CN112757258A - Customized structure mechanical arm control platform - Google Patents
Customized structure mechanical arm control platform Download PDFInfo
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- CN112757258A CN112757258A CN202011624674.0A CN202011624674A CN112757258A CN 112757258 A CN112757258 A CN 112757258A CN 202011624674 A CN202011624674 A CN 202011624674A CN 112757258 A CN112757258 A CN 112757258A
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- mechanical arm
- area
- quilt
- driving motor
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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
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mechanical arm control platform with a customized structure, which comprises: the hidden arm mechanism is arranged on the back of the faceplate of the bed head and comprises a mechanical arm main body and a driving motor; the driving motor is used for entering a working state when receiving a field grabbing request and driving the mechanical arm main body to extend out of the back surface of the panel of the bed head so as to perform unfolding operation of a vertical plane on a subject on the uppermost layer of the bed body; the driving motor is also used for sending out a detected object detection request after the mechanical arm main body is driven to extend out of the back surface of the faceplate of the bed head so as to execute the unfolding operation of the vertical plane on the uppermost layer of the bed body; and the strategy selection mechanism is used for determining the corresponding number of the laminated layers based on the received actual unfolding area and sending the number of the laminated layers to the driving motor. By the aid of the folding device and the folding method, automatic folding operation of the bed quilt body can be completed under the assistance of the mechanical arm with the customized structure, and accordingly folding efficiency and speed are improved.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to a mechanical arm control platform with a customized structure.
Background
The machine is a tool device which can help people to reduce work difficulty or save labor, and articles such as chopsticks, brooms and tweezers can be called as the machine, and the machine is a simple machine. The complex machine is composed of two or more simple machines. These relatively complex machines are often called machines. From a structural and kinematic point of view, the mechanisms and machines are not distinct and are broadly called machines.
In general, machines are tool devices that can help people to reduce work difficulty or save labor, and articles such as chopsticks, brooms and tweezers can be called as machines, and the machines are simple machines. The complex machine is composed of two or more simple machines. These relatively complex machines are often called machines.
At present, in daily household life, the folding operation in the morning is the work that people need to invest manpower and time to complete, and because the work is completely carried out by manpower, the relatively precious getting-up time originally causes great loss. Therefore, it is one of the subjects to be studied to improve the current mode of controlling a stack and to seek for semi-automatic or fully-automatic control of the stack.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a customized structure mechanical arm control platform, which can adopt a targeted drive control scheme on the basis of a hidden arm mechanism of a customized structure to realize vertical unfolding and on-site automatic folding control of a quilt body, thereby reducing complicated manual operation links.
Therefore, the invention needs to have the following key invention points:
(1) the hidden arm mechanism with the customized structure is introduced to provide a hardware operation platform for realizing unfolding operation and automatic folding operation of a bed body uppermost layer quilt, the hidden arm mechanism comprises a mechanical arm main body and a driving motor, the driving motor comprises a plurality of micro motors, the mechanical arm main body comprises a plurality of connecting rods, and the tail end of the mechanical arm main body comprises two distributed hand bodies;
(2) and the number of the folded quilt layers of the actual quilt is adaptively selected based on the quilt area measuring and calculating structure in the vertical plane unfolding state, so that the intelligent level of the folded quilt manipulation is improved.
According to an aspect of the present invention, there is provided a custom structure manipulator arm manipulation platform, the platform comprising;
the hidden arm mechanism is arranged on the back of the faceplate of the bed head and comprises a mechanical arm main body and a driving motor;
the driving motor is used for entering a working state when receiving a field grabbing request and driving the mechanical arm main body to extend out of the back face of the panel of the bed head so as to perform unfolding operation of a vertical plane on the uppermost layer of the bed body.
More specifically, in the custom structure robot arm manipulation platform, the platform further includes:
the driving motor is also used for sending out a detected object detection request after the mechanical arm main body is driven to extend out of the back surface of the faceplate of the bed head so as to execute the unfolding operation of the vertical plane to the detected object on the uppermost layer of the bed body.
