CN114113127B - Multi-station spindle detector - Google Patents
Multi-station spindle detector Download PDFInfo
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- CN114113127B CN114113127B CN202111339741.9A CN202111339741A CN114113127B CN 114113127 B CN114113127 B CN 114113127B CN 202111339741 A CN202111339741 A CN 202111339741A CN 114113127 B CN114113127 B CN 114113127B
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- 238000001514 detection method Methods 0.000 claims abstract description 57
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000011144 upstream manufacturing Methods 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 9
- 238000011179 visual inspection Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 description 7
- 230000007547 defect Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Abstract
The invention provides a wire ingot roller way conveying device and a multi-station wire ingot detecting machine, and belongs to the technical field of operation. The device solves the problems of the existing silk spindle detection device that the procedures are numerous, the operation is assisted, and the detection efficiency is low. The wire ingot roller way conveying device comprises a conveying frame, a plurality of long rollers, a motor and a plurality of groups of differential roller assemblies, wherein a conveying channel is formed in the conveying frame; the differential roller assemblies are sequentially and adjacently arranged along the longitudinal line of the conveying channel; the differential roller assembly comprises a first short roller and a second short roller, and the first short roller and the second short roller are both in rotary connection with the conveying frame; the shell of the motor is arranged on the conveying frame, and a plurality of first short rollers are connected with the rotating shaft of the motor through chain transmission. In the process of conveying the wire ingots by adopting the wire ingot roller way conveying device, the wire ingots not only move along the longitudinal line of the conveying channel, but also rotate circumferentially, so that the smoothness of wire ingot conveying is obviously improved; thereby remarkably improving the detection beat and realizing the improvement of the detection efficiency of the wire ingots.
Description
Technical Field
The invention belongs to the technical field of detection, and relates to a detector, in particular to a multi-station wire spindle detector.
Background
The silk spindle is a silk cake wound by chemical fiber silk, and the outer surface of the silk spindle is attached with defects of silk clamping, stumbling, non-stripping silk, tail silk and the like when the silk spindle is wound and formed; a wire ingot with the above-mentioned defects affects not only the appearance of the wire ingot, but also the grade and value of the wire ingot.
In order to efficiently detect the wire rod, the applicant has proposed various detection devices and detection methods, such as a chemical fiber cake appearance detection device (application No. 201810813468.0), a wire rod surface shape defect visual detection method and detection device thereof (application No. 202010301819.7). In the detection process, a lifting rotating mechanism is required to lift the wire ingots and drive the wire ingots to rotate at a uniform speed in the circumferential direction; in the actual detection process, the paper tube of the silk spindle is ensured to be opposite to the clamping jaw in the silk spindle lifting and rotating mechanism, the clamping jaw is driven to descend and clamp the paper tube, the silk spindle is lifted and driven to rotate, and finally the silk spindle is put down; this has a problem of a large number of steps, auxiliary handling, and low detection efficiency. In order to ensure the consistency of the detection beats of the detection system, a plurality of groups of lifting and rotating mechanisms and related detection devices are generally arranged, so that the multi-station wire ingot detection machine has the problems of high manufacturing cost, large occupied area and the like.
Disclosure of Invention
The invention provides a multi-station wire ingot detector, which aims to solve the technical problems of improving the smoothness of wire ingot conveying and reducing the manufacturing cost of the multi-station wire ingot detector.
The technical problems to be solved by the invention can be realized by the following technical proposal: the wire spindle roller way conveying device comprises a conveying frame and a plurality of long rollers, wherein a conveying channel is formed in the conveying frame, the long rollers are arranged along the longitudinal line of the conveying channel, and the long rollers are rotationally connected with the conveying frame; the wire spindle roller way conveying device is characterized by further comprising a motor and a plurality of groups of differential roller assemblies, wherein the groups of differential roller assemblies are sequentially and adjacently arranged along the longitudinal line of the conveying channel; the differential roller assembly comprises a first short roller and a second short roller, and the first short roller and the second short roller are both in rotary connection with the conveying frame; the shell of the motor is arranged on the conveying frame, and a plurality of first short rollers are connected with the rotating shaft of the motor through chain transmission.
