CN110125954B - Rapid detection industrial robot suitable for use in mechanical production workshop - Google Patents
Rapid detection industrial robot suitable for use in mechanical production workshop Download PDFInfo
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- CN110125954B CN110125954B CN201910529951.0A CN201910529951A CN110125954B CN 110125954 B CN110125954 B CN 110125954B CN 201910529951 A CN201910529951 A CN 201910529951A CN 110125954 B CN110125954 B CN 110125954B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
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Abstract
The invention discloses a rapid detection industrial robot suitable for being used in a mechanical production workshop, which comprises a shell, wherein the bottom of the shell is provided with a driving wheel, the top of the inner wall of the shell is fixedly connected with a first push rod, the bottom of the first push rod is fixedly connected with a first hinge seat, the bottom of the first hinge seat is hinged with a detection disc, the bottom of the detection disc is provided with a movable column, the top of the inner wall of the shell is fixedly connected with a second push rod, the bottom of the second push rod is movably connected with a marking brush plate, the front of the second push rod is provided with a speed sensor, the top of the shell is provided with a sliding groove, the inner wall of the sliding groove is connected with a sliding block in a sliding manner, and one side of the sliding. The invention solves the problems that the prior flatness detection mode of steel plates or steel products is mostly to manually use a measuring tool to carry out measurement, so that the detection efficiency is low, the detection effect is poor, and the use by a user is inconvenient.
Description
The application is a divisional application, and the original application information is as follows: the application date is 2018, 8, and 31, the application number is 2018110081357, and the invention name is: an industrial robot suitable for use in a machine production workshop.
Technical Field
The invention relates to the technical field of industrial robots, in particular to a rapid detection industrial robot suitable for being used in a mechanical production workshop.
Background
The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology.
In the mechanical production process, steel sheet or cubic steel processing are the most commonly used material in workshop, and steel sheet or steel that newly-processed come out need detect its roughness after preliminary working is accomplished, and current detection mode is the manual work mostly and uses measuring tool to measure, and not only detection efficiency is slow like this, and the detection effect is not good, and inconvenient user uses.
Disclosure of Invention
The invention aims to provide a rapid detection industrial robot suitable for being used in a mechanical production workshop, and aims to solve the problems that the existing flatness detection mode of steel plates or steel products in the background technology is mostly measured by manually using a measuring tool, so that the detection efficiency is low, the detection effect is poor, and the use by a user is inconvenient.
In order to solve the technical problems, the invention provides the following technical scheme: a rapid detection industrial robot suitable for being used in a mechanical production workshop comprises a shell, wherein a driving wheel is arranged at the bottom of the shell, a first push rod is fixedly connected to the top of the inner wall of the shell, a first hinged seat is fixedly connected to the bottom of the first push rod, a detection disc is hinged to the bottom of the first hinged seat, a movable column is arranged at the bottom of the detection disc, a second push rod is fixedly connected to the top of the inner wall of the shell, a marking brush plate is movably connected to the bottom of the second push rod, a speed sensor is arranged on the front side of the second push rod, a sliding groove is formed in the top of the shell, a sliding block is slidably connected to the inner wall of the sliding groove, a lead screw is fixedly connected to one side of the sliding block, a lead screw sleeve is connected to one end, far away from the sliding block, of the lead screw, is in threaded, the output shaft of the servo motor is fixedly connected with a belt pulley, the surface of the belt pulley is in transmission connection with a belt, the belt is in transmission connection with a pulley, the other side of the sliding block is provided with an adjusting device, one end of the adjusting device, which is far away from the sliding block, is provided with a supporting plate, the supporting plate is hinged with a shell, the bottom of the supporting plate is provided with a displacement sensor, the bottom of the supporting plate is fixedly connected with a first spring, the bottom of the first spring is fixedly connected with a detection plate, the top of the shell is fixedly provided with a signal receiver, the top of the shell is fixedly connected with an electric cabinet, the interior of the electric cabinet is fixedly provided with a central processing unit, the input end of the central processing unit is electrically connected with the output end of an A/D, the central processing unit is electrically connected with the ROM preset module in a two-way mode, the output end of the ROM preset module is electrically connected with the input end of the data comparator, the data comparator is electrically connected with the central processing unit in a two-way mode, the central processing unit is electrically connected with the signal receiver in a two-way mode, the signal receiver is connected with a remote terminal in a two-way signal mode through a 4G network, the output end of the central processing unit is electrically connected with the input end of the servo motor, the output end of the central processing unit is electrically connected with the input ends of the first push rod and the second push rod, the output end of the central processing unit is electrically connected with the input end.
