CN115574718A - Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof - Google Patents

Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof Download PDF

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Publication number
CN115574718A
CN115574718A CN202110761538.4A CN202110761538A CN115574718A CN 115574718 A CN115574718 A CN 115574718A CN 202110761538 A CN202110761538 A CN 202110761538A CN 115574718 A CN115574718 A CN 115574718A
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Prior art keywords
blade
detection mechanism
visual inspection
blades
product
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CN202110761538.4A
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Chinese (zh)
Inventor
李熙春
李志远
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Hanchuang Vision Technology Chongqing Co ltd
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Hanchuang Vision Technology Chongqing Co ltd
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Priority to CN202110761538.4A priority Critical patent/CN115574718A/en
Publication of CN115574718A publication Critical patent/CN115574718A/en
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    • 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
    • G01N21/8914—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the material examined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G17/00—Apparatus for or methods of weighing material of special form or property
    • G01G17/02—Apparatus for or methods of weighing material of special form or property for weighing material of filamentary or sheet form
    • 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
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined

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  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Robotics (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention discloses automatic visual inspection equipment for appearance defects of engine blades, which comprises a workbench, a protective cover and a robot control system, wherein the workbench is connected with the protective cover through a connecting rod; a distribution box is arranged below the workbench, and a protective cover is arranged on the workbench; set up six manipulators on the workstation, set up serial number detection mechanism, length detection mechanism and stove batch number, nominal value detection mechanism, can solve because of the different people detects different data through the control to the manipulator by this automatic visual inspection equipment, solve the long-term fatigue that detects of people's eye and sneak into the yields to the defective products, the visual defect detection data of product can be accurately taken to such detection, guarantees follow-up scientific analysis product's impaired condition.

