CN113751859A - Laser processing device adopting pseudo-coaxial vision system - Google Patents
Laser processing device adopting pseudo-coaxial vision system Download PDFInfo
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- CN113751859A CN113751859A CN202111195205.6A CN202111195205A CN113751859A CN 113751859 A CN113751859 A CN 113751859A CN 202111195205 A CN202111195205 A CN 202111195205A CN 113751859 A CN113751859 A CN 113751859A
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- 238000007789 sealing Methods 0.000 claims description 61
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000001788 irregular Effects 0.000 abstract description 2
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- 238000000034 method Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
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- 238000005520 cutting process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000010330 laser marking Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention discloses a laser processing device adopting a pseudo-coaxial vision system, which comprises: during actual work, a working coordinate is adjusted and a laser processing path is controlled through a specific pseudo-coaxial vision system, targets with any shapes can be tracked, automatic identification, automatic detection and positioning and automatic processing are realized, so that a product to be processed does not need to be clamped and positioned by a tool clamp, the product can be processed as long as the product is laid flat, the angle is randomly placed, the material carrying and clamping in the midway of the product to be processed are reduced, the production efficiency is greatly improved, and the production flow is simplified; the problems of difficult material supply, poor positioning and low speed caused by difficult design and manufacture of the clamp in the batch irregular product marking are solved.
Description
Technical Field
The invention relates to the technical field of laser processing devices, in particular to a laser processing device matched with a vision camera for positioning.
Background
Laser processing is a technology for marking and cutting products, and utilizes a high-power and high-density laser beam generated after focusing to irradiate a processed material, so that the material is quickly heated to a gasification temperature, deep substances are exposed by evaporation, or partial substances are burnt out by light energy, and various patterns such as patterns, characters, bar codes and the like required to be etched are displayed.
At present, in laser processing application, the form of visual marking/carving is very extensive, and in visual laser processing equipment, a laser head and a visual camera are usually arranged side by side, so that the problems of large visual range and low product processing precision and processing efficiency exist. The utility model discloses a chinese utility model patent that a publication is CN 214350283U discloses a mark device is beaten to vision, including first support, the fixed laser of being equipped with of one end of first support marks the head, laser marks the head and is located the top of first support, first support has the through-hole, the fixed vision camera that is equipped with of the other end of first support, the vision camera is located the below of first support, the below of first support is equipped with the reflection component of slope, the object of treating to beat the mark is located the below of reflection component, laser marks the head and all sets up towards the reflection component with the vision camera, the laser of laser marking head transmission sees through the reflection component and treats the object of beating the mark, the vision camera is treated the reflection of mark through the reflection of reflection component and is beaten the mark object of beating and is beaten. The utility model adopts a pseudo-coaxial mode, namely, the reflector is arranged to couple and output the laser and the imaging of the vision camera, and the vision camera converts the image information into coordinate information after taking a picture and sends the coordinate information to the laser marking head for marking, although the utility model has the characteristics of small visual field range and high positioning and marking precision; however, in the process of processing products, the existing laser processing equipment still needs to customize different jigs for positioning according to different products, thereby increasing the processing cost and the production period.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a laser processing device based on a pseudo-coaxial vision system, which does not need to customize a special clamp and has high processing speed.
In order to achieve the purpose, the invention adopts the following technical scheme.
A laser machining apparatus employing a pseudo-coaxial vision system, comprising: the device comprises a galvanometer square head, an optical main beam, a focusing field lens, a camera, a lens, an upper sealing lens assembly, a sealing cover, a lower sealing lens assembly, an annular light source and a 45-degree reflection lens, wherein the upper sealing lens assembly and the lower sealing lens assembly are respectively arranged at an upper opening and a lower opening of the sealing cover, the 45-degree reflection lens is arranged in the sealing cover, the camera is arranged above the sealing cover, the lens is arranged on the camera, and the annular light source is arranged below the sealing cover; a laser is mounted on the optical main beam, laser emitted by the laser enters the focusing field lens for focusing after being adjusted by the vibrating lens square head, and the focused laser enters from the side part of the sealing cover and is emitted from the lower side of the sealing cover after being reflected by the 45-degree reflecting lens; the 45-degree reflecting lens is a lens which reflects laser and transmits visible light; and a visual light path of the camera passes through the upper opening and the lower opening of the sealing cover to shoot.
