CN110587362A - Automatic valve balance device based on visual system - Google Patents
Automatic valve balance device based on visual system Download PDFInfo
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- CN110587362A CN110587362A CN201910703233.0A CN201910703233A CN110587362A CN 110587362 A CN110587362 A CN 110587362A CN 201910703233 A CN201910703233 A CN 201910703233A CN 110587362 A CN110587362 A CN 110587362A
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- 239000011232 storage material Substances 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- 238000011144 upstream manufacturing Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 25
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
The invention relates to the field of automatic production equipment, in particular to an automatic valve swinging device based on a visual system, which comprises an electric control cabinet, a feeding mechanism, a material inserting mechanism, a module traversing mechanism, a module longitudinal mechanism and a material tray transmission mechanism, wherein the module longitudinal mechanism comprises a driving guide rail group and a driven guide rail group which are arranged on the electric control cabinet in parallel, the material tray transmission mechanism is erected above the electric control cabinet along the traveling direction of the module longitudinal mechanism, the module traversing mechanism is erected on the driving guide rail group and the driven guide rail group, the feeding mechanism and the material inserting mechanism are movably arranged on the module traversing mechanism through a sliding plate, the feeding direction of the feeding mechanism is inclined to the horizontal traversing direction of the material inserting mechanism, the automatic valve swinging device has the advantages of realizing more accurate valve swinging function by combining the visual system, being different from the positioning and installation of a valve tray in the prior art and combining a production line type transmission mode, the purpose of valve wobble plate is achieved more efficiently under the condition that the equipment continuously operates, the operation is more flexible, and the working strength is reduced.
Description
Technical Field
The invention relates to the field of automatic material containing equipment in a production workshop, in particular to automatic valve placing equipment based on a visual system, which is used for discharging after valve processing and orderly arranging valves.
Background
Typical machine vision systems can be divided into: the image acquisition part, the image processing part and the motion control part. The PC-based vision system is specifically composed of several parts as shown in fig. 1:
industrial camera and industrial lens, which belong to imaging devices, a common vision system is composed of one or more sets of such imaging systems, if there are multiple cameras, image data may be acquired by switching image cards, or data of multiple camera channels may be acquired simultaneously by synchronous control. The camera may output standard monochrome video (RS-170/CCIR), composite signal (Y/C), RGB signal, or non-standard progressive signal, line scan signal, high resolution signal, etc. depending on the needs of the application.
Secondly, the light source serving as an auxiliary imaging device plays a crucial role in the quality of imaging, and LED lamps, high-frequency fluorescent lamps, optical fiber halogen lamps and the like in various shapes are easy to obtain.
And the sensor is usually in the form of an optical fiber switch, a proximity switch and the like, and is used for judging the position and the state of the measured object and informing the image sensor of correct acquisition.
Image collecting card installed in PC usually in the form of plug-in card, the image collecting card mainly works to transmit the image output by camera to computer host. It converts the analog or digital signal from the camera into a formatted image data stream, while it can control some parameters of the camera, such as trigger signal, exposure/integration time, shutter speed, etc. Image capture cards typically have different hardware architectures for different types of cameras, as well as different bus formats, such as PCI, PCI64, CompactPCI, PC104, ISA, and the like.
PC platform-computer is the core of PC type visual system, where the processing of image data and most of control logic are completed, for the application of detection type, it usually needs CPU with higher frequency, so that the processing time can be reduced. Meanwhile, in order to reduce interference of electromagnetic, vibration, dust, temperature, etc. in an industrial site, an industrial-grade computer must be selected.
Vision processing software-machine vision software is used to complete the processing of the input image data, and then the result is obtained by certain operation, and the output result may be PASS/FAIL signal, coordinate position, character string, etc. Common machine vision software appears in the form of C/C + + image library, ActiveX control, graphical programming environment, etc., and may be either dedicated for function (such as LCD inspection only, BGA inspection, template alignment, etc.) or general purpose (including positioning, measurement, barcode/character recognition, blob inspection, etc.).
Control unit (including I/O, motion control, level translation unit, etc.) -once the vision software has completed the image analysis (unless used for monitoring only), it is then necessary to communicate with an external unit to complete the control of the production process. Simple control can directly utilize the self-contained I/O of a partial image acquisition card, and relatively complex logic/motion control must rely on an additional programmable logic control unit/motion control card to realize necessary actions.
The main working process of a complete machine vision system is as follows:
1. the workpiece positioning detector detects that the object has moved to near the center of the field of view of the camera system and sends a trigger pulse to the image acquisition section.
2. The image acquisition part respectively sends out starting pulses to the camera and the illumination system according to a preset program and time delay.
3. The camera stops the current scanning and restarts a new frame scanning, or the camera waits until the start pulse arrives and starts a frame scanning after the start pulse arrives.
4. The exposure mechanism is turned on before the camera starts scanning a new frame, and the exposure time can be set in advance.
5. Another start pulse turns on the light illumination, which should be on for a time that matches the exposure time of the camera.
6. After the exposure of the camera, scanning and outputting of a frame of image are formally started.
7. The image acquisition part receives an analog video signal and digitalizes the analog video signal through A/D or directly receives digital video data digitalized by a camera.
8. The image acquisition part stores the digital image in a memory of a processor or a computer.
9. The processor processes, analyzes and identifies the image to obtain a measurement result or a logic control value.
10. The processing result controls the action of the production line, carries out positioning, corrects errors of the movement and the like.
The valve stem is an important part of the engine and is specially responsible for feeding air into the engine and removing the exhaust gases after combustion. The engine is structurally divided into an intake valve and an exhaust valve, wherein the intake valve is used for sucking air or a mixture of the air and fuel into the engine to be mixed and combusted with the fuel; the exhaust valve is used for exhausting and radiating the combusted waste gas, so that the function in the engine is obvious; in the actual processing and production process, the product has high requirements, and a plurality of processes are required to be carried out on the air valve.
