CN115890703A - Cocoon selection robot capable of accurately classifying and recovering cocoons - Google Patents
Cocoon selection robot capable of accurately classifying and recovering cocoons Download PDFInfo
- Publication number
- CN115890703A CN115890703A CN202211514166.6A CN202211514166A CN115890703A CN 115890703 A CN115890703 A CN 115890703A CN 202211514166 A CN202211514166 A CN 202211514166A CN 115890703 A CN115890703 A CN 115890703A
- Authority
- CN
- China
- Prior art keywords
- cocoon
- cocoons
- mechanical arm
- module
- parallel mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000011084 recovery Methods 0.000 claims abstract description 54
- 238000012545 processing Methods 0.000 claims description 16
- 238000004064 recycling Methods 0.000 claims description 16
- 238000004026 adhesive bonding Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 2
- 230000002194 synthesizing effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 241000255789 Bombyx mori Species 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Landscapes
- Sorting Of Articles (AREA)
Abstract
The invention discloses a cocoon selection robot for accurately classifying and recovering cocoons, which comprises a cocoon selection robot for accurately classifying and recovering cocoons, a system control center, a cocoon adhering mechanism and a plurality of cocoon recovery devices, wherein the cocoon selection robot comprises a frame arranged above a conveying belt, a parallel mechanical arm mechanism arranged in the frame, a cocoon adhering mechanism arranged at the lower end of the parallel mechanical arm mechanism, and the cocoon recovery devices matched with the cocoon adhering mechanism; under the control of a system control center, different types of recovered cocoons are put into corresponding recovered cocoon devices one by one according to classification through cocoon sticking mechanisms under parallel mechanical arm mechanisms. The invention has the following advantages: can realize automatic picking and accurate cocoon sorting and classification cocoon recovery.
Description
Technical Field
The invention belongs to the field of cocoon silk processing engineering and the field of robots, and particularly relates to a cocoon selection robot for replacing manual cocoon selection operation and classifying and accurately classifying and recycling cocoons.
Background
The silkworm cocoons are subjected to the processes of cocoon drying, cocoon mixing, cocoon peeling, cocoon selection, cocoon cooking, silk reeling and the like from the beginning of picking, and finally the fabric is formed. Aiming at the cocoon selection process, the cocoon selection machine is installed in the current cocoon selection workshop, the cocoon selection process is completed manually, and about 55 recovered cocoons can be selected per minute by a skilled worker. A set of cocoon selection machines is generally provided with 4-6 workers, and a cocoon selection workshop is at least two sets of cocoon selection machines. The manual cocoon selection process is time-consuming and labor-consuming, and is easy to cause the conditions of wrong selection, selection omission and the like.
At present, in order to improve efficiency, artificial devices have been replaced by intelligent equipment, but the devices can only pick out the unwanted cocoons, but cannot accurately classify the cocoons. Or the selection mode adopts a negative pressure suction cup type, for example, chinese patent application publication No. CN113714149A, which is entitled parallel arm intelligent silkworm cocoon sorting robot and silkworm cocoon sorting method, and the patent discloses that the negative pressure suction cup type silkworm cocoon selection is adopted. The negative pressure suction cup is generally effective for smooth surfaces, but the surfaces of the silkworm cocoons are all criss-cross silks, so that the silkworm cocoons are fluffy and have more gaps, and in actual use, the negative pressure suction cup cannot effectively suck any kind of cocoons, and certainly, the cocoon recycling is also included.
Further, the recovered cocoons selected manually at present are often not classified for increasing the speed, and the recovered cocoons which are not classified cannot be processed in a targeted manner. Furthermore, the situation of the recovered cocoons cannot be known and analyzed for each batch of cocoons.
Disclosure of Invention
Aiming at the problems in the background technology, the invention provides a cocoon selection robot capable of realizing automatic picking and accurate classification and recovery of cocoons.