In actual work, 1) setting a template of a product to be processed by using visual software; 2) conveying a product to be processed to a lower focus of the sealing cover; 3) shooting a dynamic image of a product to be processed in real time by using the camera, comparing the shot dynamic image with the position of the template, further confirming the coordinate offset condition of the product to be processed, and then automatically moving the offset coordinate to a correct position through calculation, thereby realizing accurate processing; 4) laser beam of laser instrument output is penetrated on a set of speculum of mirror square head shakes, and these two reflection lens that can deflect centre gripping respectively are examined on the current motor at two precisions, when examining the current motor and receive drive signal and take place the action, drive two reflection lens and rotate to realize the deflection of laser beam, the laser beam that the deflection targets in place passes through after the focus field lens focus, pass through 45 degrees reflection lens reflection downwards, finally treat the processing of processing product surface formation individual laser beam, accomplish and treat the processing of processing product.
More preferably, the laser processing apparatus further includes a lifting body, a bearing platform is installed on the lifting body in a liftable manner, and the vibrating mirror square head, the optical main beam, the focusing field lens and the sealing cover are all installed on the bearing platform.
More preferably, a lifting support is arranged on the bearing platform, a manual XY fine adjustment platform is arranged on the lifting support in a lifting mode, and the camera is arranged above the sealing cover through the manual XY fine adjustment platform.
More preferably, the annular light source is a combined strip light source, and is formed by sequentially connecting four strip light sources end to end, and the four strip light sources form a rectangular structure.
More preferably, each of the strip light sources is rotatably mounted, so that the light emitting direction of each of the strip light sources can be adjusted to a direction close to the laser light path or a direction far away from the laser light path.
More preferably, the rotating installation structure of each strip-shaped light source is as follows: the mounting plate is used for supporting the strip-shaped light source, a circular rotating shaft hole and an arc-shaped swing shaft hole are formed in the mounting plate, and the rotating shaft hole is located at the circle center of the swing shaft hole; a rotating shaft in inserting fit with the rotating shaft hole and a swing shaft in inserting fit with the swing shaft hole are arranged at the end part of the strip-shaped light source; when the light source device works, the adjustment of the light emitting direction of the bar-shaped light source is realized by locking the swing shaft at different parts of the swing shaft hole.
More preferably, the pendulum shaft is a bolt, and a bolt hole matched with the bolt is arranged at the end part of the strip-shaped light source; when the locking device works, the bolt is screwed or unscrewed to lock and unlock the swing shaft and the swing shaft hole.
More preferably, the upper and lower openings of the sealing cover are respectively provided with a drawer opening, and the upper sealing lens assembly and the lower sealing lens assembly are respectively inserted into the corresponding drawer openings.
More preferably, the optical main beam, the galvanometer square head, the focusing field lens and the sealing cover are sequentially connected in a sealing manner.
More preferably, the laser is an ultraviolet laser or CO2The laser, the camera is CCD industry camera.
The beneficial effects of the invention are as follows.
The invention adjusts the working coordinate and controls the laser processing path through the specific pseudo-coaxial vision system, can track the target with any shape, and can automatically recognize, automatically detect, position and automatically process, so that a tool clamp is not needed to clamp and position the product to be processed, the product can be processed as long as the product is laid flat and the angle is randomly placed, the material handling and clamping in the midway of the product to be processed are reduced, the production efficiency is greatly improved, and the production flow is simplified; the problems of difficult material supply, poor positioning and low speed caused by difficult design and manufacture of the clamp in the batch irregular product marking are solved.
Secondly, during operation, pseudo-coaxial vision system's laser beam machining device has utilized the vision positioning principle, carries out the template earlier to the product and formulates, confirms the appearance of product, preserves to standard template, shoots the product of required processing when normally adding man-hour, compares and the position location by the computer contrast template, can carry out the precision finishing to the product after the adjustment, has the location accuracy, and response speed is fast advantage.
Thirdly, in practical application, the optical fiber, ultraviolet and CO can be supported2When the mainstream laser is used, only the 45-degree reflecting lens 12 reflecting different wave bands needs to be replaced, the universality is good, and the method can be suitable for processing various material products.
Drawings
Fig. 1 is a schematic structural diagram of a laser processing apparatus according to the present invention.
Fig. 2 is a schematic cross-sectional view of a laser processing apparatus according to the present invention.
Fig. 3 is a schematic structural diagram of a laser processing apparatus provided by the present invention at another viewing angle.