More specifically, in the custom structure robot arm manipulation platform, the platform further includes:
the deployment and control capturing device is arranged at the central position of the panel of the bed head, is connected with the driving motor and is used for enabling the image capturing operation of the unfolded object in front of the panel when the object detection request is received so as to obtain a corresponding instant captured image;
the real-time enhancement mechanism is packaged in the panel of the bed body, is connected with the cloth control capturing equipment and is used for executing image SVD enhancement operation on the received instant captured image so as to obtain a corresponding enhanced operation image;
the signal sharpening mechanism is connected with the real-time enhancement mechanism and is used for carrying out image signal sharpening operation based on a Smart Sharpen filter on the received enhanced operation image so as to obtain a current sharpened image;
the detected object detection device is connected with the signal sharpening mechanism and used for identifying the maximum area in a plurality of image areas with the matching degree exceeding the standard geometric shape in the current sharpened image based on the standard geometric shape of the detected object and outputting the maximum area as a reference area;
the area identification device is respectively connected with the deployment capture device and the detected object detection device and is used for identifying an actual unfolding area corresponding to the unfolded object based on the area proportion of the reference area occupying the current sharpened image and the imaging focal length of the deployment capture device;
the strategy selection mechanism is connected with the area identification equipment and used for determining the number of corresponding laminated layers based on the received actual unfolding area and sending the number of the laminated layers to the driving motor;
wherein determining the corresponding stack layer number based on the received actual deployment area comprises: the determined corresponding number of superposed layers is monotonically and positively associated with the received actual unfolding area;
the driving motor comprises a plurality of micro motors, the mechanical arm main body comprises a plurality of connecting rods, the micro motors respectively control the work of the connecting rods so that the mechanical arm main body completes the unfolding operation, and the tail end of the mechanical arm main body comprises two distributed hand bodies;
the driving motor drives the mechanical arm main body to execute the quilt folding operation with the number of layers consistent with the number of the layers of the top quilt of the unfolded bed body based on the received number of the layers of the folded quilt;
the driving motor drives the mechanical arm main body to execute the folding quilt operation with the same number of layers as the number of the folding layers on the uppermost layer quilt of the unfolded bed body based on the received number of the folding layers, and the folding quilt operation comprises the following steps: the driving motor drives each part of the mechanical arm main body comprising two distributed hand bodies to execute the quilt folding operation with the same layer number as the layer number of the folded quilt on the uppermost layer of the unfolded bed body;
wherein identifying an actual unfolded area corresponding to an unfolded subject based on the area proportion of the reference region occupying the current sharpened image and the imaging focal length of the cloth controlled capture device comprises: the larger the area proportion of the reference area occupying the current sharpened image is, the larger the actual expansion area corresponding to the identified expanded subject is.
According to another aspect of the present invention, there is also provided a custom structure manipulator arm control method, which includes using the custom structure manipulator arm control platform to perform adaptive quilt folding operation on a field quilt on the basis of the custom structure manipulator arm.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of an external shape of a robot body of a robot manipulation platform with a customized structure according to an embodiment of the present invention.
Detailed Description
Embodiments of the custom structured robot arm manipulation platform according to the present invention will be described in detail with reference to the accompanying drawings.
The definition of mechanism and machine comes from mechanical engineering, and belongs to the most basic concept in modern mechanical principle, and the modern concept of Chinese machinery is from the word of 'machinery' in Japanese.
The general term for all machines and mechanisms with defined kinematic systems. Such as: machine tools, tractors, etc.
Mechanical engineering is an applied discipline which is based on the relevant natural science and technical science, combines the technical experience accumulated in production practice, and researches and solves the theoretical and practical problems in the development, design, manufacture, installation, application and repair of various machines.
The development of various engineering fields requires the development of mechanical engineering which is suitable for the development of the engineering fields and requires the mechanical engineering to provide necessary machinery. The invention and perfection of certain machines, in turn, has led to the emergence and development of new engineering technologies and new industries. For example, the success of the manufacture of large power machines has prompted the establishment of electrical power systems; the invention of the locomotive leads to the rise of railway engineering and railway industry; the invention and progress of internal combustion engine, gas turbine, rocket engine, etc. and the successful development of airplane and spacecraft have led to the rise of aviation and aerospace industry; the development of high pressure equipment has led to the success of many new synthetic chemical projects and the like.
