CN110068281A - A kind of material fetching mechanism for spark plug vision-based detection - Google Patents
A kind of material fetching mechanism for spark plug vision-based detection Download PDFInfo
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- CN110068281A CN110068281A CN201910265300.5A CN201910265300A CN110068281A CN 110068281 A CN110068281 A CN 110068281A CN 201910265300 A CN201910265300 A CN 201910265300A CN 110068281 A CN110068281 A CN 110068281A
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- 238000001514 detection method Methods 0.000 title claims abstract description 155
- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 title claims abstract description 10
- 238000009826 distribution Methods 0.000 claims abstract description 23
- 238000007689 inspection Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 3
- 238000003466 welding Methods 0.000 description 58
- 238000000034 method Methods 0.000 description 7
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- 230000003028 elevating effect Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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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
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Abstract
The present invention relates to a kind of material fetching mechanisms for spark plug vision-based detection, it includes the rack being arranged on station platform, distribution control box is provided in rack, detection device is provided in rack, detection device includes the detection seat being arranged on the rack, the detection carrier with product cooperation is provided on detection seat, detection carrier is plate, middle part offers the open slot with the cooperation of spark plug screw rod, the side of detection seat is provided with the CCD detector with the product cooperation on detection carrier, the feeding mechanical hand with product cooperation is provided on workbench, and the product placement rack on feeding mechanical hand and workbench, qualified product box and the cooperation of rejected product box, CCD detector and feeding mechanical hand are connected to distribution control box；The present invention can eliminate the influence of human factor, realize the accurate detection of electrode gap, while can also carry out accurately shot detection to its insulated part and coupling part, avoid it from haveing the defects that electric leakage, realize comprehensive detection, and then improve the effect of detection.
Description
Original bill application number: 2017100026382
Original bill applicant: Dongguan University of Technology
The original bill applying date: on January 3rd, 2017
A kind of original bill application title: vision testing machine of spark plug.
Technical field
The present invention relates to the processing equipment field of auto parts and components more particularly to a kind of loads for spark plug vision-based detection
Expect mechanism.
Background technique
Spark plug is that high-tension current is introduced cylinder in gasoline engine ignition system to generate electric spark, to light combustion mixture
The component of body.It is mainly made of wiring nut, insulator, wiring screw rod, central electrode, lateral electrode and shell, lateral electrode weldering
It connects on the shell.
Spark plug will pass through last inspection, however traditional method is manually to estimate after production and processing is completed
Mode spark clearance and external slight crack etc. are detected, or using clearance gauge to the machine air gap of spark plug into
Row detection, but these existing detections can all be influenced mostly by human factor, and electrode gap testing result is caused not to be
It is very accurate, while can not detect the tiny unconspicuous slight crack on insulated part, and then influence whether subsequent in engine
Igniter applications.
Summary of the invention
The object of the present invention is to provide a kind of material fetching mechanism for spark plug vision-based detection, it is provided with and cooperates with spark plug
Detection carrier, and by CCD detector to spark plug carry out computer vision detection, the influence of human factor can be eliminated,
It realizes the accurate detection of electrode gap, while accurately shot detection can also be carried out to its insulated part and coupling part, avoid
It haves the defects that electric leakage, realizes comprehensive detection, and then improve the effect of detection.
In order to achieve the goal above, the technical solution adopted by the present invention are as follows: a kind of material containing for spark plug vision-based detection
Mechanism, it includes the rack (2) being arranged on station platform (1), is provided with distribution control box (3) in the rack (2), described
Rack (2) on be provided with detection device (5), the detection device (5) includes that detection seat on rack (2) is arranged
(22), the detection carrier (23) with product cooperation is provided on the detection seat (22), the detection carrier (23) is plate
Shape, middle part offer the open slot with the cooperation of spark plug screw rod, and the side of the detection seat (22) is provided with and detection carrier
(23) CCD detector (24) of the product cooperation on, the feeding mechanical with product cooperation is provided on the workbench (1)
Hand, and product placement rack (8), qualified product box (9) and the rejected product box (10) on feeding mechanical hand and workbench (1) cooperate,
The CCD detector (24) and feeding mechanical hand are connected to distribution control box (3).
Further, the left and right sides that the detection seat (22) is located at detection carrier (23) is provided with and detection carrier (23)
On product cooperation detection discharge position inductor (25), the feeding mechanical hand be universal manipulator (7), the inspection
Measuring discharge position inductor (25) and universal manipulator (7) are connected to distribution control box (3).