Preferably, the bottom of the detection plate is provided with uniformly distributed mounting grooves, the inner wall of each mounting groove is movably connected with a second spring, and the second springs are fixedly connected with the movable columns.
Preferably, the number of the screw rods is two, the two screw rods are positioned at two ends of the screw rod sleeve, and the thread directions of the two screw rods are opposite.
Preferably, the inner wall of the sliding groove is fixedly connected with a sliding shaft, and the sliding block is connected with the sliding shaft in a sliding manner.
Preferably, the detection plate is a rubber plate.
Preferably, adjusting device is including the articulated seat of second, the articulated seat of second and sliding block fixed connection, the articulated seat of second keeps away from the one end of sliding block and articulates there is the pneumatic rod, one side that the articulated seat of second was kept away from to the pneumatic rod articulates there is the third articulated seat, third articulated seat and backup pad fixed connection.
Preferably, both sides of the shell are fixedly connected with rotating seats, and the supporting plate is hinged with the rotating seats.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is driven by the driving wheel to enable the robot to move on the steel plate, the first push rod pushes the detection disc to enable the movable column to contract into the detection disc, when the detection disc passes through the dent on the steel plate, the movable column moves downwards, the detection disc tilts under the matching of the first hinging seat, the speed of the robot changes under the obstruction of the movable column and the detection disc, the speed sensor detects the speed and transmits the speed information to the central processing unit, the transmitted speed information is compared with the normal speed range preset by the ROM preset module through the data comparator, when the speed information is not in the normal range, the central processing unit controls the second push rod to work to enable the second push rod to push the marking brush plate to contact with the steel plate, thereby leaving traces on the dent, when the speed returns to the normal range, the second push rod returns to the original position, the staff later stage has been made things convenient for and has been found the mark point and confirm, can be more relaxed arrange the depressed part, avoided the comparatively trouble problem of manpower investigation.
2. By arranging the detection plate, when the robot moves, the detection plate is just attached to the surface of the steel plate, when the surface of the steel plate is raised, the detection plate slightly moves upwards under the coordination of the first spring, the displacement sensor detects the displacement of the detection plate, the moving speed of the robot is also influenced at the moment, the displacement sensor and the speed sensor transmit the collected data to the central processing unit, the transmitted information is compared with a preset normal range through the data comparator, when the data is not in the normal range, the central processing unit controls the second push rod to work, the second push rod pushes the marking brush plate to be in contact with the steel plate, so that marks are left at the raised part, when the speed returns to the normal range, the second push rod returns to the original position, a worker can conveniently find the marking point for confirmation at the later stage, and the raised part can be effectively checked, and under adjusting device and servo motor's common regulation, can make the pick-up plate erect, make this robot can detect the steel section department that thickness is thicker, can be more convenient judge whether steel accords with the production requirement, the roughness testing mode of having solved current steel sheet or steel is mostly artifical use measuring tool to measure, so not only detection efficiency is slow, and detection effect is not good, the problem that inconvenient user used.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a test tray according to the present invention;
FIG. 4 is a flow chart of the system of the present invention.