Description

Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof
Technical Field
The invention relates to automatic visual inspection equipment for appearance defects of engine blades and an operation method thereof.
Background
As is well known, the appearance of an engine and its blades must be checked after a certain number of kilometers of flight of an aircraft, and appearance defects are the most concerned. In order to ensure the flight safety, after tens of thousands of kilometers of flight, appearance defect detection is carried out manually, and data are recorded. Some appearance defects are detected by depending on some high-precision instruments, some appearance defects are directly watched by human eyes, the accuracy of data detection every time is guaranteed, the places with the appearance defects are also guaranteed to be maintained in time, the safety of passengers is guaranteed, the detection results of manual detection or different human application instruments are different, a lot of data are inaccurate, and the data analysis of subsequent product detection is not scientific enough. Even some manual detections receive the influence of eye fatigue, and the defects are leaked, so that the airplane engine works with diseases, and serious flight accidents can be caused. If the automatic visual inspection equipment is used for replacing manual inspection, the problem that different people use the same instrument to inspect to obtain different data can be solved, and the problem that defective products flow into good products due to long-term fatigue detection of human eyes can also be solved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides automatic visual inspection equipment and a processing method for appearance defects of engine blades, which can overcome the defects.
The invention relates to an automatic visual inspection device for appearance defects of engine blades, which comprises a workbench, a protective cover and a robot control system, wherein the workbench is connected with the protective cover through a connecting rod; a distribution box is arranged below the workbench, and a protective cover is arranged on the workbench; the protective cover is provided with a frame structure, transparent glass is convenient to observe in the frame structure, and the transparent glass forms a perspective area; workstation intermediate position sets up six robotic arm, is located six robotic arm one side sets up sequence number detection mechanism, and the opposite side sets up length detection mechanism and stove batch number, nominal value detection mechanism and blade weighing machine and constructs, is located six robotic arm the place ahead sets up three kinds of trays, set up photoelectric switch on the tray, all there is the cylinder that sticiss on the tray next door, and photoelectric switch detects the product on the tray, and it fixes to compress tightly the cylinder after waiting full material, six robotic arm, sequence number detection mechanism, length detection mechanism and stove batch number, nominal value detection mechanism and weighing machine construct all with robot control system signal connection, robot control system is located the workstation outside.
Furthermore, the six-axis mechanical arm is provided with a connecting disc, and a first camera, a second camera and a clamping mechanism are arranged below the connecting disc.
Furthermore, the clamping structure comprises a finger cylinder, clamping jaws, linear bearings, pressing blocks and a pressure sensor, the finger cylinder is fixed on the connecting disc and connected with the clamping jaws, the clamping jaws are of a replaceable structure, the pressure sensor is arranged inside the pressing blocks, and the pressing blocks are located between the clamping jaws and vertically connected with the linear bearings; the claw is provided with a blade anti-groove.
Further, serial number detection mechanism includes mount, bar code collector and servo motor and cylinder, and wherein the mount is installed on the workstation, and its top surface has the recess that holds the turbine dish, is located the recess below and sets up the bar code collector, and the recess both sides have the breach, and the bar code collector is used for gathering furnace batch number photo signal on each blade of turbine product, and its both sides set up rotating electrical machines and cylinder respectively.
Further, the length detection mechanism comprises a servo unit and a positioning table, wherein the servo unit is provided with a laser measuring instrument.
Furthermore, the top surface of the positioning table is provided with an anti-groove for placing the blades conveniently, and the two sides of the profiling groove are provided with anti-grooves for forming included angles between the blades.
Further, the tray includes nonconforming product tray, certified products tray and material loading tray.
Further, the nominal value detection mechanism is an industrial camera.
The scheme also provides a working method of the automatic visual inspection equipment for the appearance defects of the engine blades, which comprises the following steps:
the first step is as follows: manually feeding; if the turbine product is not split, the turbine product is moved to a fixed frame of a serial number detection mechanism; if the turbine product is split, placing the blades on a feeding tray, and directly carrying out the fourth step of operation; if the turbine product is not split and the turbine product is split at the same time, operating the turbine product and the turbine product at the same time;