Along with the continuous development of scientific technology and social production, higher and higher requirements are provided for the performance, quality, productivity and cost of mechanical products in the processing and manufacturing industry, the realization of a mechanical processing automation mode is one of important technical measures of the requirements, the part quality and productivity can be improved, the production cost is reduced, and the labor condition of workers can be improved; the existing production process of the valves basically depends on manual material containing, and the valves are placed orderly one by using a special containing tool, so that the efficiency is low, the labor utilization rate of workers is low, or a processing line mode is adopted, the equipment is huge, the occupied area is wide, the cost is high, and the development of enterprises is not facilitated.
The patent No. 201621178132.4 "an automatic material containing and loading mechanism for valve", it realizes that the technique of balance needs to fix the charging tray in a position, then fixes a position the valve balance through the closed loop servo system of point position control, this material containing and loading mechanism of balance just needs the manual work to fix a position at every turn and puts the charging tray, after each round of charging tray is used up, need to stop equipment and put the charging tray again, can not realize that equipment does not shut down the operation, slower on production efficiency.
Disclosure of Invention
In view of the technical problems in the prior art, the invention provides the automatic valve swinging equipment based on the vision system, which avoids the trouble that workers need to pick up and arrange parts after the parts are machined, and reduces the labor productivity; and the valve more accurate swinging function is realized by combining a vision system, the method is different from the positioning and installation of a valve tray in the prior art, and the purpose of valve swinging is more efficiently achieved in the continuous operation state of equipment by combining a production line type transmission mode, so that the operation is more flexible, and the working strength is more reduced.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the automatic valve swing disc equipment based on the visual system comprises an electric control cabinet, a feeding mechanism, a material inserting mechanism, a module transverse moving mechanism, a module longitudinal moving mechanism and a material disc transmission mechanism, wherein the module longitudinal moving mechanism comprises a driving guide rail group and a driven guide rail group which are arranged on the electric control cabinet in parallel, the material disc transmission mechanism is erected above the electric control cabinet along the moving direction of the module longitudinal moving mechanism and is positioned between the driving guide rail group and the driven guide rail group which are arranged side by side, the module transverse moving mechanism is erected on the driving guide rail group and the driven guide rail group, the feeding mechanism and the material inserting mechanism are movably arranged on the module transverse moving mechanism through a sliding plate, and the feeding direction of the feeding mechanism is inclined to the horizontal moving direction of the material inserting mechanism.
The material inserting mechanism comprises a longitudinal displacement cylinder, a transverse displacement cylinder, a bidirectional action cylinder, a left clamping rod and a right clamping rod which are symmetrically designed, the upper ends of the left clamping rod and the right clamping rod are respectively arranged on two telescopic guide rods of the bidirectional action cylinder, and the lower ends of the left clamping rod and the right clamping rod are respectively provided with a valve rod clamping hole; the vertical displacement cylinder is installed on the sliding plate through the displacement plate, the stretching direction of the vertical displacement cylinder faces the direction of the material tray transmission mechanism, the transverse displacement cylinder is installed on a stretching shaft of the vertical displacement cylinder, the stretching direction of the transverse displacement cylinder is perpendicular to the stretching direction of the vertical displacement cylinder, the double-acting cylinder is installed on the stretching shaft of the transverse displacement cylinder, and a left clamping rod and a right clamping rod of the inserting mechanism clamp an air valve of a downstream section of the feeding mechanism when the inserting mechanism is at a reset zero point. The sliding plate is also provided with a box body frame, and a system box provided with a vision system is fixed on the box body frame.
The beneficial effect who adopts above-mentioned project organization is: the feeding mechanism is responsible for continuously conveying the air valves for the material inserting mechanism, the feeding end of the feeding mechanism is connected with the processing equipment of the air valves, the air valves are regularly stacked and neatly placed after being unloaded by the aid of the equipment, the material inserting mechanism moves in the X-Y axis direction under the matching of the module transverse moving mechanism and the module longitudinal moving mechanism, the air valves are vertically and horizontally neatly arranged on the storage material tray of the material tray conveying mechanism, the air valves are neatly and regularly placed, the robot is convenient to grab in the next processing procedure, good storage environment and good transportation environment of the air valves are guaranteed, finished air valves are effectively protected, and deformation or surface scratch of the air valves is prevented. In addition, the inserting position of the air valve is accurately positioned by using a visual system during material inserting, the air valve inserting hole can be accurately positioned by using the left clamping rod and the right clamping rod even when the material tray transmission mechanism continuously moves, the air valve is accurately and orderly placed on the material tray transmission mechanism in a longitudinal and transverse mode, the material tray does not need to be manually positioned like the prior art, the equipment does not need to be stopped to place the material tray, and only the material trays and the material taking trays are placed at two ends of the material tray transmission mechanism. Therefore, the trouble that workers need to pick up and arrange the parts after the parts are machined is avoided, and the labor productivity is reduced; and the valve more accurate swinging function is realized by combining a vision system, the method is different from the positioning and installation of a valve tray in the prior art, and the purpose of valve swinging is more efficiently achieved in the continuous operation state of equipment by combining a production line type transmission mode, so that the operation is more flexible, and the working strength is more reduced.
Further defined, the feeding mechanism comprises a valve suspension assembly, an adjustment assembly and a material distribution assembly:
the adjusting assembly is at least one group of adjusting assemblies fixed on the upstream section of the valve suspension assembly, and the material distributing assembly is fixed on the downstream section of the valve suspension assembly.
The valve suspension assembly comprises two suspension frames arranged in parallel at intervals and a guide sliding frame arranged above the suspension frames in parallel, the suspension frames are obliquely fixed on the sliding plate through suspension bases, and the adjustment assembly is connected with and supports the suspension frames and the guide sliding frame.
The adjusting assembly comprises a gap adjusting seat, an upper gap adjusting shaft, an adjusting spring, an upper adjusting handle, a lower adjusting handle and a lower adjusting threaded shaft, the gap adjusting seat is symmetrically and vertically fixed on the outer side surfaces of the two guide sliding frames, the upper gap adjusting shaft is transversely erected and installed at the upper end head of the gap adjusting seat, the adjusting spring is sleeved on the upper gap adjusting shaft and is arranged between the two gap adjusting seats, and the upper adjusting handle is sleeved at one end of the upper gap adjusting shaft; a fixed cylinder is connected between the two parallel guide sliding frames, internal threads are arranged in the fixed cylinder, a lower adjusting threaded shaft penetrates through the gap adjusting seat to be in threaded connection with the fixed cylinder, and one end of the lower adjusting threaded shaft of the lower adjusting swing glove is arranged at one end of the lower adjusting threaded shaft.