In the figure: 1. a housing; 2. a drive wheel; 3. a first push rod; 4. a first hinge mount; 5. detecting a disc; 6. a movable post; 7. a second push rod; 8. marking a brush plate; 9. a speed sensor; 10. a sliding groove; 11. a slider; 12. a screw rod; 13. a screw rod sleeve; 14. a pulley; 15. a servo motor; 16. a belt pulley; 17. a belt; 18. an adjustment device; 181. a second hinge mount; 182. a pneumatic rod; 183. a third hinge mount; 19. a support plate; 20. a displacement sensor; 21. a first spring; 22. detecting a plate; 23. a signal receiver; 24. an electric cabinet; 25. a central processing unit; 26. an A/D converter; 27. a data comparator; 28. a remote terminal; 29. a ROM preset module; 30. a sliding shaft; 31. and (7) covering.
Detailed Description
In order to solve the problems that the existing flatness detection mode of steel plates or steel products is mostly manually measured by using a measuring tool, so that the detection efficiency is low, the detection effect is poor, and the use by a user is inconvenient, the embodiment of the invention provides a rapid detection industrial robot suitable for being used in a mechanical production workshop. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-4, the embodiment provides a rapid detection industrial robot suitable for being used in a mechanical production workshop, which includes a housing 1, a driving wheel 2 is disposed at the bottom of the housing 1, a first push rod 3 is fixedly connected to the top of the inner wall of the housing 1, a first hinge seat 4 is fixedly connected to the bottom of the first push rod 3, a detection disc 5 is hinged to the bottom of the first hinge seat 4, a movable column 6 is disposed at the bottom of the detection disc 5, a second push rod 7 is fixedly connected to the top of the inner wall of the housing 1, a marking brush plate 8 is movably connected to the bottom of the second push rod 7, a speed sensor 9 is disposed on the front of the second push rod 7, a sliding groove 10 is disposed at the top of the housing 1, a sliding block 11 is slidably connected to the inner wall of the sliding groove 10, a lead screw 12 is fixedly connected to one side of the sliding, the surface of the screw rod sleeve 13 is sleeved with a pulley 14, the top of the shell 1 is fixedly provided with a servo motor 15, an output shaft of the servo motor 15 is fixedly connected with a belt pulley 16, the surface of the belt pulley 16 is in transmission connection with a belt 17, the belt 17 is in transmission connection with the pulley 14, the other side of the sliding block 11 is provided with an adjusting device 18, one end of the adjusting device 18, which is far away from the sliding block 11, is provided with a supporting plate 19, the supporting plate 19 is hinged with the shell 1, the bottom of the supporting plate 19 is provided with a displacement sensor 20, the bottom of the supporting plate 19 is fixedly connected with a first spring 21, the bottom of the first spring 21 is fixedly connected with a detection plate 22, the top of the shell 1 is fixedly provided with a signal receiver 23, the top of the shell 1 is fixedly connected with an electric cabinet 24, the input end of the A/D converter 26 is electrically connected with the output ends of the displacement sensor 20 and the speed sensor 9, the central processor 25 is electrically connected with the ROM preset module 29 in a bidirectional mode, the output end of the ROM preset module 29 is electrically connected with the input end of the data comparator 27, the data comparator 27 is electrically connected with the central processor 25 in a bidirectional mode, the central processor 25 is electrically connected with the signal receiver 23 in a bidirectional mode, the signal receiver 23 is connected with the remote terminal 28 in a bidirectional signal mode through a 4G network, the output end of the central processor 25 is electrically connected with the input end of the servo motor 15, the output end of the central processor 25 is electrically connected with the input ends of the first push rod 3 and the second push rod 7, the output end of the central processor 25 is electrically connected with the input.
