder connecting shaft (18) are connected in planetary reducer (14), and the other end is connected to fixed disk
In platen (19) and fixed disk in pallet (10), between fixed disk platen (19), fixed disk in pallet (10) and retarder connecting shaft (18)
It is fixed by screw, pressing between fixed disk platen (19) and fixed disk in pallet (10) has sucker fixed disk (101), and vacuum is inhaled
Disk (11) is provided with multiple groups and is mounted on sucker fixed disk (101).
4. a kind of quartz clock dial intelligent recognition as described in claim 1 and automatic grabbing device, it is characterised in that: described
The brightness of light source (23) is adjustable.
5. a kind of quartz clock dial intelligent recognition as described in claim 1 and automatic grabbing device, which is characterized in that described
Industrial camera (21) presets corresponding acquisition parameters before shooting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811495543.XA CN109484852A (en) | 2018-12-07 | 2018-12-07 | A kind of quartz clock dial intelligent recognition and automatic grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811495543.XA CN109484852A (en) | 2018-12-07 | 2018-12-07 | A kind of quartz clock dial intelligent recognition and automatic grabbing device |
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| Publication Number | Publication Date |
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| CN109484852A true CN109484852A (en) | 2019-03-19 |
Family
ID=65709684
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| CN201811495543.XA Pending CN109484852A (en) | 2018-12-07 | 2018-12-07 | A kind of quartz clock dial intelligent recognition and automatic grabbing device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2446786A1 (en) * | 1979-01-18 | 1980-08-14 | Becker & Van Huellen | Laminated panel handling and inspection mechanism - has rotary suction head with arms rotated about horizontal axis for inspecting underside (BE 16.7.80) |
| CN101149254A (en) * | 2007-11-12 | 2008-03-26 | 北京航空航天大学 | High accuracy vision detection system |
| CN106044214A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Multi-station mechanical arm |
| CN206382954U (en) * | 2016-11-02 | 2017-08-08 | 哈尔滨理工大学 | Tool wear monitoring special image acquisition system |
| CN206509202U (en) * | 2016-12-26 | 2017-09-22 | 宜兴北海封头有限公司 | A kind of automatic oil brushing device of end socket disk |
-
2018
- 2018-12-07 CN CN201811495543.XA patent/CN109484852A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2446786A1 (en) * | 1979-01-18 | 1980-08-14 | Becker & Van Huellen | Laminated panel handling and inspection mechanism - has rotary suction head with arms rotated about horizontal axis for inspecting underside (BE 16.7.80) |
| CN101149254A (en) * | 2007-11-12 | 2008-03-26 | 北京航空航天大学 | High accuracy vision detection system |
| CN106044214A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Multi-station mechanical arm |
| CN206382954U (en) * | 2016-11-02 | 2017-08-08 | 哈尔滨理工大学 | Tool wear monitoring special image acquisition system |
| CN206509202U (en) * | 2016-12-26 | 2017-09-22 | 宜兴北海封头有限公司 | A kind of automatic oil brushing device of end socket disk |
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Application publication date: 20190319 |