The material distributing assembly comprises a material distributing push plate, a material blocking rod, a material discharging rod, a material distributing cylinder and an L-shaped fixing seat, wherein a material distributing hole is formed in a suspension bracket at the position of the material distributing assembly in the installation process, the L-shaped fixing seat is installed on the outer side of the suspension bracket in a perpendicular mode, the material distributing cylinder is installed on the L-shaped fixing seat and the acting direction of the material distributing cylinder faces one side of the suspension bracket, the material distributing push plate is fixed on a telescopic shaft of the material distributing cylinder, the material distributing push plate is in a U shape and stretches over the bottom side direction of the two suspension brackets in parallel arrangement, the material blocking rod and the material discharging rod are installed on two opposite side panels of the material distributing push plate in a staggered mode, and the rod parts of the material blocking.
The beneficial effect of above-mentioned design is: the valves are parts with shoulder shafts, the valve channels of the two suspension frames can enable the valve shoulders to face upwards and the valve rod parts to hang downwards, the suspension frames can automatically slide downwards by inclining at an angle of 45-70 degrees, the valve channels are sequentially arranged, although the valves on the suspension frames are crowded and irregular during the initial production trial run, a row of valves cannot be kept on the same straight line, but after the later correction, an adjusting assembly is added, the distance between the two parallel suspension frames is adjusted, the valve shoulders are pressed and adjusted by a guide carriage, the valves can be kept on the same straight line to slide up and down to the position of the distributing assembly after being hung, the material blocking rod and the material placing rod are controlled by the distributing cylinder to be closed or opened, the precisely arranged valves can be singly drawn to the inserting mechanism by circulating the way, only when one valve falls into the inserting mechanism during the control of the control system, the next valve is opened by the distributing component, so that the inserting mechanism can clamp the valves one by one, and the efficient completion work is guaranteed.
Further limiting, elastic pieces symmetrically installed on the inner side surfaces of the two suspension frames are arranged at the end heads of the downstream sections of the suspension frames, the minimum spacing distance between the two elastic pieces is smaller than or equal to the diameter of the rod part of the valve with the minimum specification, and the maximum spacing distance after the two elastic pieces deform is smaller than or equal to the diameter of the rod part of the valve with the maximum specification, so that the situation that each valve of the swinging disk on the device can be clamped and pulled by the left clamping rod and the right clamping rod is guaranteed, the position of the valve can be smoothly limited by the two elastic pieces, and the first-step valve feeding of the swinging disk is completed.
Further limiting, the module transverse walking mechanism and the active guide rail group comprise a servo motor, a ball screw, a screw slider, a C-shaped slider seat and a guide rail frame, the ball screw is erected at two ends of the guide rail frame, one end of the ball screw is connected with the servo motor, the screw slider is sleeved on the ball screw, the screw slider is also connected with the C-shaped slider seat clamped on the guide rail frame to move, in addition, a sliding plate is fixed on the C-shaped slider seat of the module transverse walking mechanism, and the guide rail frame is supported and installed on the C-shaped slider seat on the active guide rail group; the guide rail frame of the active guide rail group is arranged on the electric control cabinet through the supporting base, and the guide rail frame of the module traversing mechanism is arranged on the C-shaped sliding block seat of the active guide rail group and moves along the guide rail frame.
Further inject because the dead weight problem of the horizontal running gear of module, for strengthening the support that the horizontal running gear of initiative guide rail group module was construct, initiative guide rail group is still including arranging the linear guide of the parallel both sides of ball and the guide rail slider of cover on linear guide in, and the C type sliding block seat of initiative guide rail group is connected and is moved on screw slider and the guide rail slider, and the guide rail slider shares the pressure of screw slider for the more smooth and easy removal of the horizontal running gear of module.
Further inject, driven guide rail group includes driven slider, driven linear guide and slide rail frame, erect on the slide rail frame at driven linear guide's both ends, the driven slider cover is on driven linear guide, wherein one end erects on the driven slider of module traversing mechanism's guide rail frame, and the other end erects on the C type slider seat of initiative guide rail frame.
The material tray conveying mechanism comprises a conveying belt assembly and a storage material tray, the conveying belt assembly is arranged above the electric control cabinet and is positioned between a guide rail frame of the driving guide rail set and a slide rail frame of the driven guide rail set, the conveying direction of the conveying belt is parallel to the direction of the module transverse moving mechanism moving along the module longitudinal moving mechanism, the storage material tray comprises a material tray frame and a material tray body fixed on the material tray frame, valve jacks which are longitudinally and transversely arranged are arranged on the material tray body, and the material tray frame is placed on a belt of the conveying belt assembly. The visual system can accurately identify the position of the valve insertion hole, so that the valve clamped on the left clamping rod and the right clamping rod is released after being accurately aligned with the position of the valve insertion hole, and the valve swinging plate is finished. The tedious work of positioning the material placing tray body by workers is reduced, the parts and the assembly process of the equipment are also reduced, and the manufacturing cost of the equipment is reduced.
Further limiting, a circuit drag chain for installing a circuit is further arranged on the guide rail frame of the module transverse walking mechanism. The lines of all the electric appliance parts and the starting parts are orderly arranged, so that the whole neatness and attractiveness of the equipment are better, the electric leakage protection is also performed, and the safety of operators is protected.
