CN111515960A - Mechanical arm capable of intelligently identifying, sorting and arranging and working method - Google Patents
Mechanical arm capable of intelligently identifying, sorting and arranging and working method Download PDFInfo
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- CN111515960A CN111515960A CN202010483197.4A CN202010483197A CN111515960A CN 111515960 A CN111515960 A CN 111515960A CN 202010483197 A CN202010483197 A CN 202010483197A CN 111515960 A CN111515960 A CN 111515960A
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- sorting
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims abstract description 5
- 230000007306 turnover Effects 0.000 claims description 9
- 238000011179 visual inspection Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 230000002950 deficient Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Sorting Of Articles (AREA)
Abstract
A mechanical arm capable of intelligently identifying, sorting and arranging and a working method thereof comprise the following steps: the device comprises a mechanical arm, a first conveyor belt, a visual detection system and a second conveyor belt, wherein the visual detection system is arranged right above the first conveyor belt; the first conveyor belt and the second conveyor belt are arranged adjacently; the mechanical arm is arranged on one side, far away from the first conveyor belt, of the second conveyor belt; the lower part of the mechanical arm is provided with a support frame; a base is arranged at the upper part of the supporting frame; the upper part of the base is hinged with a first joint of the mechanical arm; the end part of the first joint of the mechanical arm is hinged with the second joint of the mechanical arm; the end part of the second joint of the mechanical arm is hinged with the clamping jaw arm; a rotating shaft is arranged at the lower part of the clamping claw arm; and a pneumatic clamping device is arranged at the lower part of the rotating shaft. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.
Description
Technical Field
The invention belongs to the technical field of assembly line sorting, and particularly relates to a mechanical arm for intelligently identifying sorting arrangement and a working method.
Background
At present, in factory production, after processes such as mixed injection molding, mixed shot blasting and the like are finished, mixed products of different models need to be sorted out, the traditional sorting mode is manual sorting and machine screening, manual sorting is usually only performed on products with small quantity and light weight, the flow line production is not facilitated, and the efficiency is low; mechanical screening uses a great deal of vibration to the product that volume is big, the quality is heavier usually, separates the product of different specifications, can cause the damage to the product like this at vibrations in-process, influences product quality, also the comparatively advanced letter sorting equipment of enterprise purchase of some, and purchase cost is high, and simultaneously, equipment is inside complicated usually, also increases maintenance and cost of maintenance.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a mechanical arm capable of intelligently identifying sorting arrangement and a working method, wherein corresponding information is input only according to actual production requirements, and then the input data is compared with actually collected data, so that a complex algorithm is not needed, and defective products can be automatically removed; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.
The technical scheme is as follows: the invention provides a mechanical arm for intelligent identification, sorting and arrangement and a working method, wherein the mechanical arm comprises the following steps: the device comprises a mechanical arm, a first conveyor belt, a visual detection system and a second conveyor belt, wherein the visual detection system is arranged right above the first conveyor belt; the first conveyor belt and the second conveyor belt are arranged adjacently; the mechanical arm is arranged on one side, far away from the first conveyor belt, of the second conveyor belt; the lower part of the mechanical arm is provided with a support frame; a base is arranged at the upper part of the supporting frame; the upper part of the base is hinged with a first joint of the mechanical arm; the end part of the first joint of the mechanical arm is hinged with the second joint of the mechanical arm; the end part of the second joint of the mechanical arm is hinged with the clamping jaw arm; a rotating shaft is arranged at the lower part of the clamping claw arm; and a pneumatic clamping device is arranged at the lower part of the rotating shaft. According to the mechanical arm for intelligently identifying, sorting and arranging and the working method, corresponding information is input only according to actual production requirements, and then the input data is compared with the actually collected data, so that a complex algorithm is not needed, and defective products can be automatically removed; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, and meanwhile, the production cost is controlled.
Further, according to the robot arm for intelligent identification, sorting and arrangement and the working method, the pneumatic clamping device comprises: the clamping jaw fixing plate is arranged at the lower part of the rotating shaft; the left clamping hand and the right clamping hand are arranged at the lower part of the clamping hand fixing plate; the overturning motor is arranged on the side of the left clamping hand; one end part of the left turning shaft is provided with the inside of a left clamping hand; the left fixing pad is hinged with one end of the left turning shaft, which is far away from the left clamping hand; one end of the right turnover shaft is arranged inside the right tong; and one end of the right overturning shaft, which is far away from the right clamping hand, is hinged with the right fixing pad. Through starting clamping device centre gripping article to corresponding operation, reasonable in design, the simple operation.