Fig. 4 is a partially enlarged view of fig. 1.
Reference numerals indicate the same.
1: lifting body, 2: galvanometer square head, 3: optics girder, 4: focusing field lens, 5: manual XY fine tuning stage, 6: a camera, 7: lens, 8: upper sealed lens assembly, 9: sealing cover, 10: lower sealing lens assembly, 11: combined bar light source, 12: 45-degree mirror plate, 13: mounting plate, 14: pivot hole, 15: pendulum shaft hole, 16: supporting platform, 17: a lifting support.
Detailed Description
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The following describes the embodiments of the present invention with reference to the drawings of the specification, so that the technical solutions and the advantages thereof are more clear and clear. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
As shown in fig. 1 to 3, a laser processing apparatus using a pseudo-coaxial vision system includes: a lifting body 1, a galvanometer square head 2, an optical main beam 3, a focusing field lens 4, a manual XY fine adjustment platform 5, a camera 6, a lens 7, an upper sealing lens assembly 8, a sealing cover 9, a lower sealing lens assembly 10, a combined strip-shaped light source 11 and a 45-degree reflecting lens 12, a bearing platform is arranged on the lifting body 1 in a lifting way, the galvanometer square head 2, the optical main beam 3, the focusing field lens 4 and the sealing cover 9 are all arranged on the bearing platform 16, the upper sealing lens assembly 8 and the lower sealing lens assembly 10 are respectively installed at the upper and lower openings of the sealing cover 9, the 45-degree mirror plate 12 is installed in the sealing cover 9, the camera 6 is installed above the sealing cover 9 through the manual XY fine adjustment platform 5, the lens 7 is arranged on the camera 6, and the combined strip-shaped light source 11 is arranged below the sealing cover 9; a laser is arranged on the optical main beam 3, laser emitted by the laser enters the focusing field lens 4 for focusing after being adjusted by the vibrating lens square head 2, and the focused laser enters from the side part of the sealing cover 9 and is emitted from the lower side of the sealing cover 9 after being reflected by the 45-degree reflecting lens 12; the 45-degree reflecting lens 12 is a lens which reflects laser and transmits visible light, and a visual light path of the camera 6 penetrates through the upper opening and the lower opening of the sealing cover 9 to shoot.
The laser processing device adopting the pseudo-coaxial vision system provided by the embodiment has the following working principle: 1) the template of the product to be processed is set by using visual software, and the setting method of the template can be drawing or image scanning. 2) And conveying the product to be processed to a lower focus of the sealing cover 9 by using a matched conveying line or a servo module. 3) And shooting the dynamic image of the product to be processed in real time by using the camera 6, comparing the shot dynamic image with the position of the template, further confirming the coordinate deviation condition of the product to be processed, and then automatically moving the deviated coordinate to a correct position through calculation, thereby realizing accurate processing (engraving or cutting). 4) Laser beam of laser instrument output is penetrated on a set of speculum of mirror side head 2 shakes, and these two reflection mirror pieces that can deflect centre gripping respectively are examined on the class motor (the mirror) in two precisions, when examining class motor (the mirror) and receive computer voltage signal's drive and take place the action, drive two reflection mirror pieces and rotate to realize the deflection of laser beam, through behind the focus field lens 4 focus process 45 degree reflection mirror piece 12 reflection downwards, thereby treat to process the product surface and form the laser beam of a minute high energy density one by one, accomplish the processing (sculpture or the cutting) of treating the processing product.
Compared with the prior art, the laser processing device adopting the pseudo-coaxial vision system provided by the embodiment can track the target with any shape by adjusting the working coordinate and controlling the laser processing path through the vision system, and can automatically recognize, automatically detect, position and automatically process, so that a workpiece to be processed is not required to be clamped and positioned by a tool clamp, the workpiece can be processed by freely placing the angle as long as the workpiece is laid flat, the material handling and clamping in the midway of the workpiece are reduced, and the production efficiency is greatly improved. Meanwhile, the coordinate offset is corrected through the deviation of the position of the dynamic image and the position of the template during working, and the method has the advantages of accurate positioning and high response speed. In addition, the optical fiber, ultraviolet and CO can be supported during practical application2When the mainstream laser is used, only the 45-degree reflecting lens 12 reflecting different wave bands needs to be replaced, the universality is good, and the method can be suitable for processing various material products.