Mechanical engineering is the ability to develop power under pressure from ever-increasing demands in various areas, while at the same time gaining improvements and innovations from various disciplines and technological advances.
At present, in daily household life, the folding operation in the morning is the work that people need to invest manpower and time to complete, and because the work is completely carried out by manpower, the relatively precious getting-up time originally causes great loss. Therefore, it is one of the subjects to be studied to improve the current mode of controlling a stack and to seek for semi-automatic or fully-automatic control of the stack.
In order to overcome the defects, the invention builds the mechanical arm control platform with the customized structure, and can effectively solve the corresponding technical problem.
The customized structure mechanical arm control platform according to the embodiment of the invention comprises:
the hidden arm mechanism is arranged on the back of the faceplate of the bed head and comprises a mechanical arm main body and a driving motor, wherein the appearance of the mechanical arm main body is shown in figure 1;
the driving motor is used for entering a working state when receiving a field grabbing request and driving the mechanical arm main body to extend out of the back face of the panel of the bed head so as to perform unfolding operation of a vertical plane on the uppermost layer of the bed body.
Next, the following further description is made on the specific structure of the custom-structured robot control platform according to the present invention.
The customized structure mechanical arm control platform further comprises:
the driving motor is also used for sending out a detected object detection request after the mechanical arm main body is driven to extend out of the back surface of the faceplate of the bed head so as to execute the unfolding operation of the vertical plane to the detected object on the uppermost layer of the bed body.
The customized structure mechanical arm control platform further comprises:
the deployment and control capturing device is arranged at the central position of the panel of the bed head, is connected with the driving motor and is used for enabling the image capturing operation of the unfolded object in front of the panel when the object detection request is received so as to obtain a corresponding instant captured image;
the real-time enhancement mechanism is packaged in the panel of the bed body, is connected with the cloth control capturing equipment and is used for executing image SVD enhancement operation on the received instant captured image so as to obtain a corresponding enhanced operation image;
the signal sharpening mechanism is connected with the real-time enhancement mechanism and is used for carrying out image signal sharpening operation based on a Smart Sharpen filter on the received enhanced operation image so as to obtain a current sharpened image;
the detected object detection device is connected with the signal sharpening mechanism and used for identifying the maximum area in a plurality of image areas with the matching degree exceeding the standard geometric shape in the current sharpened image based on the standard geometric shape of the detected object and outputting the maximum area as a reference area;
the area identification device is respectively connected with the deployment capture device and the detected object detection device and is used for identifying an actual unfolding area corresponding to the unfolded object based on the area proportion of the reference area occupying the current sharpened image and the imaging focal length of the deployment capture device;
the strategy selection mechanism is connected with the area identification equipment and used for determining the number of corresponding laminated layers based on the received actual unfolding area and sending the number of the laminated layers to the driving motor;
wherein determining the corresponding stack layer number based on the received actual deployment area comprises: the determined corresponding number of superposed layers is monotonically and positively associated with the received actual unfolding area;
the driving motor comprises a plurality of micro motors, the mechanical arm main body comprises a plurality of connecting rods, the micro motors respectively control the work of the connecting rods so that the mechanical arm main body completes the unfolding operation, and the tail end of the mechanical arm main body comprises two distributed hand bodies;
the driving motor drives the mechanical arm main body to execute the quilt folding operation with the number of layers consistent with the number of the layers of the top quilt of the unfolded bed body based on the received number of the layers of the folded quilt;
the driving motor drives the mechanical arm main body to execute the folding quilt operation with the same number of layers as the number of the folding layers on the uppermost layer quilt of the unfolded bed body based on the received number of the folding layers, and the folding quilt operation comprises the following steps: the driving motor drives each part of the mechanical arm main body comprising two distributed hand bodies to execute the quilt folding operation with the same layer number as the layer number of the folded quilt on the uppermost layer of the unfolded bed body;
wherein identifying an actual unfolded area corresponding to an unfolded subject based on the area proportion of the reference region occupying the current sharpened image and the imaging focal length of the cloth controlled capture device comprises: the larger the area proportion of the reference area occupying the current sharpened image is, the larger the actual expansion area corresponding to the identified expanded subject is.