Furthermore, according to the mechanical arm for intelligent identification, sorting and arrangement and the working method, the rotating seat is arranged at the upper end of the base and can drive the first joint to rotate in a plane. The structure design is simple, and the manufacture and the use are easy.
Furthermore, according to the mechanical arm and the working method for intelligent identification, sorting and arrangement, a first gear is arranged on a rotating shaft of the turnover motor, a second gear is arranged at one end, away from the left fixing pad, of the left turnover rotating shaft, the second gear is connected with the first gear in a matched mode, and the first gear and the second gear are both arranged inside the left clamping hand. Reasonable design, simple and easy operation.
Furthermore, according to the mechanical arm for intelligent identification, sorting and arrangement and the working method, the bearing is arranged at the end, away from the fixing pad, of the right overturning shaft, and the bearing is arranged inside the right gripper. The operation is smooth and stable, and the speed is ensured.
Further, the mechanical arm for intelligent identification, sorting and arrangement and the working method thereof have the following working methods:
1) inputting the product information into a central processing unit, wherein the input information comprises: the front image, the back image, the axial direction and the conveying belt direction of the product are displayed;
2) the product passes through visual inspection system on first conveyer belt to gather the image information of product through visual inspection system, the image information transmission of gathering is compared the analysis with the input information to central processing unit, and its image information who gathers includes: the product is printed on the upper picture, the angle between the axial direction of the product and the direction of the conveyor belt and the position coordinate of the product;
3) and the conclusion data of the comparison between the acquired information and the input information is transmitted to the controller of the mechanical arm, and the controller controls the mechanical arm to operate: a) when the product is right side up. According to the product coordinate, the clamping jaw moves to the position above the product, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after downwards clamping the product, the direction of the clamping jaw is the same as that of a second conveyor belt of the product conveyor belt, the plane rotation is carried out above the second conveyor belt, and the clamping jaw is downwards placed on the product; b) when the reverse side of a product is upward, the clamping jaw moves to the upper side of the product according to the product coordinate, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after clamping the product downwards, the overturning motor rotates to overturn the product for 180 degrees, meanwhile, the plane rotation enables the direction of the clamping jaw to be the same as the direction of a second conveyor belt of the product conveyor belt, and the clamping jaw is placed down to the lower side of the product.
The technical scheme shows that the invention has the following beneficial effects: according to the mechanical arm for intelligently identifying, sorting and arranging and the working method, corresponding information is input only according to actual production requirements, and then the input data is compared with the actually collected data, so that a complex algorithm is not needed, and defective products can be automatically removed; classifying products of different models or specifications; and arranging the classified products according to a certain rule. The requirements of flow line production are better met, the product quality is guaranteed, meanwhile, the production cost is controlled, and the method has high popularization value.
Drawings
FIG. 1 is a schematic view of a robot arm for an intelligent recognition sorting arrangement according to the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic diagram of a sorting system according to the present invention, which is capable of intelligently identifying the robotic arms of the sorting array and operating in a manner consistent with the present invention;
fig. 4 is a schematic flow chart of the sorting method of the mechanical arm for intelligently identifying sorting arrangement and the working method of the invention.
In the figure: 1 mechanical arm, 11 support frames, 12 bases, 121 rotating seats, 13 first joints, 14 second joints, 15 gripper arms, 16 rotating shafts, 17 pneumatic clamping devices, 171 gripper fixing plates, 172 left grippers, 173 right grippers, 174 turnover motors, 1741 first gears, 175 left turnover shafts, 1751 second gears, 176 right turnover shafts, 1761 bearings, 177 left fixing pads, 178 right fixing pads, 2 first conveyor belts, 3 visual detection systems and 4 second conveyor belts.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between 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.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
The intelligent recognition, sorting and arrangement mechanical arm and the working method thereof shown in fig. 1-4 comprise: the device comprises a mechanical arm 1, a first conveyor belt 2, a visual detection system 3 and a second conveyor belt 4, wherein the visual detection system 3 is arranged right above the first conveyor belt 2; the first conveyor belt 2 and the second conveyor belt 3 are arranged adjacently; the mechanical arm 1 is arranged on one side, far away from the first conveyor belt 2, of the second conveyor belt 4; the lower part of the mechanical arm 1 is provided with a support frame 11; a base 12 is arranged at the upper part of the support frame 11; the upper end of the base 12 is provided with a rotating seat 121, and the rotating seat 121 can drive the first joint 13 to perform plane rotation. The upper part of the base 12 is hinged with a first joint 13 of the mechanical arm; the end part of the first joint 13 of the mechanical arm is hinged with a second joint 14 of the mechanical arm; the end part of the second joint 14 of the mechanical arm is hinged with the clamping jaw arm 15; a rotating shaft 16 is arranged at the lower part of the clamping claw arm 15; the lower part of the rotating shaft 16 is provided with a pneumatic clamping device 17. The pneumatic clamping device 17 comprises: the clamping jaw fixing plate 171 is arranged at the lower part of the rotating shaft 16; the left gripper 172 and the right gripper 173 are disposed at the lower part of the gripper fixing plate 171; the overturning motor 174 is arranged on the side of the left clamping hand 172; one end of the left turning shaft 175 is provided with the inside of the left clamping hand 172; the left fixing pad 177 is hinged with one end of the left turning shaft 175 away from the left clamping hand 172; the one end of right upset axle 176 sets up inside right tong 173, the one end that right upset axle 176 was kept away from right tong 173 is articulated with right fixed bolster 178, the one end that right upset axle 176 was kept away from fixed bolster 178 is provided with bearing 1761, just bearing 1761 sets up the inside at right tong 173. Be provided with first gear 1741 in the pivot of upset motor 174, the one end that left fixed pad 177 was kept away from to left upset pivot 175 is provided with second gear 1751, second gear 1741 and first gear 1751 cooperation are connected, just first gear 1741 all sets up the inside at left tong 172 with second gear 1751.