The technical scheme adopted by the invention is as follows: a cocoon selection robot for accurately classifying and recovering cocoons comprises a frame arranged above a conveying belt, a parallel mechanical arm mechanism arranged in the frame, a system control center, a cocoon bonding mechanism arranged at the lower end of the parallel mechanical arm mechanism, and a plurality of cocoon recovery devices matched with the cocoon bonding mechanism; under the control of a system control center, different types of recovered cocoons are put into corresponding recovered cocoon devices one by one according to classification through cocoon sticking mechanisms under parallel mechanical arm mechanisms.
The cocoon selection robot for accurately classifying and recovering cocoons comprises a herringbone cocoon adhering mechanism, wherein the herringbone cocoon adhering mechanism comprises a clamping frame, two adhering strips and a hooping ring, the clamping frame is provided with a base, and the base is connected to a movable platform.
According to the cocoon selection robot for accurately classifying and recovering cocoons, at least 100 small sticky hooks are arranged in each square centimeter of the surface of each sticky strip, and each small sticky hook is used for sticking and recovering cocoons.
The cocoon selection robot for accurately classifying and recovering cocoons comprises a cocoon recovery device, a cocoon collecting device and a cocoon collecting device, wherein the cocoon recovery device comprises a cocoon raking hand, a steering engine, a photoelectric sensor and a cocoon recovery hopper; the steering engine comprises a motor, a motor shaft of the motor is connected with a flange, a connecting block is arranged on the flange, and a cocoon raking hand is arranged on the connecting block; when the photoelectric sensor senses that the herringbone cocoon-sticking mobile mechanism approaches, the cocoon raking hand rakes off cocoons on the herringbone cocoon-sticking mobile mechanism under the action of the steering engine, so that the cocoons fall into the cocoon recycling hopper.
The cocoon selection robot for accurately classifying and recovering cocoons comprises a system control center, a system control center and a system control system, wherein the system control center comprises an image processing module, a parallel mechanical arm control module and a cocoon recovery device control module, the image processing module is used for identifying and classifying the recovered cocoons, the parallel mechanical arm control module is used for controlling the motion of a mechanical arm, and the cocoon recovery device control module comprises a recovery station steering engine driving module, a photoelectric sensor module and a speed measuring module; the device comprises a steering engine driving module, a photoelectric sensor module and a speed measuring module, wherein the steering engine driving module is used for driving a steering engine, the photoelectric sensor module is used for sensing the position of a cocoon bonding mechanism, and the speed measuring module is used for measuring the speed of a conveying belt; the system control center assigns a number and a corresponding recovery station number to each type of recovered cocoons in advance, and each recovery station number corresponds to one recovered cocoon device; under the control of the system control center, each type of recovered cocoons are put into the corresponding recovered cocoon device under the action of the parallel mechanical arm control module and the recovered cocoon device control module.
According to the cocoon selection robot for accurately classifying and recovering cocoons, the parallel mechanical arm mechanism comprises a parallel mechanical arm drive, a parallel mechanical arm and a movable platform, and the parallel mechanical arm control module controls the parallel mechanical arm to drive the movable platform to move.
The cocoon selection robot for accurately classifying and recovering cocoons comprises an image processing module, a cocoon sorting module and a cocoon sorting module, wherein the image processing module comprises at least one camera and is positioned right above a conveying belt; the control system converts the image transmitted by the image processing module into information of cocoon type, real-time coordinate, direction angle and movement speed, and controls the parallel mechanical arms to pick up after synthesizing the speed of the conveying belt.
According to the cocoon selection robot for accurately classifying and recovering cocoons, the control system controls the parallel mechanical arm control module to control the parallel mechanical arm to drive the movable platform to move towards the recovery cocoon device of the corresponding recovery station number according to cocoon classification information identified by the image processing module.