Further, the detection on the same line with opening groove center is provided on rear side of the detection carrier (23)
Rear portion fixture block (30), the detection rear portion fixture block (30) are connected with rear portion fixture block propulsion device, the detection carrier (23)
Front be provided with two groups with detection rear portion fixture block (30) at 120 degree angles and symmetrical detection front fixture block (29), and inspection
Surveying front fixture block (29) and detecting rear portion fixture block (30) and the position of spark plug cooperation is cambered surface, and the rear portion fixture block promotes
Device is connected to distribution control box (3).
Further, the rear portion fixture block propulsion device includes that the rear portion fixture block connecting with detection rear portion fixture block (30) pushes away
Into block (31), the rear portion fixture block propulsion cylinder (32) being arranged on the rear portion fixture block pushing block (31) and detection seat (22) is matched
The rear portion fixture block for closing, and being arranged in the top of rear portion fixture block pushing block (31) and detection seat (22) promotes sliding slot (33) cooperation, institute
It is provided on the detection seat (22) stated and promotes inductor (34) with the rear portion fixture block of rear portion fixture block pushing block (31) cooperation, it is described
Rear portion fixture block propulsion cylinder (32) and rear portion fixture block promote inductor (34) to be connected to distribution control box (3).
Further, detection lifting cylinder (26) of the detection carrier (23) setting in the setting of detection seat (22) bottom
On, and detect and be provided with detection lifting guide pillar (27), the detection lifting guide pillar between carrier (23) and detection seat (22)
(27) it is provided with two groups of distances convex block identical with detection carrier (23) specified heave amplitude on, is set on the detection seat (22)
It is equipped with the detection elevation sensor (28) with the convex block cooperation in detection lifting guide pillar (27), the detection lifting cylinder (26)
Distribution control box (3) are connected to detection elevation sensor (28).
Further, it is provided in the rack (2) and the welding mechanism (4) of universal manipulator (7) cooperation and side electricity
Pole discharging frame (11), the welding mechanism (4) include welding base (12), on the welding base (12) on be provided with and everything
The welding chuck (13) of manipulator (7) cooperation, the welding chuck (13) is connected with chuck rotary electric machine (14), and welding base
(12) welder with the product cooperation in welding chuck (13) is additionally provided on, the welding chuck (13), chuck turn
Dynamic motor (14) and welder are connected to distribution control box (3).
Further, it is additionally provided with decelerating motor (15) on the welding base (12), the decelerating motor (15)
The output shaft of output shaft and chuck rotary electric machine (14) is cooperated by pitch wheel, and the decelerating motor, which is connected to, matches
Electric control box (3).
Further, the welder includes being arranged on welding base (12) and mutually matched welding lifting motor
(16) and welding elevating screw (17), the welding elevating screw (17) are combined with welding lifting seat (18), the welding
Mutually matched welding fore-aft travel motor (19) and welding fore-aft travel screw rod, the welding are provided on lifting seat (18)
Fore-aft travel screw rod is combined with welding fore-aft travel seat (20), is equipped on the welding fore-aft travel seat (20) by screw thread
Plumb joint (21), the plumb joint (21) are bending type, the welding lifting motor (16), welding fore-aft travel motor
(19) and plumb joint (21) is connected to distribution control box (3).
The invention has the benefit that
1, it is provided with the detection carrier with spark plug cooperation, and computer vision detection is carried out to spark plug by CCD detector,
The accurate detection of electrode gap is realized in the influence that human factor can be eliminated, while can also be to its insulated part and coupling part
Accurately shot detection is carried out, it is avoided to have the defects that electric leakage, realizes comprehensive detection, and then improve the effect of detection.
2, the design of discharge position inductor is detected, it can be ensured that the placement location of product is accurate when detection, universal machinery
The product rotation on detection carrier may be implemented, after cooperation detection discharge position inductor may insure rotation in the design of hand
Product is not in translation, and then more comprehensively can carry out computer vision detection to product.
3, it detects front fixture block and detects the design of rear portion fixture block, more preferably can prevent product when detection and rotation
It shakes, further increases the detection efficiency of product, and do not interfere with the rotation of product in clamped condition.
4, the structure of rear portion fixture block propulsion device is simple, easy to operate, and can be realized accurately linear advancement, and energy
Enough amplitudes that control promotes well, prevent the excessive insulated part for damaging spark plug by pressure of propulsion amplitude.
5, the design for detecting lifting cylinder, may be implemented the oscilaltion activity of product, and then can preferably cooperate production
The vision-based detection of product, while the amplitude for controlling lifting that can be stringent by convex block and detection elevation sensor, avoid occurring to do
Relate to the case where breaking product.