In this embodiment, the robot can move on the steel plate by driving the driving wheel 2, the first push rod 3 pushes the detection disc 5 to retract the movable column 6 into the detection disc 5, when the detection disc 5 passes through the concave part on the steel plate, the movable column 6 will move downwards to push the detection disc 5 hinged with the first push rod 3 to tilt, the speed of the robot will change under the obstruction of the movable column 6 and the detection disc 5, the speed sensor 9 detects the speed and transmits the speed information to the central processor 25, the model of the speed sensor 9 is preferably SCA1020-D02, the model of the central processor 25 is preferably SIMATIC-S7-300, the model of the a/D converter 26 is preferably ICL7135CPL, the transmitted speed information is compared with the normal speed range preset by the ROM preset module 29 by the data comparator 27, when the speed information is not in the normal range, the central processing unit 25 controls the second push rod 7 to work, so that the second push rod 7 pushes the mark brush plate 8 to contact with the steel plate, thereby leaving traces in the concave part, when the speed returns to the normal range, the second push rod 7 returns to the original position, thereby facilitating the staff to find the mark point for confirmation in the later stage, being capable of more easily checking out the concave part, avoiding the problem of troublesome manual checking, the models of the first push rod 3 and the second push rod 7 are preferably ANT-35, the model of the data comparator 27 is preferably LM 1 2901N, the model of the ROM presetting module 29 is FX2N-ROM-E1, when the robot moves, the detection plate 22 is just stuck to the surface of the steel plate, when the surface of the steel plate is convex, the first spring 21 is compressed, the detection plate 22 slightly displaces upwards, the displacement sensor 20 detects the displacement of the detection plate 22, at the moment, the moving speed of the robot is also influenced, the displacement sensor 20 and the speed sensor 9 transmit the acquired data to the central processing unit 25, the model of the preferred displacement sensor 20 is IL-065, the transmitted information is compared with a preset normal range through the data comparator 27, when the data is not in the normal range, the central processing unit 25 controls the second push rod 7 to work, the second push rod 7 pushes the mark brush plate 8 to be in contact with the steel plate, so that the raised part is left with marks, when the speed returns to the normal range, the second push rod 7 returns to the original position, so that a worker can find the mark point for confirmation at the later stage, the raised part can be effectively checked, the inclination angle of the detection plate 22 can be adjusted through controlling the adjusting device 18, the detection plate 22 can be erected, and the robot can detect the section of the steel with thicker thickness, whether judgement steel that can be more convenient accords with the production requirement, and control through remote terminal 28, signal receiver 23 passes through 4G net send-receive signal, make the staff can carry out long-range manual control to the robot, the model of signal receiver 23 of preferred is HS0038B, the roughness testing mode of having solved current steel sheet or steel is the manual work mostly and uses measuring tool to measure, so not only detection efficiency is slow, and detection effect is not good, the problem that inconvenient user used.
Example 2
Referring to fig. 3, a further improvement is made on the basis of embodiment 1: the bottom of the detection plate 5 is provided with uniformly distributed installation grooves, the inner walls of the installation grooves are movably connected with second springs, the second springs are fixedly connected with the movable columns 6, and by arranging the second springs and the installation grooves, the movable column 6 can retract into the mounting groove to prevent the robot from being suspended due to the protrusion in the moving process of the robot, the number of the screw rods 12 is two, the two screw rods 12 are positioned at the two ends of the screw rod sleeve 13, the thread directions of the two screw rods 12 are opposite, when the servo motor 15 rotates, the belt pulley 16 will drive the belt 17 to move, the belt 17 will drive the pulley 14 to rotate, thereby rotating the lead screw cover 13, and by setting the screw threads of the two lead screws 12 to be reversed, thereby rotating the lead screw cover 13, the two screw rods 12 move relatively to adjust the position of the sliding block 11, so that the position of the detection plate 22 is indirectly adjusted.
Wherein, the inner wall fixedly connected with sliding shaft 30 of sliding tray 10, sliding block 11 and sliding shaft 30 sliding connection play and carry out the effect of injecing the position of sliding block 11, prevent that it from breaking away from sliding tray 10, pick-up plate 22 be the rubber slab, can prevent that pick-up plate 22 from leaving the mar on the steel sheet, the equal fixedly connected with in both sides of casing 1 rotates the seat, backup pad 19 with rotate the seat articulated, make backup pad 19's inclination can change, made things convenient for and adjusted it.