The invention has the following beneficial effects:
1. the cocoon selection robot for accurately classifying and recovering cocoons is provided with the herringbone cocoon sticking devices, and the herringbone cocoon sticking devices are matched with the parallel mechanical arms, so that cocoons can be intelligently, quickly and accurately selected. Meanwhile, the robot is also provided with a plurality of cocoon recovery devices which are numbered and classified, so that the recovered cocoons can enter the recovery devices after being accurately classified, and the cocoon recovery devices are convenient for the post-treatment of the recovered cocoons.
Drawings
FIG. 1 is a schematic structural diagram of a cocoon selection robot for accurately classifying and recovering cocoons according to the present invention.
Fig. 2 is a schematic structural view of the parallel robot arm mechanism and the herringbone cocoon bonding hand mechanism in fig. 1.
Fig. 3 is another schematic side view of the parallel robot arm mechanism and the herringbone cocoon bonding hand mechanism in fig. 2.
Fig. 4 is an enlarged view of a in fig. 3.
Fig. 5 is a schematic view of still another side structure of the parallel robot arm mechanism and the herringbone cocoon-sticking hand mechanism in fig. 2.
FIG. 6 is a schematic view showing the construction of the cocoon recycling apparatus shown in FIG. 1.
FIG. 7 is a state diagram of the herringbone cocoon-sticking hand mechanism in cooperation with a cocoon recovery device for raking cocoons.
FIG. 8 is a flow chart of the cocoon selection robot control system for accurately classifying and recovering cocoons according to the present invention.
Detailed Description
As shown in fig. 1 to 7, the cocoon selection robot for accurately classifying and recovering cocoons of the present invention includes a frame, a system control center, a parallel mechanical arm mechanism disposed in the frame, a cocoon adhering mechanism disposed at a lower end of the parallel mechanical arm mechanism, and a plurality of cocoon recovery devices engaged with the cocoon adhering mechanism.
The system control center comprises an image processing module, a parallel mechanical arm control module and a cocoon recycling device control module, wherein the image processing module is used for identifying and classifying the recycled cocoons, the parallel mechanical arm control module is used for controlling the movement of the mechanical arm, and under the control of the system control center, the different types of the recycled cocoons are classified through cocoon adhering mechanisms under the parallel mechanical arm mechanisms and then are placed into corresponding cocoon recycling devices one by one.
The cocoon recycling device control module comprises a recycling station steering engine driving module, a photoelectric sensor module and a speed measuring module; the steering engine driving module is used for driving a steering engine, the photoelectric sensor module is used for sensing the position of the cocoon sticking mechanism, and the speed measuring module is used for measuring the speed of the conveying belt, so that the system controller can synthesize the running speed of the cocoons, regenerate the coordinates of each recovered cocoon after T time, convert the coordinates into the running angles of 1#, 2# and 3# servo motors, and transfer the running angles to the mechanical arm controller for driving control to complete walking. The system control center assigns a number and a corresponding recovery station number to each type of recovered cocoons in advance, and each recovery station number corresponds to one recovered cocoon device; under the control of the system control center, each type of recovered cocoons are put into the corresponding recovered cocoon device under the action of the parallel mechanical arm control module and the recovered cocoon device control module.
The frame 1 is positioned on a cocoon conveying belt, and one or more cocoon selection robots for accurately classifying and recovering cocoons can be arranged according to needs. The frame 1 is a square body, and the top end of the frame is provided with a connecting plate 5. And the connecting plate 5 is used for arranging all driving motors of the parallel mechanical arm mechanism. The parallel robot mechanism is located within the frame 1 and is preferably located in a central position of the frame. The cocoon conveyer belt enters from one side of the frame and outputs from the other side of the frame, and the cocoon conveyer belt circularly reciprocates. Along with the circulation of the cocoon conveying belt, cocoons on the cocoon conveying belt pass through the frame and are automatically selected by the cocoon selection robot for accurately classifying and recovering the cocoons. A crosspiece 12 is further arranged on the frame 1, a camera is arranged on the crosspiece 12, and the collecting end of the camera 4 faces to the position right above the cocoon conveying device. And the crosspiece 12 is arranged on the side of the frame 1 where the cocoon conveyor belt enters. Of course, in practice, multiple cameras may be positioned side-by-side on rung 12 as desired.