The silk spindle is installed on silk spindle tray, and the bottom of silk spindle tray takes the discoid. In the moving process of the wire ingot tray, when the wire ingot tray is located in the area where the long roller of the conveying channel is located, the bottom surface of the wire ingot tray is completely abutted against the long roller, and the rotating speeds of all sections of the long roller are the same, so that the wire ingot tray only moves along the longitudinal line of the conveying channel, and generally, no circumferential rotation is generated. When the wire spindle tray is partially or completely positioned in the area of the differential roller assembly of the conveying channel, one side area of the bottom surface of the wire spindle tray is abutted against the first short roller, and the other side area of the bottom surface of the wire spindle tray is abutted against the second short roller; because the first short roller is driven by the motor, the second short roller is not driven by power, and the rotating speeds of the left end part and the right end part of the differential roller assembly are different, the rotating speeds of the left side area and the right side area of the wire spindle tray are different, and the wire spindle tray is enabled to move along the longitudinal line of the conveying channel and rotate circumferentially.
Compared with the prior art, in the process of conveying the wire ingots by adopting the wire ingot roller way conveying device, the wire ingots not only move along the longitudinal line of the conveying channel, but also rotate circumferentially, namely the wire ingot tray and the wire ingots always keep a moving state without any pause, thereby obviously improving the smoothness of wire ingot conveying. The circumferential rotation angle of the wire ingot tray can be controlled by controlling the arrangement length of the differential roller assembly, so that the angle of the wire ingot after rotation is ensured to meet the detection technical requirement.
A multi-station wire ingot detector comprises the wire ingot roller way conveying device and a plurality of groups of wire ingot visual detection devices, wherein the plurality of groups of wire ingot visual detection devices are arranged along the longitudinal line of a conveying channel; the conveying channel comprises an upstream detection section, a downstream detection section and a differential rotation section, the differential rotation section is positioned between the upstream detection section and the downstream detection section, the differential roller assembly is positioned in the differential rotation section, at least one group of silk spindle visual detection devices are used for detecting the appearance of silk spindles positioned at the upstream detection section, and at least one group of silk spindle visual detection devices are used for detecting the appearance of silk spindles positioned at the downstream detection section.
When the multi-station wire ingot detector is used for detecting whether the appearance of the wire ingot has defects, the wire ingot is arranged on a wire ingot tray, and the bottom of the wire ingot tray is positioned in a conveying channel; when the wire spindle tray is positioned in the upstream detection section, the wire spindle visual detection device is used for detecting whether defects exist in the left and right side areas of the wire spindle, and when the wire spindle tray moves to the differential rotation section, the differential roller assembly rotates in a differential mode so that the wire spindle tray moves along the longitudinal line of the conveying channel and rotates in the circumferential direction; when the silk spindle tray arrives in the downstream detection section, the silk spindle tray usually completes 90 degrees of rotations, and the silk spindle is regional to be relative with the left and right sides portion of conveying channel in both sides around like this, and silk spindle visual detection device is used for detecting whether there is the defect in silk spindle front and back both sides region.
Compared with the prior art, when the multi-station wire ingot detector detects wire ingots, the wire ingot tray and the wire ingots always keep in a moving state, no pause exists, and by improving the wire ingot conveying smoothness, the number of the lifting rotating mechanism and the wire ingot roller way conveying device can be omitted, so that the manufacturing cost of the multi-station wire ingot detector is reduced, the detection beat can be obviously improved, and the wire ingot detection efficiency is improved.
Preferably, the first short roller and the second short roller are coaxially arranged.
Preferably, a distance is provided between an end face of the first short roller and an end face of the second short roller.
Preferentially, a main shaft is arranged on the conveying frame, and the second short roller is sleeved on the main shaft; the main shaft is sleeved with a spring, and one end of the spring is propped against the second short roller.