In the customization structure robotic arm control platform:
identifying an actual unfolded area corresponding to an unfolded subject based on a proportion of an area of the reference region occupying the current sharpened image and an imaging focal length of the cloth controlled capture device comprises: the shorter the imaging focal length of the deployment and capture device is, the larger the actual deployment area corresponding to the identified deployed object is.
The customized structure mechanical arm control platform further comprises:
and the control button is arranged on a panel of the bed head, is connected with the hidden arm mechanism and is used for sending the field grabbing request to the driving motor according to manual pressing operation of a user.
In the customization structure robotic arm control platform:
the driving of the robot main body to protrude from the back surface of the deck of the bed head to perform the unfolding operation of the vertical plane to the uppermost subject of the bed body includes: the two distributed hand bodies respectively grab the left side and the right side of the top of the quilt body on the uppermost layer of the bed body so as to perform the unfolding operation of a vertical plane on the quilt body on the uppermost layer of the bed body.
In the customization structure robotic arm control platform:
the two distributed hand bodies respectively grab the left side and the right side of the top of the bed body uppermost layer quilt body so as to perform the unfolding operation of a vertical plane on the bed body uppermost layer quilt body, and the unfolding operation comprises the following steps: the two distributed hand bodies are connected to the same horizontally placed connecting rod of the mechanical arm main body and are positioned on the left side and the right side of the horizontally placed connecting rod.
The customized structure mechanical arm control platform further comprises:
the shape storage mechanism is realized in a flash memory mode, is connected with the detected device and is used for storing the reference geometric shape of the detected object;
wherein the reference geometry of the subject comprises one or more reference pictures of the subject, each reference picture corresponding to one reference geometry.
In the customization structure robotic arm control platform:
identifying a maximum region of a plurality of image regions in the current sharpened image, the image regions having an over-limit matching degree with the reference geometry, based on the reference geometry of the subject, and outputting the maximum region as a reference region comprises: and taking the area with the matching degree exceeding a certain reference picture in the current sharpened image as the image area.
Meanwhile, in order to overcome the defects, the invention also provides a customized structure mechanical arm control method, which comprises the step of using the customized structure mechanical arm control platform to complete the self-adaptive quilt folding operation of the on-site quilt body on the basis of the customized structure mechanical arm.
In addition, in the customized structure mechanical arm control platform, a Programmable Logic Device (PLD) is adopted to realize the area recognition equipment. The programmable logic device pld (programmable logic device) is an important branch of ASIC, and is a semi-custom circuit produced by manufacturers as a general-purpose device, and a user can realize required functions by programming the device. The programmable Logic array PLA (programmable Logic array) is composed of a programmable AND array and a programmable OR array. Programmable Array Logic (PAL) devices, which were introduced first by MMI corporation of the United states in 1977, have become popular because of their flexible design and wide variety of output structures. The basic structure of a PAL device feeds a programmable and array output product term to an or array, and the logic expression implemented by the PAL device has the form of a sum of products, and thus can describe any boolean transfer function.
By adopting the customized structure mechanical arm control platform, the automatic quilt folding operation of the quilt body on the bed can be completed under the assistance of the mechanical arm with the customized structure, so that the quilt folding efficiency and speed are improved.
It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and improvements may be made in accordance with design requirements and other factors, and are intended to be included within the scope of the claims or equivalents of the present invention.
Claims (10)
1. A custom structured robotic arm manipulation platform, comprising:
the hidden arm mechanism is arranged on the back of the faceplate of the bed head and comprises a mechanical arm main body and a driving motor;
the driving motor is used for entering a working state when receiving a field grabbing request and driving the mechanical arm main body to extend out of the back face of the panel of the bed head so as to perform unfolding operation of a vertical plane on the uppermost layer of the bed body.