6, the design of welding mechanism may be implemented spark-plug side electrode welding and detection integration operation, improve processing effect
Rate, while avoiding that artificial destruction occurs because of transport.
7, the design of decelerating motor can control the velocity of rotation of welding chuck, and then realize be more good welding effect
Fruit.
8, the structure of welder is simple, easy to operate, and may be implemented accurately to adjust with front and back up and down, improves welding
Precision, while by bending the adjustable plumb joint of plumb joint setting angle, the spark of itself and different size can be made
Plug cooperation.
Detailed description of the invention
Fig. 1 is a kind of stereoscopic schematic diagram of material fetching mechanism for spark plug vision-based detection.
Fig. 2 is the stereoscopic schematic diagram of welding mechanism.
Fig. 3 is the stereoscopic schematic diagram of detection device.
Label character described in figure indicates are as follows: 1, workbench；2, rack；3, distribution control box；4, welding mechanism；5, it detects
Device；6, product；7, universal manipulator；8, product placement rack；9, qualified product box；10, rejected product box；11, lateral electrode blowing
Frame；12, welding base；13, chuck is welded；14, chuck rotary electric machine；15, decelerating motor；16, lifting motor is welded；17, it welds
Elevating screw；18, lifting seat is welded；19, fore-aft travel motor is welded；20, fore-aft travel seat is welded；21, plumb joint；22, it examines
Survey seat；23, carrier is detected；24, CCD detector；25, discharge position inductor is detected；26, lifting cylinder is detected；27, detection rises
Guide rod drops；28, elevation sensor is detected；29, front fixture block is detected；30, rear portion fixture block is detected；31, rear portion fixture block pushing block；
32, rear portion fixture block propulsion cylinder；33, rear portion fixture block promotes sliding rail；34, rear portion fixture block promotes inductor.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
As shown in Figure 1-Figure 3, specific structure of the invention are as follows: a kind of material fetching mechanism for spark plug vision-based detection, it
Including the rack 2 being arranged on station platform 1, it is provided with distribution control box 3 in the rack 2, is provided in the rack 2
Detection device 5, the detection device 5 include the detection seat 22 that is arranged in rack 2, be provided on the detection seat 22 with
The detection carrier 23 of product cooperation, the detection carrier 23 are plate, and middle part offers the opening with the cooperation of spark plug screw rod
Slot, the side of the detection seat 22 are provided with the CCD detector 24 with the product cooperation on detection carrier 23, the work
The feeding mechanical hand with product cooperation is provided on platform 1, and product placement rack 8, qualified product on feeding mechanical hand and workbench 1
Box 9 and rejected product box 10 cooperate, and the CCD detector 24 and feeding mechanical hand are connected to distribution control box 3.
Preferably, the left and right sides that the detection seat 22 is located at detection carrier 23 is provided with and the product on detection carrier 23
The detection discharge position inductor 25 of cooperation, the feeding mechanical hand are universal manipulator 7, the detection discharge position sense
Device 25 and universal manipulator 7 is answered to be connected to distribution control box 3.
Preferably, the rear side of the detection carrier 23 is provided with the detection rear portion with opening groove center on the same line
Fixture block 30, the detection rear portion fixture block 30 are connected with rear portion fixture block propulsion device, the front setting of the detection carrier 23
Have two groups with detection rear portion fixture block 30 at 120 degree angles and symmetrical detection front fixture block 29, and detection 29 He of front fixture block
The position for detecting rear portion fixture block 30 and spark plug cooperation is cambered surface, and the rear portion fixture block propulsion device is connected to electric control
Case 3.
Preferably, the rear portion fixture block propulsion device includes the rear portion fixture block pushing block connecting with detection rear portion fixture block 30
31, the rear portion fixture block pushing block 31 cooperates with the rear portion fixture block propulsion cylinder 32 being arranged on seat 22 is detected, and rear portion fixture block
The rear portion fixture block being arranged on the top of pushing block 31 and detection seat 22 promotes sliding slot 33 to cooperate, and is provided on the detection seat 22
Inductor 34, the rear portion fixture block propulsion cylinder 32 and rear portion folder are promoted with the rear portion fixture block that rear portion fixture block pushing block 31 cooperates
Block promotes inductor 34 to be connected to distribution control box 3.