the second step is that: starting a robot control system, operating a station of a six-axis mechanical arm movement sequence number detection mechanism, and selecting a first camera to position and mark a first blade of a turbine product;
the third step: starting a rotating motor on the serial number detection mechanism, enabling the turbine product to rotate clockwise or anticlockwise on the fixing frame, starting from the first blade in the second step, shooting and identifying the furnace batch number on each blade on the turbine product by adjusting the angle of the first camera, and transmitting the acquired photo information to the control system to generate a sequence list; the sequence list can display the sequence number, the weight and the nominal value information of each blade;
the fourth step: manually placing, namely placing the blades on a feeding tray according to the sequence, and after the blades are fully filled, controlling a compaction cylinder to compact the tray through an in-place switch in an induction manner;
the fifth step: checking whether the placement is correct, detecting the preset height of the blade through an optical detection switch, if so, prompting the error by a system, re-placing correctly, and if so, performing the next operation;
and a sixth step: grabbing the blade by a clamping mechanism on a six-axis mechanical arm, moving a third camera to photograph and identify the furnace batch number and the nominal value, and then preparing to detect the elongation of the blade, if the eighth step is not needed, directly carrying out the eighth step; if so, carrying out the next step;
the seventh step: moving the blade to a positioning table of a length detection mechanism through a clamping mechanism of a six-axis mechanical arm;
eighth step: detecting the elongation of the blade by a laser measuring instrument on the length detection mechanism, if the elongation is unqualified, moving the blade to a defective product tray by a clamping mechanism of a six-axis mechanical arm, and if the elongation is qualified, moving the blade to a blade weighing mechanism;
the tenth step; after the blades are weighed, the blades are grabbed onto a discharging disc through a six-shaft mechanical arm to be reordered.
Compared with the prior art, the automatic visual inspection equipment for the appearance defects of the engine blades is provided, different data can be acquired due to the detection of different people by the automatic visual inspection equipment, the problem that the human eyes are tired to detect for a long time and the defective products are mixed into the defective products is solved, the appearance defects of the products can be accurately detected by the automatic visual inspection equipment, and the damage condition of the subsequent scientific analysis products is guaranteed.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a top view of the table.
Fig. 3 is a first structural diagram of a six-axis robot.
Fig. 4 is a schematic structural view of a six-axis manipulator.
Fig. 5 is a first structural schematic diagram of a serial number detection mechanism.
Fig. 6 is a schematic structural diagram of a serial number detection mechanism.
FIG. 7 is a schematic view of a length detection mechanism.
Fig. 8 is a schematic view of the jaw structure in contact relationship with the blade.
Fig. 9 is a bottom view of fig. 8.
The figure is as follows: 1 distribution box, 2 protective covers, 3 robot control systems, 4 workbenches, 5 six-axis mechanical arms, 51 connecting discs, 52 first cameras, 53 second cameras, 54 clamping mechanisms, 6 servo units, 61 laser measuring instruments, 7 positioning tables, 8 nominal value detection mechanisms, 9 blade weighing mechanisms, 10 turbine serial number detection parts, 101 fixing frames, 102 code scanners, 103 rotating motors, 104 simulation turbine discs, 105 gaps, 106 cylinders, 107 grooves, 11 unqualified product trays, 12 qualified product trays, 13 feeding trays, 14 finger cylinders, 15 linear bearings, 17 claws, 18 pressing blocks, 19 blades and 20 anti-groove grooves.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in FIGS. 1-7, the invention relates to an automatic visual inspection device for the appearance defects of engine blades, which comprises a workbench, a protective cover 2 and a robot control system 3; a distribution box 1 is arranged below the workbench, and a protective cover 2 is arranged on the workbench 4; the protective cover 2 is provided with a frame structure which is provided with a window capable of being closed, transparent glass is arranged in the frame structure and is convenient to observe, the transparent glass forms a perspective area, and the condition inside the protective cover can be checked through the perspective area; a six-axis mechanical arm 6 is arranged in the middle of the workbench, an NACHI (Nazhi-Do-you-go) industrial robot is selected as the six-axis robot, and the six-axis robot is convenient to control and high in accuracy; a serial number detection mechanism is arranged on one side of the six-axis mechanical arm, a length detection mechanism, a furnace batch number detection mechanism, a nominal value detection mechanism 8 and a blade weighing mechanism 9 are arranged on the other side of the six-axis mechanical arm, the serial number detection mechanism, the furnace batch number detection mechanism, the nominal value detection mechanism and the blade weighing mechanism form stations respectively, three trays are arranged in front of the six-axis mechanical arm, photoelectric switches are arranged on the trays, and compressing air cylinders are arranged beside the trays; six manipulators, serial number detection mechanism, length detection mechanism and stove batch number, nominal value detection mechanism and the structure of weighing all with robot control system 3 signal connection, robot control system is located the workstation outside.