Example 3
Referring to fig. 3, a further improvement is made on the basis of embodiment 1: the adjusting device 18 includes a second hinge seat 181, the second hinge seat 181 is fixedly connected to the slider 11, one end of the second hinge seat 181, which is far away from the slider 11, is hinged to a pneumatic rod 182, the type of the pneumatic rod 182 is preferably JL-1015, one side of the pneumatic rod 182, which is far away from the second hinge seat 181, is hinged to a third hinge seat 183, the third hinge seat 183 is fixedly connected to the support plate 19, when the inclination angle of the detection plate 22 is adjusted, the pneumatic rod 182 can extend and retract, and the pneumatic rod 182 can rotate around the second hinge seat 181, so that the pneumatic rod 182 can pull or push the support plate 19, the inclination angle of the support plate can be changed, and the inclination angle of the detection plate 22 can be changed.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A rapid detection industrial robot suitable for use in a machinery production workshop, comprising a housing (1), characterized in that: the bottom of the shell (1) is provided with a driving wheel (2), the top of the inner wall of the shell (1) is fixedly connected with a first push rod (3), the bottom of the first push rod (3) is fixedly connected with a first hinged seat (4), the bottom of the first hinged seat (4) is hinged with a detection disc (5), the bottom of the detection disc (5) is provided with a movable column (6), the top of the inner wall of the shell (1) is fixedly connected with a second push rod (7), the bottom of the second push rod (7) is movably connected with a marking brush board (8), the front of the second push rod (7) is provided with a speed sensor (9), the top of the shell (1) is provided with a sliding groove (10), the inner wall of the sliding groove (10) is slidably connected with a sliding block (11), one side of the sliding block (11) is fixedly connected with a lead screw (12), one end of the lead screw (12), which is far away from the sliding block (, the surface of the screw rod sleeve (13) is sleeved with a pulley (14), the top of the shell (1) is fixedly provided with a servo motor (15), an output shaft of the servo motor (15) is fixedly connected with a belt pulley (16), the surface of the belt pulley (16) is in transmission connection with a belt (17), the belt (17) is in transmission connection with the pulley (14), the other side of the sliding block (11) is provided with an adjusting device (18), one end, far away from the sliding block (11), of the adjusting device (18) is provided with a supporting plate (19), the supporting plate (19) is hinged with the shell (1), the bottom of the supporting plate (19) is provided with a displacement sensor (20), the bottom of the supporting plate (19) is fixedly connected with a first spring (21), the bottom of the first spring (21) is fixedly connected with a detection plate (22), the top of the shell (1) is fixedly provided with a, the top of the shell (1) is fixedly connected with an electric cabinet (24), a central processing unit (25) is fixedly mounted inside the electric cabinet (24), the input end of the central processing unit (25) is electrically connected with the output end of an A/D converter (26), the input end of the A/D converter (26) is electrically connected with the output ends of a displacement sensor (20) and a speed sensor (9), the central processing unit (25) is electrically connected with a ROM preset module (29) in a bidirectional mode, the output end of the ROM preset module (29) is electrically connected with the input end of a data comparator (27), the data comparator (27) is electrically connected with the central processing unit (25) in a bidirectional mode, the central processing unit (25) is electrically connected with a signal receiver (23) in a bidirectional mode, and the signal receiver (23) is connected with a remote terminal (28) in a bidirectional signal mode through a 4G network, the output end of the central processing unit (25) is electrically connected with the input end of the servo motor (15), the output end of the central processing unit (25) is electrically connected with the input ends of the first push rod (3) and the second push rod (7), the output end of the central processing unit (25) is electrically connected with the input end of the adjusting device (18), and the top of the shell (1) is movably provided with an upper cover (31);
the bottom of the detection plate (5) is provided with uniformly distributed installation grooves, the inner walls of the installation grooves are movably connected with second springs, and the second springs are fixedly connected with the movable columns (6);
the number of the screw rods (12) is two, the two screw rods (12) are positioned at two ends of the screw rod sleeve (13), and the thread directions of the two screw rods (12) are opposite.