The working method comprises the following steps: 1) the product information is entered into the central processor (entry information includes: front image, back image, axial direction of the product, and direction of the conveyor belt); 2) the product passes through the visual inspection system on first conveyer belt to gather the image information of product through the visual inspection system, the image information transmission of gathering is compared the analysis with the input information to central processing unit, (the image information of gathering includes: the picture of the product on the upper surface, the angle between the axial direction of the product and the direction of the conveyor belt, and the position coordinate of the product); 3) the conclusion data of the comparison between the acquired information and the input information is transmitted to a controller of the mechanical arm, and if the comparison result is that the product is a defective product, the product is ignored; if the comparison result is that the product is qualified, the controller controls the mechanical arm to operate: a) when the product is right side up. According to the product coordinate, the pneumatic clamping device 17 moves to the position above the product, meanwhile, the rotation shaft rotates in the same direction as the axial direction of the product, the pneumatic clamping device 17 is lifted after clamping the product downwards through the left clamping hand 172 and the right clamping hand 173, the product is conveyed to the position above the second conveyor belt 4, the rotation shaft 16 rotates to enable the direction of the product to be the same as the direction of the second conveyor belt 4, and the pneumatic clamping device 17 puts down the product downwards; b) when the reverse side of the product faces upwards, the pneumatic clamping device 17 moves to the position above the product according to the product coordinate, meanwhile, the rotating shaft 16 rotates to the same direction as the axial direction of the product, the pneumatic clamping device 17 downwards clamps the product through the left clamping hand 172 and the right clamping hand 173 and then lifts the product, the overturning motor 174 rotates to overturn the product by 180 degrees, meanwhile, the product is conveyed to the position above the second conveying belt 4, the rotating shaft 16 rotates to enable the direction of the product to be the same as the direction of the second conveying belt 4, and the clamping jaws downwards put down the product.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (6)
1. The utility model provides a robotic arm and working method that intelligent recognition, letter sorting, range, characterized in that includes: the device comprises a mechanical arm (1), a first conveyor belt (2), a visual detection system (3) and a second conveyor belt (4), wherein the visual detection system (3) is arranged right above the first conveyor belt (2); the first conveyor belt (2) and the second conveyor belt (3) are arranged adjacently; the mechanical arm (1) is arranged on one side, far away from the first conveyor belt (2), of the second conveyor belt (4); a support frame (11) is arranged at the lower part of the mechanical arm (1); a base (12) is arranged at the upper part of the support frame (11); the upper part of the base (12) is hinged with a first joint (13) of the mechanical arm; the end part of the first joint (13) of the mechanical arm is hinged with the second joint (14) of the mechanical arm; the end part of the second joint (14) of the mechanical arm is hinged with the clamping claw arm (15); a rotating shaft (16) is arranged at the lower part of the clamping claw arm (15); and a pneumatic clamping device (17) is arranged at the lower part of the rotating shaft (16).
2. The intelligent recognition, sorting, and alignment robot and working method of claim 1, wherein the pneumatic clamping device (17) comprises: the clamping jaw fixing plate (171) is arranged at the lower part of the rotating shaft (16); the left clamping hand (172) and the right clamping hand (173) are arranged at the lower part of the clamping hand fixing plate (171); the overturning motor (174) is arranged on the side of the left clamping hand (172); one end part of the left turning shaft (175) is provided with the inside of a left clamping hand (172); the left fixing pad (177) is hinged with one end, away from the left clamping hand (172), of the left turning shaft (175); one end of the right overturning shaft (176) is arranged inside the right clamping hand (173); one end of the right overturning shaft (176) far away from the right clamping hand (173) is hinged with a right fixing pad (178).