Further limiting, the longitudinal displacement air cylinder and the transverse displacement air cylinder are of the type of double-piston-rod sliding block air cylinders, the transverse displacement air cylinder is installed on a cylinder body sliding block of the longitudinal displacement air cylinder, the bidirectional-action air cylinder is installed on a cylinder body sliding block of the transverse displacement air cylinder, the installation is rapid, and the cylinder bodies can be directly connected together through bolts.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic perspective view of the feeding mechanism and the inserting mechanism at the reset zero point of the module traversing mechanism according to the present invention;
FIG. 3 is a schematic perspective view of the valve wobble plate of the present invention in a working state;
FIG. 4 is a schematic perspective view of the feeding mechanism and the inserting mechanism of the present invention;
FIG. 5 is a schematic perspective view of the insertion mechanism of the present invention;
FIG. 6 is a schematic perspective exploded view of the feed mechanism of the present invention;
FIG. 7 is a schematic perspective view of a dispensing assembly of the present invention;
FIG. 8 is a schematic view of a partially enlarged perspective view of the spring plate of the present invention mounted on a hanger bracket;
FIG. 9 is a schematic perspective view of the module traverse mechanism and the module traverse mechanism of the present invention;
FIG. 10 is a schematic view of a three-dimensional explosive structure of the present invention with the module traverse mechanism and the module traverse mechanism cooperatively mounted;
fig. 11 is a schematic perspective view of the tray conveying mechanism of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The automatic valve swing disk device based on the visual system as shown in fig. 1, 2 and 3 comprises an electric control cabinet 1, a feeding mechanism 2, a material inserting mechanism 3, a module traversing mechanism 4, a module longitudinal mechanism 5 and a material tray transmission mechanism 6, wherein the module longitudinal mechanism 5 comprises a driving guide rail set 51 and a driven guide rail set 52 which are arranged on the electric control cabinet in parallel, the material tray transmission mechanism 6 is erected above the electric control cabinet 1 along the travelling direction of the module longitudinal mechanism 5 and is positioned between the driving guide rail set 51 and the driven guide rail set 52 which are arranged side by side, the module traversing mechanism 4 is erected on the driving guide rail set 51 and the driven guide rail set 52, the feeding mechanism 2 and the material inserting mechanism 3 are movably arranged on the module transverse mechanism 4 through a sliding plate 7, wherein the feeding direction of the feeding mechanism 2 is inclined to the horizontal travelling direction of the material inserting mechanism 3, the inclination angle is about 30 degrees, the reason why the feeding mechanism 2 is obliquely installed on the sliding plate 7 is to allow the air valve stacked on the feeding mechanism to automatically and slowly slide down under the action of gravity. The module transverse moving mechanism 4 and the module longitudinal moving mechanism 5 are equivalent to X, Y axle path moving tracks of the feeding mechanism 2 and the inserting mechanism 3, the middle material tray transmission mechanism 6 is the operation reference of the feeding mechanism 2 and the inserting mechanism 3, and always moves in the range of the working surface of the material tray transmission mechanism 6 in the XY axle direction, so that the valves are orderly arranged in the longitudinal and transverse sequence, and the high-efficiency working mode of the automatic valve swinging plate is achieved.
As shown in fig. 4 and 5, the material inserting mechanism 3 includes a longitudinal displacement cylinder 30, a transverse displacement cylinder 31, a two-way action cylinder 32, and a left clamping bar 33 and a right clamping bar 34 which are symmetrically designed, upper end portions of the left clamping bar 33 and the right clamping bar 34 are respectively mounted on two telescopic guide rods of the two-way action cylinder 32, the left clamping bar 33 and the right clamping bar 34 respectively move in opposite directions when the two-way action cylinder 32 acts once, lower end portions of the left clamping bar 33 and the right clamping bar 34 are respectively provided with a valve bar clamping hole 35, when the two triangular half-shaped valve bar clamping holes 35 are combined and closed, a bar portion of the valve 8 is clamped in the middle, and the valve bar clamping hole 35 is not limited to a triangle, but may be in a half-arc shape. The longitudinal displacement cylinder 30 is mounted on the sliding plate 7 through a displacement plate 36, the stretching direction of the longitudinal displacement cylinder 30 faces the direction of the tray conveying mechanism 6, the transverse displacement cylinder 31 is mounted on the stretching shaft of the longitudinal displacement cylinder 30, the stretching direction of the transverse displacement cylinder 31 is perpendicular to the stretching direction of the longitudinal displacement cylinder 30, the double-acting cylinder 32 is mounted on the stretching shaft of the transverse displacement cylinder 31, and the left clamping rod 33 and the right clamping rod 31 of the inserting mechanism 3 clamp the valve at the downstream section of the feeding mechanism 2 when the inserting mechanism 3 is at the zero resetting point. The left clamping rod 33 and the right clamping rod 34 are nonstandard pneumatically driven clamps, and one valve is inserted every 2S-5S.
In this embodiment, the sliding plate 7 is further provided with a box body frame 71, a system box 72 provided with a vision system is fixed on the box body frame 71, and the vision system is applied to assist the longitudinal displacement cylinder 30, the transverse displacement cylinder 31 and the bidirectional movement cylinder 32 to cooperate with each other to complete the wobble plate operation of the valve 8. Preferably, the longitudinal displacement cylinder 30 and the transverse displacement cylinder 31 are of the type of a double-piston rod slide block cylinder, the transverse displacement cylinder 31 is mounted on a cylinder block of the longitudinal displacement cylinder 30, and the two-way action cylinder 32 is mounted on a cylinder block of the transverse displacement cylinder 31.
In this embodiment, as shown in fig. 4, 6, and 7, the feeding mechanism 2 includes two valve suspension assemblies 20, two adjusting assemblies 21, and a material distributing assembly 22, where the two adjusting assemblies 21 are fixed on the valve suspension assemblies 20, one adjusting assembly is located at an upstream section of the valve suspension assembly 20, the other adjusting assembly is located at a middle section of the valve suspension assembly 20, the two adjusting assemblies are arranged along a valve conveying direction of the valve suspension assembly 20, the material distributing assembly 22 is fixed at a downstream section of the valve suspension assembly 20, and when the present apparatus is operated, a valve is filled into the valve suspension assembly 20 for at least 30 minutes.