As a technical improvement, the six-axis robot arm is provided with a connecting disc 51, below which a first camera 52, a second camera 53 and a clamping mechanism 54 are arranged.
As a technical improvement, as shown in fig. 8 and 9, the clamping structure comprises a finger cylinder 14, jaws 17, a linear bearing 17, a pressing block 18 and a pressure sensor, the finger cylinder is fixed on the connecting disc and connected with the jaws 17, the jaws are of a replaceable structure, the pressure sensor is arranged inside the pressing block 18, and the pressing block is positioned between the jaws and vertically connected with the linear bearing 15; the clamping jaws are provided with blade anti-form grooves 20 which are of concave tooth structures and can be just clamped on two sides of the blades 19.
As a technical improvement, the serial number detection mechanism comprises a fixed frame 101, a code scanner 102, a servo motor 6 and an air cylinder, wherein the fixed frame is installed on a workbench, the top surface of the fixed frame is provided with a groove 107 for accommodating a turbine disc, the code scanner 102 is arranged below the groove, two sides of the groove are provided with notches 105 convenient for shooting, and two sides of the groove are respectively provided with a rotating motor 103 and an air cylinder 106.
As a technical improvement, the length detection mechanism comprises a servo unit 6 and a positioning table 7, wherein the servo unit is provided with a laser measuring instrument 61, and data collected by the laser measuring instrument is transmitted to a robot control system to judge the qualification.
As a technical improvement, the trays comprise a defective product tray 11, a qualified product tray 12 and a loading tray 13, and the trays adopt a profiling structure, so that the blades can be effectively placed, and the trays comprise three types. The vacancy is designed, wherein the number of engine unit trays containing 43 blades is 48, the number of engine unit trays containing 48 blades is 55, and due to the fact that a plurality of vacancies exist, the subsequent blade position adjustment is convenient.
As a technical improvement, the nominal value detection mechanism is an industrial camera.
The scheme also provides an operation method of the automatic visual inspection equipment for the appearance defects of the engine blades, which comprises the following steps:
the first step is as follows: manually feeding; if the turbine product is not split, the turbine product is moved to a fixed frame of a serial number detection mechanism; if the turbine product is split, placing the blades on a feeding tray, and directly carrying out the fourth step of operation; if the turbine product is not split and the turbine product is split at the same time, operating the turbine product and the turbine product at the same time;
the second step: starting a robot control system, operating a station of a six-axis mechanical arm movement sequence number detection mechanism, and selecting a first camera to position and mark a first blade of a turbine product;
the third step: starting a rotating motor on the serial number detection mechanism, enabling the turbine product to rotate clockwise or anticlockwise on the fixing frame, meanwhile, starting from the first blade in the second step, shooting and identifying the furnace batch number on each blade of the turbine product by adjusting the angle of the first camera, and transmitting the acquired photo information to the control system to generate a sequence list;
the fourth step: manually placing, namely placing the blades on a feeding tray according to the sequence, and after the blades are fully filled, controlling a compaction cylinder to compact the tray through an in-place switch in an induction manner;
the fifth step: checking whether the placement is correct or not, and detecting the preset height of the blade through an optical detection switch; if the height is wrong, the system prompts wrong information and puts the height correctly again; if the placement is correct, the next operation is carried out;
and a sixth step: grabbing the blade by a clamping mechanism on a six-axis mechanical arm, moving a third camera to photograph and identify the furnace batch number and the nominal value, and then preparing to detect the elongation of the blade, if the eighth step is not needed, directly carrying out the eighth step; if so, carrying out the next step;
the seventh step: moving the blade to a positioning table of a length detection mechanism through a clamping mechanism of a six-axis mechanical arm;
eighth step: detecting the elongation of the blade by a laser measuring instrument on the length detection mechanism, if the elongation is unqualified, moving the blade to a defective product tray by a clamping mechanism of a six-axis mechanical arm, and if the elongation is qualified, moving the blade to a blade weighing mechanism;
the tenth step; after the blades are weighed, the blades are grabbed onto a discharging disc through a six-shaft mechanical arm to be reordered.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (9)