Preferably, the spindle is connected with a lock nut in a threaded manner, and the other end of the spring abuts against the lock nut.
Preferably, two ends of the second short roller are connected with the main shaft through thrust bearings, and one end of the spring is abutted against the inner ring of the thrust bearings.
Preferably, the differential roller assemblies are 3-8 groups in number.
Preferably, the conveying channel comprises an upstream detecting section, a downstream detecting section and a differential rotating section, the differential rotating section is positioned between the upstream detecting section and the downstream detecting section, the differential roller assembly is positioned in the differential rotating section, and the long roller in the upstream detecting section and the long roller in the downstream detecting section are connected with the chain.
Preferably, the at least one set of said visual inspection devices is configured to inspect the appearance of the yarn ingots located at the differential rotation section.
Drawings
Fig. 1 is a schematic top view of a wire rod roller conveyor.
FIG. 2 is a schematic cross-sectional view of A-A of FIG. 1.
Fig. 3 is a schematic perspective view of the area of the differential drum assembly.
Fig. 4 is a schematic perspective view of a multi-station wire ingot detector.
Fig. 5 is a schematic perspective view of a multi-station wire spindle detector in a state of detecting wire spindles.
Fig. 6 is a schematic cross-sectional view of a multi-station wire-spindle detector in detecting wire-spindle condition.
In the figure, 1, a conveying frame; 1a, a main frame body; 1b, a protective top plate; 1c, a side plate; 2. a motor; 3. a long roller; 4. differential roller assembly; 4a, a first short roller; 4b, a second short roller; 5. a conveying channel; 5a, a feeding section; 5b, an upstream detection section; 5c, a differential rotation section; 5d, a downstream detection section; 5e, a discharging section; 6. a material blocking component; 7. a main shaft; 8. a thrust bearing; 9. a lock nut; 10. a spring; 11. a silk spindle visual detection device; 20. a silk spindle tray; 30. and (5) a silk spindle.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 3, a wire rod roller way conveying device comprises a conveying frame 1, a motor 2, a plurality of long rollers 3 and a plurality of groups of differential roller assemblies 4.
The conveying frame 1 comprises a main frame body 1a, a protective top plate 1b and side plates 1c, wherein the protective top plate 1b and the side plates 1c are two groups, the two groups of protective top plates 1b and the two groups of side plates 1c are arranged in one-to-one correspondence, the two groups of protective top plates 1b are respectively arranged on two sides of the main frame body 1a, and conveying channels 5 are formed between the two groups of side plates 1 c. The conveying path 5 is sequentially called a feeding section 5a, an upstream detecting section 5b, a differential rotation section 5c, a downstream detecting section 5d and a discharging section 5e from an inlet to an outlet.
The long rollers 3 are horizontally arranged along the longitudinal line of the conveying channel 5, long rollers 3 are arranged in the feeding section 5a, the upstream detection section 5b, the downstream detection section 5d and the discharging section 5e, and the side plate 1c is positioned above the long rollers 3; the long roller 3 is positioned below the protective top plate 1b, and the long roller 3 is rotationally connected with the conveying frame 1.
The number of the motors 2 is multiple, so that the long rollers 3 positioned in different areas can be driven by different motors 2, the shells of the motors 2 are arranged on the conveying frame 1, and the long rollers 3 are connected with the rotating shafts of the motors 2 through chain transmission. The number of the motors 2 is two groups according to the specification, the two groups of motors 2 are respectively called a first motor 2 and a second motor 2, and a long roller 3 positioned in a feeding section 5a is driven by the first motor 2, namely, the long roller 3 is in transmission connection with a rotating shaft of the first motor 2 through a first chain; the long rollers 3 in the other areas are driven by a second motor 2, namely, the long rollers 3 are connected with the rotating shafts of the second motor 2 through a second chain in a transmission manner.