2. The custom structured robotic manipulation platform according to claim 1, wherein said platform further comprises:
the driving motor is also used for sending out a detected object detection request after the mechanical arm main body is driven to extend out of the back surface of the faceplate of the bed head so as to execute the unfolding operation of the vertical plane to the detected object on the uppermost layer of the bed body.
3. The custom structured robotic manipulation platform according to claim 2, wherein said platform further comprises:
the deployment and control capturing device is arranged at the central position of the panel of the bed head, is connected with the driving motor and is used for enabling the image capturing operation of the unfolded object in front of the panel when the object detection request is received so as to obtain a corresponding instant captured image;
the real-time enhancement mechanism is packaged in the panel of the bed body, is connected with the cloth control capturing equipment and is used for executing image SVD enhancement operation on the received instant captured image so as to obtain a corresponding enhanced operation image;
the signal sharpening mechanism is connected with the real-time enhancement mechanism and is used for carrying out image signal sharpening operation based on a Smart Sharpen filter on the received enhanced operation image so as to obtain a current sharpened image;
the detected object detection device is connected with the signal sharpening mechanism and used for identifying the maximum area in a plurality of image areas with the matching degree exceeding the standard geometric shape in the current sharpened image based on the standard geometric shape of the detected object and outputting the maximum area as a reference area;
the area identification device is respectively connected with the deployment capture device and the detected object detection device and is used for identifying an actual unfolding area corresponding to the unfolded object based on the area proportion of the reference area occupying the current sharpened image and the imaging focal length of the deployment capture device;
the strategy selection mechanism is connected with the area identification equipment and used for determining the number of corresponding laminated layers based on the received actual unfolding area and sending the number of the laminated layers to the driving motor;
wherein determining the corresponding stack layer number based on the received actual deployment area comprises: the determined corresponding number of superposed layers is monotonically and positively associated with the received actual unfolding area;
the driving motor comprises a plurality of micro motors, the mechanical arm main body comprises a plurality of connecting rods, the micro motors respectively control the work of the connecting rods so that the mechanical arm main body completes the unfolding operation, and the tail end of the mechanical arm main body comprises two distributed hand bodies;
the driving motor drives the mechanical arm main body to execute the quilt folding operation with the number of layers consistent with the number of the layers of the top quilt of the unfolded bed body based on the received number of the layers of the folded quilt;
the driving motor drives the mechanical arm main body to execute the folding quilt operation with the same number of layers as the number of the folding layers on the uppermost layer quilt of the unfolded bed body based on the received number of the folding layers, and the folding quilt operation comprises the following steps: the driving motor drives each part of the mechanical arm main body comprising two distributed hand bodies to execute the quilt folding operation with the same layer number as the layer number of the folded quilt on the uppermost layer of the unfolded bed body;
wherein identifying an actual unfolded area corresponding to an unfolded subject based on the area proportion of the reference region occupying the current sharpened image and the imaging focal length of the cloth controlled capture device comprises: the larger the area proportion of the reference area occupying the current sharpened image is, the larger the actual expansion area corresponding to the identified expanded subject is.
4. The custom structured robotic manipulation platform according to claim 3, wherein:
identifying an actual unfolded area corresponding to an unfolded subject based on a proportion of an area of the reference region occupying the current sharpened image and an imaging focal length of the cloth controlled capture device comprises: the shorter the imaging focal length of the deployment and capture device is, the larger the actual deployment area corresponding to the identified deployed object is.
5. The custom structured robotic manipulation platform according to claim 4, wherein said platform further comprises:
and the control button is arranged on a panel of the bed head, is connected with the hidden arm mechanism and is used for sending the field grabbing request to the driving motor according to manual pressing operation of a user.
6. The custom structured robotic manipulation platform according to claim 5, wherein:
the driving of the robot main body to protrude from the back surface of the deck of the bed head to perform the unfolding operation of the vertical plane to the uppermost subject of the bed body includes: the two distributed hand bodies respectively grab the left side and the right side of the top of the quilt body on the uppermost layer of the bed body so as to perform the unfolding operation of a vertical plane on the quilt body on the uppermost layer of the bed body.