The valve suspension assembly 20 comprises two suspension frames 201 arranged in parallel at intervals and a guide frame 202 arranged in parallel above the suspension frames 201, the suspension frames 201 are obliquely fixed on the sliding plate 7 through suspension bases 203, and the adjusting assembly 21 is connected and supports the suspension frames 201 and the guide frame 202. In order to facilitate the valve suspension assembly to suspend enough valves at a time and reduce the number of times that the operator loads the valves, two suspension rods 204 are connected to the loading end of the suspension frame 201.
The adjusting assembly 21 comprises a gap adjusting base 210, an upper gap adjusting shaft 211, an adjusting spring 212, an upper adjusting handle 213, a lower adjusting handle 214 and a lower adjusting threaded shaft (the lower adjusting threaded shaft and the lower adjusting handle 214 are designed integrally), the gap adjusting base 210 is symmetrically and vertically fixed on the outer side surfaces of the two guide carriages 202, the upper gap adjusting shaft 211 is transversely erected and installed at the upper end head of the gap adjusting base 210, the adjusting spring 212 is sleeved on the upper gap adjusting shaft 211 and is arranged between the two gap adjusting bases 210, and the upper adjusting handle 213 is sleeved at one end of the upper gap adjusting shaft 211; a fixed barrel 205 is connected between the two parallel guide sliding frames 202, an internal thread is arranged in the fixed barrel 205, the lower adjusting threaded shaft passes through the gap adjusting seat 210 and is in threaded connection with the fixed barrel 205, and the lower adjusting handle 214 is sleeved at one end of the lower adjusting threaded shaft. The upper gap adjusting shaft 211 and the lower adjusting threaded shaft are fixed on the gap adjusting seat 210 in an up-down relationship along the vertical direction of the suspension frames 201, the upper adjusting handle 213 adjusts the spacing distance between the two suspension frames 201 and is used for hanging and storing the valves 8 with different diameters, and the lower adjusting handle 214 is used for adjusting the horizontal dislocation relative positions of the two guide carriages 202 relative to the two suspension frames 201, so that the guide carriages 202 can adjust the parallel valves 8 to be kept on the same horizontal line. In addition, a strip-shaped hole can be further formed in the clearance adjusting seat 210 and used for adjusting the height difference distance between the lower adjusting threaded shaft and the upper clearance adjusting shaft 211, so that the height difference distance between the guide carriage 202 and the suspension frame 201 is adjusted, the valves 8 with different sizes and lengths can be suspended and placed more neatly in the suspension frame 201, and the subsequent material distributing assembly 22 can separate the single valve 8 to the material inserting mechanism 3 more conveniently and more orderly.
The material distributing assembly 22 comprises a material distributing push plate 220, a material blocking rod 221, a material placing rod 222, a material distributing cylinder 223 and an L-shaped fixed seat 224, a material distributing hole is formed in the suspension bracket 201 at the position where the material distributing assembly 22 is installed, the L-shaped fixed seat 224 is installed perpendicular to the outer side of the suspension bracket 201, the material distributing cylinder 223 is installed on the L-shaped fixed seat 224, the acting direction of the material distributing cylinder 223 faces one side of the suspension bracket 201, the material distributing push plate 220 is fixed on a telescopic shaft of the material distributing cylinder 223, the material distributing push plate 220 stretches across the bottom side surfaces of the two suspension brackets 201 which are arranged in parallel in a U shape, the material blocking rod 221 and the material placing rod 222 are installed on two side panels of the material distributing push plate 220 in a staggered mode, and the rod portions of the material blocking rod 221 and the material placing rod 222. When the material blocking rod 221 blocks the valve 8 at the upstream section under the action of the material separating cylinder 223, so that the valve 8 stops sliding downwards, the material placing rod 22 which is designed in a staggered mode in the horizontal plane just opens a valve channel, and the valve 8 to be positioned which is located between the material blocking rod 221 and the material placing rod 222 in advance and waits for clamping of the left clamping rod 33 and the right clamping rod 34 is placed away. After the waiting valve 8 is released, the material placing rod 222 blocks the valve channel, the material blocking rod 221 opens the valve channel, the operation process of the movement is short, only the valve 8 at the upstream section is placed between the material blocking rod 221 and the material placing rod 222 again to wait, after the material inserting mechanism 3 clamps the previous valve 8, the waiting valve 8 at the position is released to continue to descend, and slides down to the bottom of the suspension frame 201 to wait for the clamping of the left clamping rod 33 and the right clamping rod 34 of the material inserting mechanism 3.
In this embodiment, as shown in fig. 8, the end of the downstream section of the suspension 201 is provided with elastic pieces 205 symmetrically mounted on the inner side surfaces of the two suspensions 201, the minimum distance between the two elastic pieces 205 is smaller than or equal to the diameter of the minimum-specification valve stem part, and the maximum distance between the two elastic pieces 205 after deformation is smaller than or equal to the diameter of the maximum-specification valve stem part. The diameter range of the clamped valve rod part is phi 5-phi 12, and when the inserting mechanism 3 is reset to zero, the left clamping rod 33 and the right clamping rod 34 are positioned right below the elastic sheet 205 to clamp the valve 8 at the position. The elastic piece 205 is made of soft material with elastic function, and when the valve 8 falls to the position, before the left clamping bar 33 and the right clamping bar 34 are not clamped, the elastic piece 205 blocks the valve 8 and stabilizes the valve 8 at the position, one end of the elastic piece is installed at a certain angle with the suspension bracket 201, and the other end of the elastic piece is suspended and extends; after the left clamping rod 33 and the right clamping rod 34 clamp the valve 8, the longitudinal displacement cylinder 30 moves, so that the valve 8 has a pulling force to be taken away, and under the pulling force, the two elastic pieces 205 are opened, and the valve 8 is clamped to swing.