A material blocking assembly 6 is arranged between the feeding section 5a and the upstream detection section 5b, the material blocking assembly 6 is arranged on the main frame body 1a, and the material blocking assembly 6 can enable the conveying channel 5 to be in an unblocked state, i.e. workpieces in the feeding section 5a can smoothly move into the upstream detection section 5 b; the stop assembly 6 also enables the conveyor channel 5 to be in a blocked state, i.e. the stop assembly 6 stops the workpiece, leaving it in the feed section 5 a.
The differential roller assemblies 4 are positioned in the differential rotating section 5c, and the differential roller assemblies 4 are sequentially and adjacently arranged along the longitudinal line of the conveying channel 5. The specification gives that the number of differential roller assemblies 4 is 4 groups, and the number of differential roller assemblies 4 can be adaptively increased or decreased according to practical situations.
The differential roller assembly 4 comprises a first short roller 4a and a second short roller 4b, the first short roller 4a and the second short roller 4b are arranged coaxially, and the first short roller 4a and the second short roller 4b are both in rotary connection with the main frame body 1 a. The distance is reserved between one end face of the first short roller 4a and one end face of the second short roller 4b, so that the middle of a workpiece is not contacted with the differential roller assembly 4, the bottom face of the left side area of the workpiece is abutted against the first short roller 4a, the bottom face of the right side area of the workpiece is abutted against the second short roller 4b, and the rotation stability and the flexibility of the workpiece are improved.
All differential roller assemblies 4 have the first stub roller 4a connected to the second chain, not shown in the drawings, to thereby enhance the stability of the movement of the work piece along the longitudinal line of the conveying path 5.
As shown in fig. 2, the rotating connection structure of the second short roller 4b and the main frame 1a comprises a main shaft 7 arranged on the main frame 1a, and the second short roller 4b is sleeved on the main shaft 7; the two ends of the second short roller 4b are connected with the main shaft 7 through thrust bearings 8, so that the rotation stability of the second short roller 4b is improved. The main shaft 7 is connected with a lock nut 9 in a threaded manner, a spring 10 is sleeved on the main shaft 7, one end of the spring 10 is abutted against the lock nut 9, the other end is abutted against the thrust bearing 8 inner ring, and the elasticity of the spring 10 is adjusted by screwing the lock nut 9, so that the rotation flexibility of the second short roller 4b is adjusted, namely the force required by the rotation of the second short roller 4b is adjusted. The adjustment of the rotation angle of the workpiece in the differential rotation section 5c is realized by the elastic force of the adjustment spring 10, in other words, when workpieces with different weights are conveyed, the rotation angle in the differential rotation section 5c can be ensured to be consistent by the elastic force of the adjustment spring 10, and the workpiece can be rotated by 90 degrees normally.
As shown in fig. 4, a multi-station wire ingot 30 detector comprises the wire ingot roller way conveying device and a plurality of groups of wire ingot visual detection devices 11, wherein the groups of wire ingot visual detection devices 11 are arranged along the longitudinal line of the conveying channel 5; the specification and drawings show that the number of the silk spindle visual inspection devices 11 is 3 groups, and the number of the silk spindle visual inspection devices 11 can be adaptively increased or decreased according to practical situations. A set of ingot vision inspection devices 11 for inspecting the appearance of the ingot 30 at the upstream inspection section 5b, a set of ingot vision inspection devices 11 for inspecting the appearance of the ingot 30 at the downstream inspection section 5d, and a set of ingot vision inspection devices 11 for inspecting the appearance of the ingot 30 at the differential rotation section 5 c.
The operation and advantages of the various components, and in particular the operation and advantages of the wire-spindle roller conveyor, are further illustrated by the description of the process of inspecting the appearance of the wire-spindle 30 using a multi-station wire-spindle 30 inspection machine, as shown in fig. 5 and 6. The wire ingot 30 is arranged on the upper wire ingot tray 11, and the bottom of the wire ingot tray 11 is disc-shaped; the space between the two groups of side plates 1c is identical with the bottom diameter of the wire ingot tray 11; the protective top plate 1b has a top plate portion located above the side plate 1c, and the top plate portion can prevent the wire ingot tray 11 from tilting.