3. The mechanical arm for intelligent identification, sorting and arrangement and the working method thereof according to claim 1, wherein a rotating base (121) is disposed at an upper end of the base (12), and the rotating base (121) can drive the first joint (13) to perform plane rotation.
4. The intelligent recognition, sorting and arrangement mechanical arm and the working method thereof as claimed in claim 2, wherein a first gear (1741) is arranged on a rotating shaft of the turnover motor (174), a second gear (1751) is arranged at one end of the left turnover rotating shaft (175) far away from the left fixing pad (177), the second gear (1741) and the first gear (1751) are connected in a matching manner, and the first gear (1741) and the second gear (1751) are both arranged inside the left clamping hand (172).
5. The intelligent recognition, sorting and alignment robot arm and the working method thereof according to claim 2, wherein a bearing (1761) is arranged at one end of the right turnover shaft (176) far away from the fixing pad (178), and the bearing (1761) is arranged inside the right gripper (173).
6. The intelligent mechanical arm for identifying, sorting and arranging according to any one of claims 1-5, wherein the working method comprises the following steps:
1) inputting the product information into a central processing unit, wherein the input information comprises: the front image, the back image, the axial direction and the conveying belt direction of the product are displayed;
2) the product passes through visual inspection system on first conveyer belt to gather the image information of product through visual inspection system, the image information transmission of gathering is compared the analysis with the input information to central processing unit, and its image information who gathers includes: the product is printed on the upper picture, the angle between the axial direction of the product and the direction of the conveyor belt and the position coordinate of the product;
3) and the conclusion data of the comparison between the acquired information and the input information is transmitted to the controller of the mechanical arm, and the controller controls the mechanical arm to operate: a) when the front of a product is upward, the clamping jaw moves to the position above the product according to the product coordinate, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after downwards clamping the product, the direction of the clamping jaw is the same as the direction of a second conveyor belt of the product conveyor belt, the plane rotation is carried out above the second conveyor belt, and the clamping jaw is downwards put down the product; b) when the reverse side of a product is upward, the clamping jaw moves to the upper side of the product according to the product coordinate, meanwhile, the plane rotation is the same as the axial direction of the product, the clamping jaw is lifted after clamping the product downwards, the overturning motor rotates to overturn the product for 180 degrees, meanwhile, the plane rotation enables the direction of the clamping jaw to be the same as the direction of a second conveyor belt of the product conveyor belt, and the clamping jaw is placed down to the lower side of the product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010483197.4A CN111515960A (en) | 2020-06-01 | 2020-06-01 | Mechanical arm capable of intelligently identifying, sorting and arranging and working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010483197.4A CN111515960A (en) | 2020-06-01 | 2020-06-01 | Mechanical arm capable of intelligently identifying, sorting and arranging and working method |
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| CN111515960A true CN111515960A (en) | 2020-08-11 |
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| CN202010483197.4A Pending CN111515960A (en) | 2020-06-01 | 2020-06-01 | Mechanical arm capable of intelligently identifying, sorting and arranging and working method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112073637A (en) * | 2020-09-09 | 2020-12-11 | 郑州人民医院(郑州人民医院医疗管理中心) | Automatic focusing identification recording device based on machine vision identification |
| CN112060065A (en) * | 2020-11-12 | 2020-12-11 | 山东海德智能科技有限公司 | Full-automatic unordered feeding system of robot based on 3D vision |
| CN112079078A (en) * | 2020-11-16 | 2020-12-15 | 山东海德智能科技有限公司 | Full-automatic unordered feeding system of robot based on binocular vision |
| CN113351574A (en) * | 2021-06-24 | 2021-09-07 | 苏州健雄职业技术学院 | Automatic equipment for chain maintenance and maintenance method thereof |
| CN113751358A (en) * | 2021-09-09 | 2021-12-07 | 武汉先同科技有限公司 | Automatic removing device applied to production traceability system |
| CN114589127A (en) * | 2022-03-01 | 2022-06-07 | 平湖市创新高分子材料股份有限公司 | Rubber production equipment and process |
| CN115256419A (en) * | 2022-08-12 | 2022-11-01 | 中科院南昌高新技术产业协同创新研究院 | Mechanical arm for clinical operation simulation and simulation method thereof |
| CN117772638A (en) * | 2024-02-27 | 2024-03-29 | 吴江市兰天织造有限公司 | Automatic cloth roll conveying device and conveying method |
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