In this embodiment, as shown in fig. 9 and 10, the module traverse mechanism 4 and the module traverse mechanism 5 are driven by the same principle, only one is the X-axis traverse direction, and the other is the Y-axis traverse direction, and both are driven by the motor to rotate the lead screw, and the lead screw drives the slider on the lead screw to move horizontally when rotating, so as to drive the component connected with the slider to travel. Therefore, the module traverse mechanism 4 and the active guide rail set 51 both include a servo motor 40, a ball screw 41, a screw slider 42, a C-shaped slider seat 43 and a guide rail frame 44, the ball screw 41 is erected at two ends of the guide rail frame 44, one end of the ball screw 41 is connected to the servo motor 40, the screw slider 42 is sleeved on the ball screw 41, the screw slider 42 is further connected to the C-shaped slider seat 43 clamped on the guide rail frame 44 to move, in addition, a sliding plate 7 is fixed on the C-shaped slider seat 43 of the module traverse mechanism 4, and the guide rail frame 44 is supported and mounted on the C-shaped slider seat 43 on the active guide rail set 51. Wherein, the guide rail bracket 44 of the active guide rail group 51 is installed on the electric control cabinet 1 through the supporting base 53, and the guide rail bracket 44 of the module traversing mechanism 4 is installed on the C-shaped slider seat 43 of the active guide rail group 51 and moves along the guide rail bracket 44. Still be equipped with the circuit tow chain 45 of installation circuit on the guide rail frame 51 of module traverse mechanism 4, the power line of main integrated module traverse mechanism 4 among the circuit tow chain 45 to and the integrated air supply line who inserts a plurality of cylinders of feed mechanism 3, visual system's interconnecting link in addition, avoid the circuit to influence the valve balance motion of inserting feed mechanism 3, also regular neat with the circuit, even if circuit fault also can quick maintenance.
In this embodiment, since the module traverse mechanism 4 has a heavy self-weight, only a single screw block 42 is provided on the active rail set 51 to support the weight of the module traverse mechanism 4 for smooth operation. Therefore, in order to enhance the driving bearing capacity of the active guide rail set 51, the active guide rail set 51 further comprises linear guide rails 54 disposed at two parallel sides of the ball screw 41 and a guide rail slider 55 sleeved on the linear guide rails 54, and the C-shaped slider seat 43 of the active guide rail set 51 is connected to the screw slider 42 and the guide rail slider 55 to move. In the present embodiment, the driven rail set 52 does not have the power of the original servo motor, and is driven by the driving rail set 51, guided by the middle module traverse mechanism 4, and functions to horizontally support the module traverse mechanism 4. The driven guide rail group 52 comprises a driven slide block 56, a driven linear guide rail 57 and a slide rail frame 58, two ends of the driven linear guide rail 57 are erected on the slide rail frame 58, the driven slide block 56 is sleeved on the driven linear guide rail 57, one end of the guide rail frame 44 of the module transverse walking mechanism 4 is erected on the driven slide block 56, and the other end of the guide rail frame 44 is erected on the C-shaped slide block seat 43 of the driving guide rail frame 51.
In this embodiment, as shown in fig. 2 and 11, the tray conveying mechanism 6 includes and stores a tray 61, the belt assembly 60 is installed above the electric control cabinet 1 and between the rail frame 44 of the driving rail set 51 and the rail frame 58 of the driven rail set 52, and the conveying direction of the belt assembly 60 is parallel to the moving direction of the module traversing mechanism 4 along the module traversing mechanism 5, the belt assembly 60 in this design is a conventional belt, which is common knowledge and does not describe the specific structure and operation principle in this embodiment, the store tray 61 includes a tray frame and a tray body fixed on the tray frame, and the tray body is provided with vertically and horizontally arranged air valve insertion holes, and the tray frame is placed on the belt of the belt assembly 60. The storage material trays 61 are arranged on the belt in a row and a plurality of arrangement forms, a worker places the storage material trays 61 on a material loading level A at one end of the conveyor belt assembly 60, the conveyor belt assembly 60 conveys the storage material trays 61 forward in sequence, the material loading level of the belt is right opposite to the position, right below the reset zero position of the module traversing mechanism 4, of the module traversing mechanism 5 when the equipment is assembled, so that once a sensor arranged at the material loading level A detects that the storage material trays 61 are placed on the belt, the belt slowly runs or stops running, then the feeding mechanism 2, the material inserting mechanism 3, the module traversing mechanism 4 and the module traversing mechanism 5 start to work in a matching way, the material inserting mechanism 3 places parts of the air valves 8 at a certain position, and when a vision system detects that an inserting hole without the air valves is placed, the belt continuously moves forward or accelerates to move by a pitch (the width of one storage material tray is a pitch), so circulate, the detection sensor who knows the unloading position B department installation of belt detects and stores when charging tray 61 all is full of unmanned dish of getting, sends the signal of reminding artifical unloading, and in the same way, also installs the detection sensor at last material level, and when vision system detected no storage charging tray 61, sends the signal of reminding artifical last storage charging tray 61.
This equipment cooperation processing production lathe uses with automatic unloading industrial robot that goes up, and the function that automated production processing lathe and manipulator possessed to and the requirement to this automatic balance equipment as follows:
1. the clamp of the processing machine tool of the automatic production line has the functions of automatic clamping and loosening, and the functions of automatic clamping and loosening are realized under the control of signals of a manipulator system so as to be matched with the actions of feeding and discharging;
2. the processing machine tool of the automatic production line is provided with an automatic door module and provides a corresponding electric control signal for communicating with the industrial manipulator;
3. the processing machine tool of the automatic production line is communicated with the manipulator in a connecting mode of a heavy-load connector (or an aviation plug);
4. the processing machine tool of the automatic production line has an internal (interference) space larger than the action safety range of the gripper of the industrial manipulator;
5. the processing machine tool of the automatic production line ensures that no scrap iron is left on the positioning surface of the clamp, and air blowing cleaning is added when necessary (a chuck needs to rotate during cleaning);
6. the automatic production line has good chip breaking of the processing machine tool, and an auxiliary chip breaking device is added when necessary;
7. when a machining tool of an automatic production line requires the main shaft of the machine tool to be stopped, the function is added and corresponding electrical signals are provided;
8. the automatic production line has enough space to adjust the position of the machine tool equipment;
9. the handshake signal reconstruction of machine tools and industrial manipulators is handled by the machine tool factory (automatic door, robot interface).