When the wire ingot tray 11 is positioned in the upstream detecting section 5b, a group of wire ingot visual detecting devices 11 are used for detecting the appearance of the left and right side areas of the wire ingot 30, and when the wire ingot tray 11 moves into the differential rotation section 5c, a group of wire ingot visual detecting devices 11 are used for detecting the appearance of the peripheral area of the wire ingot 30, namely, the wire ingot 30 is shot while moving; when the wire ingot tray 11 moves to the downstream detection section 5d, the wire ingot tray 11 completes 90-degree rotation, and a group of wire ingot visual detection devices 11 are used for detecting the appearance of the front and rear side areas of the wire ingot 30; the vertical lines on the outer side of the wire ingot 30 are marked lines, and the rotation angle of the wire ingot 30 is indicated by the marked lines. When the wire spindle tray 11 passes through the differential rotation section 5c, the bottom surface of the left side area of the wire spindle tray 11 is propped against the first short roller 4a, the bottom surface of the right side area of the wire spindle tray 11 is propped against the second short roller 4b, the second motor 2 drives the first short roller 4a to rotate through the second chain, the second short roller 4b does not have power input, the first short roller 4a drives the left side area of the wire spindle tray 11 to move, and the wire spindle tray 11 is enabled to rotate circumferentially in the process of moving along the longitudinal line of the conveying channel 5 due to different speeds and different friction forces of the left side area and the right side area of the wire spindle tray 11.
Claims (6)
1. The utility model provides a multistation wire spindle detects machine, including multiunit wire spindle vision detection device (11) and wire spindle roll table conveyor, wire spindle roll table conveyor includes carriage (1), motor (2) and many long rollers (3), have conveying channel (5) in carriage (1), conveying channel (5) are including upstream detection section (5 b), downstream detection section (5 d) and differential rotatory section (5 c), differential rotatory section (5 c) are located between upstream detection section (5 b) and the downstream detection section (5 d), the casing of motor (2) is installed on carriage (1), many long rollers (3) are arranged along conveying channel (5) longitudinal line, long roller (3) are rotated with carriage (1) and are connected; a plurality of groups of silk spindle visual detection devices (11) are arranged along the longitudinal line of the conveying channel (5), at least one group of silk spindle visual detection devices (11) are used for detecting the appearance of silk spindles (30) positioned at the upstream detection section (5 b), and at least one group of silk spindle visual detection devices (11) are used for detecting the appearance of silk spindles (30) positioned at the downstream detection section (5 d); it is characterized in that the method comprises the steps of,
the wire spindle roller way conveying device further comprises a plurality of groups of differential roller assemblies (4) positioned in the differential rotary section (5 c), and the plurality of groups of differential roller assemblies (4) are sequentially and adjacently arranged along the longitudinal line of the conveying channel (5); the differential roller assembly (4) comprises a first short roller (4 a) and a second short roller (4 b), and the first short roller (4 a) and the second short roller (4 b) are both in rotary connection with the conveying frame (1); the first short rollers (4 a), the long rollers (3) positioned in the upstream detection section (5 b) and the long rollers (3) positioned in the downstream detection section (5 d) are connected with the rotating shaft of the motor (2) through chain transmission; a main shaft (7) is arranged on the conveying frame (1), and a second short roller (4 b) is sleeved on the main shaft (7); a spring (10) is sleeved on the main shaft (7), one end of the spring (10) abuts against the second short roller, a lock nut (9) is connected to the main shaft (7) in a threaded mode, and the other end of the spring (10) abuts against the lock nut (9); the elasticity of the spring (10) is adjusted by screwing the lock nut (9), so that the rotation flexibility of the second short roller (4 b) is adjusted, the rotation angle of the wire spindle tray (11) in the differential rotation section (5 c) is adjusted, and the circumferential rotation angle of the wire spindle tray can be controlled by controlling the arrangement length of the differential roller assembly (4);
when the second motor (2) drives the first short roller (4 a) to rotate through a chain and the wire ingot tray (11) passes through the differential rotation section (5 c), the bottom surface of one side area of the wire ingot tray (11) is propped against the first short roller (4 a), the bottom surface of the other side area is propped against the second short roller (4 b), the speeds and the friction force of the left side area and the right side area of the wire ingot tray (11) are different, and the wire ingot tray (11) is rotated circumferentially in the moving process along the longitudinal line of the conveying channel (5).