Preferably, the detection carrier 23 is arranged on the detection lifting cylinder 26 of detection 22 bottom of seat setting, and examines
Survey between carrier 23 and detection seat 22 and be provided with detection lifting guide pillar 27, be provided on the detection lifting guide pillar 27 two groups away from
From convex block identical with the detection specified heave amplitude of carrier 23, it is provided with and is detected on lifting guide pillar 27 on the detection seat 22
Convex block cooperation detection elevation sensor 28, the detection lifting cylinder 26 and detection elevation sensor 28 be connected to distribution
Control cabinet 3.
Preferably, the welding mechanism 4 and lateral electrode discharging frame with the cooperation of universal manipulator 7 are provided in the rack 2
11, the welding mechanism 4 includes welding base 12, on the welding base 12 on be provided with the weldering cooperated with everything manipulator 7
Chuck 13 is connect, the welding chuck 13 is connected with chuck rotary electric machine 14, and is additionally provided on welding base 12 and welding chuck
The welder of product cooperation on 13, the welding chuck 13, chuck rotary electric machine 14 and welder are connected to distribution
Control cabinet 3.
Preferably, be additionally provided with decelerating motor 15 on the welding base 12, the output shaft of the decelerating motor 15 and
The output shaft of chuck rotary electric machine 14 is cooperated by pitch wheel, and the decelerating motor is connected to distribution control box 3.
Preferably, the welder includes being arranged on welding base 12 and mutually matched 16 He of welding lifting motor
Elevating screw 17 is welded, the welding elevating screw 17 is combined with welding lifting seat 18, sets on the welding lifting seat 18
It is equipped with mutually matched welding fore-aft travel motor 19 and welding fore-aft travel screw rod, the welding fore-aft travel screw rod cooperation
Have and weld fore-aft travel seat 20, plumb joint 21, the welding are equipped with by screw thread on the welding fore-aft travel seat 20
First 21 be bending type, and the welding lifting motor 16, welding fore-aft travel motor 19 and plumb joint 21 are connected to electric control
Case 3.
When specifically used, first the spark plug of detection to be processed is placed on product placement rack 8, lateral electrode is placed into side
On electrode discharging frame 11, universal manipulator 7 is controlled by distribution control box 3 later take spark plug from product placement rack 8 away
And it is attached to clamping on welding chuck 13, welding turntable 13 is then adjusted by chuck rotary electric machine 14 and the cooperation of decelerating motor 15
Rotational angle, at the same time, by universal manipulator 7 lateral electrode is taken away and be clamped to welding chuck 13 on product match
The position of conjunction is regulated the position of plumb joint 21 by welding lifting motor 16 and welding fore-aft travel motor 19 later, makes it
Cooperate with the position for needing to weld, and then realize the welding of lateral electrode, will be welded on chuck 13 by universal manipulator later
Product is picked and placed onto detection carrier 23, and adjusts the position of placement by the cooperation of detection discharge position inductor 25, and lead to
Later portion's fixture block propulsion cylinder 32 drives detection rear portion fixture block 30 to be pushed forward product, and cooperation detection front fixture block 29 clamps product, it
Vision-based detection is carried out to product by CCD detector 24 afterwards, during detection, product is driven by detection lifting cylinder 26
The complete detection of vertical direction is realized in oscilaltion, and product is rotated 180 by universal manipulator 7 again later, continues above-mentioned inspection
The complete detection that step completes side is surveyed, it is qualified such as to detect, then product is placed into qualified product box 9 by universal manipulator 7,
It such as detects unqualified, then product is placed into rejected product box 10 by universal manipulator 7.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (3)
1. a kind of material fetching mechanism for spark plug vision-based detection, including rack (2) and distribution control box (3), which is characterized in that
It is provided with detection seat (22) in the rack (2), the detection carrier with product cooperation is provided on the detection seat (22)
(23), the detection carrier (23) is plate, and middle part offers the open slot with the cooperation of spark plug screw rod, the detection seat
(22) it is provided with the detection discharge position inductor (25) with the product cooperation in detection carrier (23) on, and detects discharge position
Inductor (25) is provided on rear side of the left and right side for detecting carrier (23), the detection carrier (23) and open slot
The detection rear portion fixture block (30) of center on the same line, the detection rear portion fixture block (30) are connected with rear portion fixture block and promote dress
Set, the front of the detection carrier (23) be provided with two groups with detection rear portion fixture block (30) at 120 degree angles and symmetrically
It detects front fixture block (29), and detecting front fixture block (29) and detecting rear portion fixture block (30) and the position of spark plug cooperation is arc
Face, the detection discharge position inductor (25) and rear portion fixture block propulsion device are connected to distribution control box (3).