The working process of the automatic valve wobble plate equipment based on the visual system comprises the following steps:
the control system's control circuit is equipped with in the automatically controlled cabinet to and PLC control circuit board, before the system starts, will fill the valve earlier on mounted frame 201, prepare and store charging tray 61, the workman of material loading position and unloading position department at conveyer belt subassembly 60 prepares to target in place, and this equipment also can one person operate, is responsible for the material loading and hangs the valve, and the material level is put on the empty dish of being responsible for storing the charging tray, is responsible for the material level transport under the full dish of storing the charging tray.
After the system is started, firstly, the material distributing cylinder 223 is started, the material blocking rod 221 and the material discharging rod 222 are matched with each other, and one air valve is released to slide down to the positions of the two elastic pieces 205 at the end of the downstream section of the suspension frame 201;
then, the bidirectional cylinder 32 of the inserting mechanism 3 opens the left clamping rod 33 and the right clamping rod 34 in opposite directions, and the transverse displacement cylinder 31 acts to push out the bidirectional cylinder 32, so that the left clamping rod 33 and the right clamping rod 34 move to positions right below the two elastic sheets 205 to clamp the valve rod part, and the transverse displacement cylinder 31 resets after clamping the valve;
next, the servo motor of the module traverse mechanism 4 drives the sliding plate 7 to move, the sliding plate 7 drives the inserting mechanism 3 and the feeding mechanism 2 to move, the module traverse mechanism 4 and the module vertical traveling mechanism 5 move in a matching way according to the guidance of a visual system, so that the clamped air valve 8 reaches the designated position of the storage tray 61, the longitudinal displacement air cylinder 30 has the telescopic action, the high-position air valve 8 is inserted into the storage tray 61 and is reset after being inserted, and then the process is circulated until the storage tray 61 with the same pitch is full of air valves.
Finally, the conveyor belt assembly 60 moves the pitch position under the operation of the vision system and the control system, conveys the storage material tray 61 fully filled with the air valves to the direction of the lower material level B, and also conveys the empty storage material tray 61 at the material loading level A to the position of the swinging plate right below the material inserting mechanism 3, and the circulation is repeated in such a way, the material loading and the material unloading are continuously carried out, the swinging plate work of the air valves 8 is completed, the number of the air valves on the suspension frame 201 is noticed all the time in the process, the air valves are timely supplemented, and the automatic supplementation can also.
The valve automatic balance device based on the vision system provided by the invention is described in detail above. The description of the embodiments is only for the purpose of helping understanding the method of the present invention and the core idea thereof, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
Claims (9)
1. Automatic balance equipment of valve based on vision system, its characterized in that: comprises an electric control cabinet (1), a feeding mechanism (2), a material inserting mechanism (3), a module transverse moving mechanism (4), a module longitudinal moving mechanism (5) and a material tray transmission mechanism (6),
the module longitudinal moving mechanism (5) comprises a driving guide rail group (51) and a driven guide rail group (52) which are arranged on the electric control cabinet (1) in parallel, the material tray transmission mechanism (6) is erected above the electric control cabinet (1) along the moving direction of the module longitudinal moving mechanism (5) and is positioned between the driving guide rail group (51) and the driven guide rail group (52) which are arranged side by side, the module transverse moving mechanism (4) is erected on the driving guide rail group (51) and the driven guide rail group (52), the feeding mechanism (2) and the inserting mechanism (3) are movably arranged on the module transverse moving mechanism (4) through a sliding plate (7), and the feeding direction of the feeding mechanism (2) is inclined to the horizontal moving direction of the inserting mechanism (3);
the material inserting mechanism (3) comprises a longitudinal displacement cylinder (30), a transverse displacement cylinder (31), a two-way action cylinder (32), a left clamping rod (33) and a right clamping rod (34) which are symmetrically designed, the upper ends of the left clamping rod (33) and the right clamping rod (34) are respectively installed on two telescopic guide rods of the two-way action cylinder (32), and the lower ends of the left clamping rod (33) and the right clamping rod (34) are respectively provided with a valve rod clamping hole (35); the vertical displacement cylinder (30) is arranged on the sliding plate (7) through a displacement plate, the telescopic direction of the vertical displacement cylinder (30) faces the direction of the material tray transmission mechanism (6), the transverse displacement cylinder (31) is arranged on the telescopic shaft of the vertical displacement cylinder (30), the telescopic direction of the transverse displacement cylinder (31) is perpendicular to the telescopic direction of the vertical displacement cylinder (30), the double-acting cylinder (32) is arranged on the telescopic shaft of the transverse displacement cylinder (31), and a left clamping rod (33) and a right clamping rod (34) of the inserting mechanism (3) clamp the valve of the downstream section of the feeding mechanism (2) when the inserting mechanism (3) is at the reset zero point;
the sliding plate (7) is further provided with a box body frame (71), and a system box provided with a vision system is fixed on the box body frame (71).
2. The vision system based valve automatic wobble plate apparatus of claim 1, wherein: the feeding mechanism (2) comprises a valve suspension assembly (20), an adjusting assembly (21) and a material distributing assembly (22), wherein the adjusting assembly (21) is at least one group and is fixed at the upstream section of the valve suspension assembly (20), and the material distributing assembly (22) is fixed at the downstream section of the valve suspension assembly (20);
the valve suspension assembly (20) comprises two suspension frames (201) arranged in parallel at intervals and a guide sliding frame (202) arranged above the suspension frames (201) in parallel, the suspension frames (201) are obliquely fixed on the sliding plate (7) through suspension bases, and the adjusting assembly (21) is connected with and supports the suspension frames (201) and the guide sliding frame (202);
the adjusting assembly (21) comprises a gap adjusting seat (210), an upper gap adjusting shaft (211), an adjusting spring (212), an upper adjusting handle (213), a lower adjusting handle (214) and a lower adjusting threaded shaft, the gap adjusting seat (210) is symmetrically and vertically fixed on the outer side surfaces of the two guide sliding frames (202), the upper gap adjusting shaft (211) is transversely erected and installed at the head part of the upper end of the gap adjusting seat (210), the adjusting spring (212) is sleeved on the upper gap adjusting shaft (211) and is arranged between the two gap adjusting seats (210), and the upper adjusting handle (213) is sleeved at one end of the upper gap adjusting shaft (211); a fixed barrel (205) is connected between the two parallel guide frames (202), internal threads are arranged in the fixed barrel (205), the lower adjusting threaded shaft penetrates through the gap adjusting seat (210) to be in threaded connection with the fixed barrel (205), and the lower adjusting handle (214) is sleeved at one end of the lower adjusting threaded shaft.