2. A multi-station wire-spindle inspection machine according to claim 1, characterized in that at least one set of said wire-spindle visual inspection devices (11) is used to inspect the appearance of the wire-spindle (30) at the differential rotation section (5 c).
3. A multi-station wire ingot detector according to claim 1, characterized in that the first (4 a) and second (4 b) short rollers are arranged coaxially.
4. A multi-station wire ingot inspection machine according to claim 2, characterized in that a distance is provided between an end face of the first short roller (4 a) and an end face of the second short roller (4 b).
5. The multi-station wire spindle detector according to claim 1, wherein both ends of the second short roller (4 b) are connected with the main shaft (7) through thrust bearings (8), and one end of the spring (10) abuts against an inner ring of the thrust bearings (8).
6. A multi-station wire spindle inspection machine according to claim 1 or 3 or 4, characterized in that the number of differential roller assemblies (4) is 3-8 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339741.9A CN114113127B (en) | 2021-11-12 | 2021-11-12 | Multi-station spindle detector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339741.9A CN114113127B (en) | 2021-11-12 | 2021-11-12 | Multi-station spindle detector |
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| CN114113127A CN114113127A (en) | 2022-03-01 |
| CN114113127B true CN114113127B (en) | 2023-11-17 |
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| CN202111339741.9A Active CN114113127B (en) | 2021-11-12 | 2021-11-12 | Multi-station spindle detector |
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| CN209052081U (en) * | 2018-11-29 | 2019-07-02 | 大江南电子科技（昆山）有限公司 | Horizontal turns to plate putting machine |
| CN210102839U (en) * | 2019-05-22 | 2020-02-21 | 北冰洋（北京）饮料食品有限公司 | Differential steering device for bottle box |
| CN210775247U (en) * | 2019-06-18 | 2020-06-16 | 深圳市东联优软科技有限公司 | Chemical fiber spindle appearance detection equipment |
| CN210682046U (en) * | 2019-07-02 | 2020-06-05 | 武汉人天机器人工程有限公司 | Steering belt conveyor |
| CN210392634U (en) * | 2019-07-05 | 2020-04-24 | 无锡奥环智能科技有限公司 | Conveying friction roller way for cleaning machine |
| CN211768627U (en) * | 2020-02-24 | 2020-10-27 | 长春市阿尔法像素科技有限公司 | Turnover mechanism convenient for double-side visual detection |
| CN111443037A (en) * | 2020-04-16 | 2020-07-24 | 杭州慧知连科技有限公司 | Full-automatic visual detection system for appearance of silk ingots |
| CN113533358A (en) * | 2020-04-16 | 2021-10-22 | 杭州慧知连科技有限公司 | Visual detection method and device for surface shape defects of silk ingots |
| CN112520113A (en) * | 2020-11-24 | 2021-03-19 | 浙江海悦机器人有限公司 | Differential sorting mechanism of soft bag collator |
| CN112611759A (en) * | 2020-12-31 | 2021-04-06 | 杭州慧知连科技有限公司 | Multi-station monitoring and sampling device |
| CN112623601A (en) * | 2021-03-09 | 2021-04-09 | 罗伯泰克自动化科技（苏州）有限公司 | Steering differential driving device of high-speed tunnel stacker and high-speed tunnel stacker |
| CN113320986A (en) * | 2021-04-20 | 2021-08-31 | 浙江大胜达包装股份有限公司 | Corrugated paper stacking and transporting vehicle based on order demand assembly and control method thereof |
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