1. Automatic visual inspection equipment of engine blade appearance imperfections, its characterized in that: comprises a workbench, a protective cover and a robot control system; a distribution box is arranged below the workbench, and a protective cover is arranged on the workbench; the protective cover is provided with a perspective area; the automatic weighing device is characterized in that a six-shaft mechanical arm is arranged in the middle of the workbench, a serial number detection mechanism is arranged on one side of the six-shaft mechanical arm, a length detection mechanism, a furnace batch number detection mechanism, a nominal value detection mechanism and a blade weighing mechanism are arranged on the other side of the six-shaft mechanical arm, three trays are arranged in front of the six-shaft mechanical arm, and a pressing air cylinder is arranged on each tray; the six-axis manipulator, the sequence number detection mechanism, the length detection mechanism, the furnace batch number, the nominal value detection mechanism and the weighing structure are in signal connection with a robot control system, and the robot control system is located on the outer side of the workbench.
2. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 1, wherein: the six-axis mechanical arm is provided with a connecting disc, and a first camera, a second camera and a clamping mechanism are arranged below the connecting disc.
3. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 2, wherein: the clamping structure comprises a finger cylinder, clamping jaws, linear bearings, pressing blocks and pressure sensors, the finger cylinder is fixed on the connecting disc and connected with the clamping jaws, the clamping jaws are of a replaceable structure, the pressure sensors are arranged inside the pressing blocks, and the pressing blocks are located between the clamping jaws and vertically connected with the linear bearings; the claw is provided with a blade anti-groove.
4. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 1, wherein: the serial number detection mechanism comprises a fixing frame, a code scanner, a servo motor and an air cylinder, wherein the fixing frame is installed on the workbench, the top surface of the fixing frame is provided with a groove for accommodating the turbine disc, the code scanner is arranged below the groove, two sides of the groove are provided with notches, the code scanner is used for collecting a furnace batch number photo signal on each blade of the turbine product, and two sides of the code scanner are respectively provided with a rotating motor and an air cylinder.
5. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 1, wherein: the length detection mechanism comprises a servo unit and a positioning table, wherein the servo unit is provided with a laser measuring instrument.
6. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 5, wherein: the top surface of the positioning table is provided with an anti-form groove for placing the blades conveniently, and the two sides of the profile groove are provided with anti-form grooves for forming included angles between the blades.
7. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 1, wherein: the tray comprises an unqualified product tray, a qualified product tray and a feeding tray.
8. The automated visual inspection apparatus of engine blade cosmetic defects according to claim 1, wherein: the nominal value detection mechanism is an industrial camera.
9. The operation method of the automatic visual inspection equipment for the appearance defects of the engine blades is characterized by comprising the following steps of: the method comprises the following steps:
the first step is as follows: manually feeding; if the turbine product is not split, the turbine product is moved to a fixed frame of a serial number detection mechanism; if the turbine product is split, placing the blades on a feeding tray, and directly carrying out the fourth step of operation; if the turbine product is not split and the turbine product is split at the same time, operating the turbine product and the turbine product at the same time;
the second step is that: starting a robot control system, operating a station of a six-axis mechanical arm movement sequence number detection mechanism, and selecting a first camera to position and mark a first blade of a turbine product;
the third step: starting a rotating motor on the serial number detection mechanism, enabling the turbine product to rotate clockwise or anticlockwise on the fixing frame, starting from the first blade in the second step, shooting and identifying the furnace batch number on each blade on the turbine product by adjusting the angle of the first camera, and transmitting the acquired photo information to the control system to generate a sequence list;
the fourth step: manually placing, namely placing the blades on a feeding tray, and tightly pressing the tray through a pressing cylinder under the induction control of an in-place switch after the blades are fully filled;
the fifth step: checking whether the placement is correct, if the placement is wrong, manually correcting, and if the placement is correct, performing the next operation;
and a sixth step: grabbing the blade by a clamping mechanism on a six-axis mechanical arm, moving a third camera to photograph and identify the furnace batch number and the nominal value, and then preparing to detect the elongation of the blade, if the eighth step is not needed, directly carrying out the eighth step; if so, carrying out the next step;
the seventh step: moving the blade to a positioning table of a length detection mechanism through a clamping mechanism of a six-axis mechanical arm;
eighth step: detecting the elongation of the blade by a laser measuring instrument on the length detection mechanism, if the elongation is unqualified, moving the blade to a defective product tray by a clamping mechanism of a six-axis mechanical arm, and if the elongation is qualified, moving the blade to a blade weighing mechanism;
the tenth step; after the blades are weighed, the blades are grabbed onto a discharging disc through a six-shaft mechanical arm to be reordered.
CN202110761538.4A 2021-07-06 2021-07-06 Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof Pending CN115574718A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110761538.4A CN115574718A (en) 2021-07-06 2021-07-06 Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110761538.4A CN115574718A (en) 2021-07-06 2021-07-06 Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof

Publications (1)

Publication Number Publication Date
CN115574718A true CN115574718A (en) 2023-01-06

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Application Number Title Priority Date Filing Date
CN202110761538.4A Pending CN115574718A (en) 2021-07-06 2021-07-06 Automatic visual inspection equipment for appearance defects of engine blades and operation method thereof

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CN (1) CN115574718A (en)

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