2. A rapid detection industrial robot adapted for use in a machine shop according to claim 1, characterized in that: the inner wall of the sliding groove (10) is fixedly connected with a sliding shaft (30), and the sliding block (11) is connected with the sliding shaft (30) in a sliding mode.
3. A rapid detection industrial robot adapted for use in a machine shop according to claim 1, characterized in that: the detection plate (22) is a rubber plate.
4. A rapid detection industrial robot adapted for use in a machine shop according to claim 1, characterized in that: adjusting device (18) are including articulated seat of second (181), articulated seat of second (181) and sliding block (11) fixed connection, the one end that sliding block (11) were kept away from in the articulated seat of second (181) articulates there is atmospheric pressure pole (182), one side that articulated seat of second (181) was kept away from in atmospheric pressure pole (182) articulates there is third articulated seat (183), third articulated seat (183) and backup pad (19) fixed connection.
5. A rapid detection industrial robot adapted for use in a machine shop according to claim 1, characterized in that: the two sides of the shell (1) are fixedly connected with rotating seats, and the supporting plate (19) is hinged with the rotating seats.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910529951.0A CN110125954B (en) | 2018-08-31 | 2018-08-31 | Rapid detection industrial robot suitable for use in mechanical production workshop |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008135.7A CN108981550B (en) | 2018-08-31 | 2018-08-31 | A kind of industrial robot suitable for being used in machinery production workshop |
| CN201910529951.0A CN110125954B (en) | 2018-08-31 | 2018-08-31 | Rapid detection industrial robot suitable for use in mechanical production workshop |
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| CN201811008135.7A Division CN108981550B (en) | 2018-08-31 | 2018-08-31 | A kind of industrial robot suitable for being used in machinery production workshop |
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| CN110125954B true CN110125954B (en) | 2020-03-24 |
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| CN108981550B (en) * | 2018-08-31 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of industrial robot suitable for being used in machinery production workshop |
| CN111252216B (en) * | 2019-03-29 | 2021-01-29 | 南京涵铭置智能科技有限公司 | Anti-winding acquisition method of underwater acquisition robot |
| CN110965749B (en) * | 2019-12-16 | 2021-07-20 | 天津泰达森然工程咨询有限公司 | Leveling device for horizontal plane laying |
| CN112325823A (en) * | 2020-10-28 | 2021-02-05 | 江门市英合创展电子有限公司 | Adjustable displacement sensor |
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| JPH0814809A (en) * | 1994-06-29 | 1996-01-19 | Kawasaki Steel Corp | Device and method for measuring surface roughness of thin plate |
| CN104048626A (en) * | 2014-06-30 | 2014-09-17 | 苏州格雷特机器人有限公司 | Detection robot for work-piece planes |
| CN205138448U (en) * | 2015-11-05 | 2016-04-06 | 沃派物联网科技(天津)有限公司 | Flatness detection device based on optical fiber sensor |
| CN106248041A (en) * | 2016-07-29 | 2016-12-21 | 天津市宝坻区新颐达模具厂 | Steel plain degree cubing |
| CN106643473A (en) * | 2016-12-27 | 2017-05-10 | 河北工业大学 | Automatic flatness detection device and method |
| CN206825439U (en) * | 2017-06-29 | 2018-01-02 | 王伟男 | A kind of industrial robot suitable for being used in machinery production workshop |
| CN107368017A (en) * | 2017-09-12 | 2017-11-21 | 江苏理工学院 | Intelligent monitoring control system based on industrial robot |
| CN107806852A (en) * | 2017-10-24 | 2018-03-16 | 广西环游信息技术开发有限公司 | A kind of robot of automatic detection plate parts flatness |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108981550B (en) | 2019-06-14 |
| WO2020042676A1 (en) | 2020-03-05 |
| CN108981550A (en) | 2018-12-11 |
| CN110125954A (en) | 2019-08-16 |
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