2. a kind of material fetching mechanism for spark plug vision-based detection according to claim 1, which is characterized in that after described
Portion's fixture block propulsion device includes the rear portion fixture block pushing block (31) connecting with detection rear portion fixture block (30), and the rear portion fixture block pushes away
The rear portion fixture block propulsion cylinder (32) being arranged on into block (31) and detection seat (22) cooperates, and rear portion fixture block pushing block (31) is upper
The rear portion fixture block that is arranged promotes sliding slot (33) cooperation in portion and detection seat (22), is provided on the detection seat (22) and rear portion
The rear portion fixture block of fixture block pushing block (31) cooperation promotes inductor (34), the rear portion fixture block propulsion cylinder (32) and rear portion folder
Block promotes inductor (34) to be connected to distribution control box (3).
3. a kind of material fetching mechanism for spark plug vision-based detection according to claim 1, which is characterized in that the inspection
Carrier (23) setting is surveyed in detection lifting cylinder (26), detection lifting cylinder (26) setting is at detection seat (22) bottom
Portion, and detect and be provided with detection lifting guide pillar (27), the detection lifting guide pillar between carrier (23) and detection seat (22)
(27) it is provided with two groups of distances convex block identical with detection carrier (23) specified heave amplitude on, is set on the detection seat (22)
It is equipped with the detection elevation sensor (28) with the convex block cooperation in detection lifting guide pillar (27), the detection lifting cylinder (26)
Distribution control box (3) are connected to detection elevation sensor (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910265300.5A CN110068281B (en) | 2017-01-03 | 2017-01-03 | A carry material mechanism for spark plug visual inspection |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710002638.2A CN106871803B (en) | 2017-01-03 | 2017-01-03 | A kind of vision testing machine of spark plug |
| CN201910265300.5A CN110068281B (en) | 2017-01-03 | 2017-01-03 | A carry material mechanism for spark plug visual inspection |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710002638.2A Division CN106871803B (en) | 2017-01-03 | 2017-01-03 | A kind of vision testing machine of spark plug |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110068281A true CN110068281A (en) | 2019-07-30 |
| CN110068281B CN110068281B (en) | 2021-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910265002.6A Expired - Fee Related CN110044285B (en) | 2017-01-03 | 2017-01-03 | Visual inspection machine of spark plug that can weld |
| CN201710002638.2A Active CN106871803B (en) | 2017-01-03 | 2017-01-03 | A kind of vision testing machine of spark plug |
| CN201910265300.5A Expired - Fee Related CN110068281B (en) | 2017-01-03 | 2017-01-03 | A carry material mechanism for spark plug visual inspection |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910265002.6A Expired - Fee Related CN110044285B (en) | 2017-01-03 | 2017-01-03 | Visual inspection machine of spark plug that can weld |
| CN201710002638.2A Active CN106871803B (en) | 2017-01-03 | 2017-01-03 | A kind of vision testing machine of spark plug |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108426888B (en) * | 2018-03-05 | 2020-10-27 | 金寨智行知识产权运营有限公司 | Automatic check out test set of robot |
| CN108344745A (en) * | 2018-05-07 | 2018-07-31 | 南京信息职业技术学院 | A kind of capacitance appearance automatic detecting machine based on tow-armed robot structure |
| CN109141504A (en) * | 2018-09-21 | 2019-01-04 | 苏州海得威视信息技术有限公司 | A kind of multidirectional detection device of precise electronic injection-molded item using visual identity |
| CN110579175B (en) * | 2019-11-01 | 2020-08-11 | 中创新海(天津)认证服务有限公司 | Spark plug center electrode detection device |
| CN111097708B (en) * | 2020-01-19 | 2020-08-11 | 中创新海(天津)认证服务有限公司 | A equipment for spark plug quality testing |
| CN111336940B (en) * | 2020-04-22 | 2020-09-29 | 福清市鸿远科技有限公司 | Electrode gap measuring and adjusting device for spark plug |
| CN114130691A (en) * | 2021-11-19 | 2022-03-04 | 珠海格力智能装备有限公司 | Feeding device |
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- 2017-01-03 CN CN201710002638.2A patent/CN106871803B/en active Active
- 2017-01-03 CN CN201910265300.5A patent/CN110068281B/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106871803B (en) | 2019-06-28 |
| CN110044285A (en) | 2019-07-23 |
| CN110044285B (en) | 2021-07-02 |
| CN106871803A (en) | 2017-06-20 |
| CN110068281B (en) | 2021-07-02 |
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