7. The custom structured robotic manipulation platform according to claim 6, wherein:
the two distributed hand bodies respectively grab the left side and the right side of the top of the bed body uppermost layer quilt body so as to perform the unfolding operation of a vertical plane on the bed body uppermost layer quilt body, and the unfolding operation comprises the following steps: the two distributed hand bodies are connected to the same horizontally placed connecting rod of the mechanical arm main body and are positioned on the left side and the right side of the horizontally placed connecting rod.
8. The custom structured robotic manipulation platform according to claim 7, wherein said platform further comprises:
the shape storage mechanism is realized in a flash memory mode, is connected with the detected device and is used for storing the reference geometric shape of the detected object;
wherein the reference geometry of the subject comprises one or more reference pictures of the subject, each reference picture corresponding to one reference geometry.
9. The custom structured robotic manipulation platform according to claim 8, wherein:
identifying a maximum region of a plurality of image regions in the current sharpened image, the image regions having an over-limit matching degree with the reference geometry, based on the reference geometry of the subject, and outputting the maximum region as a reference region comprises: and taking the area with the matching degree exceeding a certain reference picture in the current sharpened image as the image area.
10. A custom structure robotic arm manipulation method, the method comprising using the custom structure robotic arm manipulation platform of any of claims 3-9 to perform adaptive quilt folding operations on a live quilt based on a custom structure robotic arm.
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| CN202011624674.0A CN112757258A (en) | 2020-12-31 | 2020-12-31 | Customized structure mechanical arm control platform |
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| CN202011624674.0A CN112757258A (en) | 2020-12-31 | 2020-12-31 | Customized structure mechanical arm control platform |
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| CN112757258A true CN112757258A (en) | 2021-05-07 |
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| EP0756209A2 (en) * | 1995-07-28 | 1997-01-29 | Canon Kabushiki Kaisha | An image forming apparatus |
| US7302898B1 (en) * | 2003-06-02 | 2007-12-04 | Martelli John D | Quilt holding clamp and method of use |
| CN101497378A (en) * | 2009-03-18 | 2009-08-05 | 广东中烟工业有限责任公司 | Automatic identification method and device of carton for automatic packing production chain |
| CN204038019U (en) * | 2014-07-10 | 2014-12-24 | 李金龙 | Wet tissue robot wrapping machine |
| CN106553196A (en) * | 2016-11-09 | 2017-04-05 | 重庆向日葵机器人有限公司 | The sanitation robot and its control method of rubbish are unloaded automatically can |
| CN206318138U (en) * | 2016-09-12 | 2017-07-11 | 深圳市领创自动化技术有限公司 | A kind of clothes automatic layboy |
| CN110641784A (en) * | 2019-10-14 | 2020-01-03 | 中山易裁剪网络科技有限公司 | Automatic identification letter sorting baling equipment of finished product clothing |
| CN210870693U (en) * | 2019-09-27 | 2020-06-30 | 温州大学 | Crib with fold by function |
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2020
- 2020-12-31 CN CN202011624674.0A patent/CN112757258A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0756209A2 (en) * | 1995-07-28 | 1997-01-29 | Canon Kabushiki Kaisha | An image forming apparatus |
| US7302898B1 (en) * | 2003-06-02 | 2007-12-04 | Martelli John D | Quilt holding clamp and method of use |
| CN101497378A (en) * | 2009-03-18 | 2009-08-05 | 广东中烟工业有限责任公司 | Automatic identification method and device of carton for automatic packing production chain |
| CN204038019U (en) * | 2014-07-10 | 2014-12-24 | 李金龙 | Wet tissue robot wrapping machine |
| CN206318138U (en) * | 2016-09-12 | 2017-07-11 | 深圳市领创自动化技术有限公司 | A kind of clothes automatic layboy |
| CN106553196A (en) * | 2016-11-09 | 2017-04-05 | 重庆向日葵机器人有限公司 | The sanitation robot and its control method of rubbish are unloaded automatically can |
| CN210870693U (en) * | 2019-09-27 | 2020-06-30 | 温州大学 | Crib with fold by function |
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Application publication date: 20210507 |