In this embodiment, it is preferable that a lifting bracket 17 is further provided on the support platform 16, and the manual XY fine adjustment platform 5 is installed on the lifting bracket 17 in a liftable manner. In this way, when the user replaces the lens 7 according to different actual needs, the requirement of refocusing can be met by adjusting the height of the camera 6 relative to the sealing cover 9.
In this embodiment, the camera 6 is preferably a CCD industrial camera to ensure a sufficiently high resolution.
In this embodiment, it is preferable that a drawer opening is respectively provided at an upper opening and a lower opening of the sealing cover 9, and it is preferable that the upper sealing lens assembly 8 and the lower sealing lens assembly 10 are respectively inserted into the corresponding drawer openings. Thus, the upper sealed lens assembly 8 and the lower sealed lens assembly 10 can be quickly replaced, and cleaning is convenient.
In this embodiment, the optical main beam 3, the galvanometer square head 2, the focusing field lens 4 and the sealing cover 9 are sequentially and hermetically connected, so that the structure is compact, an additional optical path sealing element is not needed, and the structure is compact.
As shown in fig. 4, the combined strip light source 11 is composed of four strip light sources, the four strip light sources are sequentially connected end to form a rectangular structure, and each strip light source is rotatably mounted, so that the light emitting direction of each strip light source is adjusted toward the direction close to or away from the laser light path.
Specifically, the rotating mounting structure of each strip-shaped light source is as follows: a mounting plate 13 is arranged on the lower side of the bearing platform, a circular rotating shaft hole 14 and an arc-shaped swing shaft hole 15 are arranged on the mounting plate 13, and the rotating shaft hole 14 is positioned at the circle center of the swing shaft hole 15; the end part of the strip-shaped light source is provided with a rotating shaft in plug-in fit with the rotating shaft hole 14 and a swinging shaft in plug-in fit with the swinging shaft hole 15. During operation, the adjustment of the light emitting direction of the bar-shaped light source can be realized by locking the swing shaft at different positions of the swing shaft hole, and the adjustment of the light emitting angle is very convenient.
In this embodiment, the pendulum shaft is preferably a bolt, and a bolt hole engaged with the bolt is preferably provided at an end of the bar-shaped light source. Thus, the bolt can be screwed or unscrewed to conveniently and quickly lock and unlock the swing shaft and the mounting plate 13.
Here, the advantage of setting the bar light source to be rotatably mounted is that the light emitting direction can be autonomously adjusted according to the difference of the product to be processed, thereby ensuring the shooting accuracy and resolution of the camera 6.
It should be noted that, in some embodiments, the combined bar light source 11 may also be replaced by another annular light source, or the rotating installation of the bar light source is changed to a fixed installation; the present embodiment is not limited.
In addition, the structures of the elevating body 1, the manual XY fine adjustment stage 5, the elevating bracket, the mounting plate, and the like in the present embodiment are provided as needed for the convenience of assembling the respective components. Obviously, one or more of them can be omitted or replaced by other similar support structures according to different actual needs by those skilled in the art, and the present invention is not limited to this embodiment.
It will be appreciated by those skilled in the art from the foregoing description of construction and principles that the invention is not limited to the specific embodiments described above, and that modifications and substitutions based on the teachings of the art may be made without departing from the scope of the invention as defined by the appended claims and their equivalents. The details not described in the detailed description are prior art or common general knowledge.
Claims (10)
1. A laser machining apparatus employing a pseudo-coaxial vision system, comprising: the device comprises a galvanometer square head, an optical main beam, a focusing field lens, a camera, a lens, an upper sealing lens assembly, a sealing cover, a lower sealing lens assembly, an annular light source and a 45-degree reflection lens, wherein the upper sealing lens assembly and the lower sealing lens assembly are respectively arranged at an upper opening and a lower opening of the sealing cover, the 45-degree reflection lens is arranged in the sealing cover, the camera is arranged above the sealing cover, the lens is arranged on the camera, and the annular light source is arranged below the sealing cover; a laser is mounted on the optical main beam, laser emitted by the laser enters the focusing field lens for focusing after being adjusted by the vibrating lens square head, and the focused laser enters from the side part of the sealing cover and is emitted from the lower side of the sealing cover after being reflected by the 45-degree reflecting lens; the 45-degree reflecting lens is a lens which reflects laser and transmits visible light; a visual light path of the camera penetrates through the upper opening and the lower opening of the sealing cover to shoot;
in actual work, 1) setting a template of a product to be processed by using visual software; 2) conveying a product to be processed to a lower focus of the sealing cover; 3) shooting a dynamic image of a product to be processed in real time by using the camera, comparing the shot dynamic image with the position of the template, further confirming the coordinate offset condition of the product to be processed, and then automatically moving the offset coordinate to a correct position through calculation, thereby realizing accurate processing; 4) laser beam of laser instrument output is penetrated on a set of speculum of mirror square head shakes, and these two reflection lens that can deflect centre gripping respectively are examined on the current motor at two precisions, when examining the current motor and receive drive signal and take place the action, drive two reflection lens and rotate to realize the deflection of laser beam, the laser beam that the deflection targets in place passes through after the focus field lens focus, pass through 45 degrees reflection lens reflection downwards, finally treat the processing of processing product surface formation individual laser beam, accomplish and treat the processing of processing product.