The material distributing component (22) comprises a material distributing push plate (220), a material blocking rod (221), a material discharging rod (222), a material distributing cylinder (223) and an L-shaped fixed seat (224), a distributing hole is arranged on the suspension bracket (201) at the position where the distributing component (22) is installed, the L-shaped fixed seat (224) is installed vertical to the outer side of the suspension bracket (201), the material distributing cylinder (223) is arranged on the L-shaped fixed seat (224) and the action direction of the material distributing cylinder (223) faces to one side of the suspension bracket (201), the material distributing push plate (220) is fixed on a telescopic shaft of the material distributing cylinder (223), the material distributing push plate (220) is U-shaped and stretches across the bottom side surfaces of two parallel suspension frames (201), the material blocking rod (221) and the material discharging rod (222) are arranged on two pairs of side panels of the material distributing push plate (220) in a staggered manner, and the rod parts of the material blocking rod (221) and the material discharging rod (222) pass through the material distributing hole and extend to the valve channel between the two suspension frames (201).
3. The vision system based valve automatic wobble plate apparatus of claim 2, wherein: elastic pieces (205) symmetrically installed on the inner side surfaces of the two suspension frames (201) are arranged at the end heads of the downstream sections of the suspension frames (201), the minimum spacing distance between the two elastic pieces (205) is smaller than or equal to the diameter of the minimum-specification valve rod part, and the maximum spacing distance after the two elastic pieces (205) deform is smaller than or equal to the diameter of the maximum-specification valve rod part.
4. The vision system-based valve automatic wobble plate apparatus of claim 3, wherein: the module transverse walking mechanism (4) and the driving guide rail group (51) comprise a servo motor (40), a ball screw (41), a screw slider (42), a C-shaped slider seat (43) and a guide rail frame, wherein the ball screw (41) is erected at two ends of the guide rail frame, one end of the ball screw (41) is connected with the servo motor (40), the screw slider (42) is sleeved on the ball screw (41), the screw slider (42) is also connected with the C-shaped slider seat (43) clamped on the guide rail frame to move, in addition, a sliding plate is fixed on the C-shaped slider seat (43) of the module transverse walking mechanism, and the guide rail frame is supported and installed on the C-shaped slider seat (43) on the driving guide rail group (51);
the guide rail frame of the active guide rail group (51) is arranged on the electric control cabinet (1) through a supporting base, and the guide rail frame of the module traversing mechanism (4) is arranged on a C-shaped sliding block seat (43) of the active guide rail group (51) and moves along the guide rail frame.
5. The vision system based valve automatic wobble plate apparatus of claim 4, wherein: the driving guide rail set (51) further comprises linear guide rails arranged on two parallel sides of the ball screw (41) and guide rail sliding blocks sleeved on the linear guide rails, and a C-shaped sliding block seat (43) of the driving guide rail set (51) is connected to the screw sliding block (42) and the guide rail sliding blocks to move.
6. The vision system-based valve automatic wobble plate apparatus of claim 5, wherein: the driven guide rail set (52) comprises a driven sliding block (56), a driven linear guide rail (57) and a sliding rail frame (58), the two ends of the driven linear guide rail (57) are erected on the sliding rail frame (58), the driven sliding block (56) is sleeved on the driven linear guide rail (57), one end of the guide rail frame of the module transverse walking mechanism is erected on the driven sliding block (56), and the other end of the guide rail frame is erected on the C-shaped sliding block seat (43) of the driving guide rail frame.
7. The vision system-based valve automatic wobble plate apparatus of claim 6, wherein: the material tray transmission mechanism (6) comprises a conveyor belt assembly and a storage material tray, the conveyor belt assembly is installed above the electric control cabinet (1) and is located between a guide rail frame of the driving guide rail set (51) and a slide rail frame (58) of the driven guide rail set (52), the conveying direction of the conveyor belt is parallel to the direction of the module transverse moving mechanism moving along the module longitudinal moving mechanism (5), the storage material tray comprises a material tray frame and a material tray body fixed on the material tray frame, valve jacks which are longitudinally and transversely arranged are arranged on the material tray body, and the material tray frame is placed on a belt of the conveyor belt assembly.
8. The vision system based valve automatic wobble plate apparatus of claim 4, wherein: and a line drag chain for installing a line is also arranged on the guide rail frame (44) of the module transverse walking mechanism (4).
9. The vision system based valve automatic wobble plate apparatus of claim 1, wherein: the longitudinal displacement cylinder (30) and the transverse displacement cylinder (31) are of the type of a double-piston-rod sliding-block cylinder, the transverse displacement cylinder (31) is installed on a cylinder block sliding block of the longitudinal displacement cylinder (30), and the bidirectional-action cylinder (32) is installed on a cylinder block sliding block of the transverse displacement cylinder (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703233.0A CN110587362A (en) | 2019-07-31 | 2019-07-31 | Automatic valve balance device based on visual system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910703233.0A CN110587362A (en) | 2019-07-31 | 2019-07-31 | Automatic valve balance device based on visual system |
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| Publication Number | Publication Date |
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| CN110587362A true CN110587362A (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910703233.0A Pending CN110587362A (en) | 2019-07-31 | 2019-07-31 | Automatic valve balance device based on visual system |
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| CN (1) | CN110587362A (en) |
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| CN111300836A (en) * | 2020-02-11 | 2020-06-19 | 湖北文理学院 | Tire belt positioning and placing device and control method thereof |
| CN111451830A (en) * | 2020-04-23 | 2020-07-28 | 李艳艳 | Material grabbing device of numerical control machine tool |
| CN111906578A (en) * | 2020-08-25 | 2020-11-10 | 东莞市微玻智能科技有限公司 | Automatic space adjusting machine for material rack |
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