2. The laser processing device with the pseudo-coaxial vision system according to claim 1, further comprising a lifting body, wherein a supporting platform is installed on the lifting body in a liftable manner, and the galvanometer square head, the optical main beam, the focusing field lens and the sealing cover are all installed on the supporting platform.
3. The laser processing device with pseudo-coaxial vision system as claimed in claim 2, wherein a lifting frame is provided on said supporting platform, a manual XY fine adjustment platform is liftably mounted on said lifting frame, and said camera is mounted above said sealing cover through said manual XY fine adjustment platform.
4. The laser processing device adopting the pseudo-coaxial vision system as claimed in claim 1, wherein the annular light source is a combined strip light source, and is composed of four strip light sources connected end to end in sequence, and the four strip light sources form a rectangular structure.
5. The laser processing apparatus using the pseudo-coaxial vision system as claimed in claim 4, wherein each of the bar light sources is rotatably installed, so that the light emitting direction of each of the bar light sources can be adjusted to a direction close to the laser path or a direction away from the laser path.
6. The laser processing apparatus using pseudo-coaxial vision system as claimed in claim 5, wherein the rotation mounting structure of each of said bar-shaped light sources is: the mounting plate is used for supporting the strip-shaped light source, a circular rotating shaft hole and an arc-shaped swing shaft hole are formed in the mounting plate, and the rotating shaft hole is located at the circle center of the swing shaft hole; a rotating shaft in inserting fit with the rotating shaft hole and a swing shaft in inserting fit with the swing shaft hole are arranged at the end part of the strip-shaped light source; when the light source device works, the adjustment of the light emitting direction of the bar-shaped light source is realized by locking the swing shaft at different parts of the swing shaft hole.
7. The laser processing device adopting the pseudo-coaxial vision system as claimed in claim 6, wherein the swing shaft is a bolt, and a bolt hole matched with the bolt is arranged at the end part of the strip-shaped light source; when the locking device works, the bolt is screwed or unscrewed to lock and unlock the swing shaft and the swing shaft hole.
8. The laser processing apparatus using pseudo-coaxial vision system as claimed in claim 1, wherein said sealing cap has a drawer opening at each of the upper and lower openings, and said upper sealing lens assembly and said lower sealing lens assembly are respectively inserted into the corresponding drawer openings.
9. The laser processing device adopting the pseudo-coaxial vision system as claimed in claim 1, wherein the optical main beam, the galvanometer square head, the focusing field lens and the sealing cover are sequentially and hermetically connected.
10. The laser processing apparatus using pseudo-coaxial vision system as claimed in claim 1, wherein said laser is ultraviolet laser or CO2The laser, the camera is CCD industry camera.
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| CN202111195205.6A CN113751859A (en) | 2021-10-13 | 2021-10-13 | Laser processing device adopting pseudo-coaxial vision system |
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| CN116197545A (en) * | 2023-05-04 | 2023-06-02 | 广东国玉科技股份有限公司 | Laser marking machine |
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| CN113252685A (en) * | 2021-04-30 | 2021-08-13 | 博众精工科技股份有限公司 | Chip detector |
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| CN114873241A (en) * | 2022-05-11 | 2022-08-09 | 杭州腾隆隆桦智能科技有限公司 | Feeding system for printing equipment |
| CN116197545A (en) * | 2023-05-04 | 2023-06-02 | 广东国玉科技股份有限公司 | Laser marking machine |
| CN116197545B (en) * | 2023-05-04 | 2023-08-11 | 广东国玉科技股份有限公司 | Laser marking machine |
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