A connecting rod 11 is also arranged on the side surface of the frame which does not penetrate through the cocoon conveying belt, and a cocoon recovery device 3 is fixed on the connecting rod. The cocoon recovery device 3 is configured to recover the recovered cocoons transferred from the parallel robot.
As shown in fig. 2 to 5, the cocoon picking apparatus includes a parallel arm robot mechanism 2 and a herringbone cocoon picking hand mechanism 6. The parallel arm manipulator mechanism 2 comprises a parallel mechanical arm drive, a parallel mechanical arm and a movable platform, the parallel mechanical arm is three parallel arms which are hinged with the movable platform through transverse hinge shafts and are uniformly distributed along the horizontal circumferential direction, one end, away from the movable platform 23, of each parallel arm is hinged with a driving rod 22 through a transverse hinge shaft 24, one end, away from the parallel arm, of each driving rod 22 is connected with a servo motor 21, an output shaft of the servo motor 21 on the same driving rod 22 is parallel to the transverse hinge shafts 24, and the servo motor 21 is electrically connected with a main control system. Each parallel arm is obliquely arranged, the diameter of a circle where the lower end of each parallel arm is located is smaller than that of a circle where the upper end of each parallel arm is located, and each servo motor 21 is located on the inner side of the circle where the upper end of each parallel arm is located. The parallel arms comprise two parallel struts 25, the two struts 25 of the same parallel arm forming a parallelogram with transverse hinges 24 at both ends. The servo motor 21 drives the driving rod 22 to rotate around the driving joint, and the driving rod 22 drives the parallelogram parallel arms, so that the driving platform 23 is driven to move, and finally the herringbone cocoon mobile mechanism is driven to move up and down, left and right and back and forth.
As shown in fig. 3 and 4, the herringbone cocoon handpiece mechanism 6 includes a clamping frame 61, two adhesive strips 62 and a tightening ring 63. Each adhesive strip 62 is provided with more than 100 small adhesive hooks per square centimeter, and cocoons are picked up by utilizing the adhesion effect of the small adhesive hooks and the cocoons. The holder 61 is connected to the movable platform 23. The two adhesive strips 62 are bent and then hooped at the end of the Chinese character 'he' shape by the hooping ring 63, and the other end is clamped by the clamping frame 61.
As shown in fig. 2, 3 and 5, a sensing plate 26 extending out of the plane of the movable platform is further disposed on the movable platform 23, and the sensing plate 26 can cooperate with a photoelectric sensor in the cocoon recycling device, so that the cocoon recycling device senses the approaching of the movable platform and performs the recycling operation in time.
As shown in fig. 1, 6 and 7, cocoon recovery device 3 includes a cocoon raking hand 36, a steering gear 32, a photoelectric sensor 33, and a recovery cocoon hopper 31. The tail end of a motor shaft 38 of the steering engine 32 is provided with a connecting shaft flange 37, and a connecting block 34 is arranged on the connecting shaft flange 37. A cocoon raking hand 36 is arranged on the connecting block 34. As shown in fig. 7, under the action of the steering engine 32, the cocoon-raking hand 36 rakes the cocoons a on the herringbone cocoon-sticking hand mechanism 6, so that the cocoons a fall into the recovered cocoon bucket 31.
The image acquisition system comprises a camera, the camera is installed at the front end above the conveying belt, the cocoons are identified, and the real-time coordinates of 'recovered cocoons' are sent to the control system.
As shown in fig. 8, the system control center includes an image control module, a robot arm control module, and a cocoon recycling device field control module. During specific operation, the system controller is operated through a human-computer interface, and the system controller interacts with the image processing module, the mechanical arm control module and the cocoon recycling device control module. Specifically, the image processing module completes classification of the recovered cocoons (secondary cocoons, cotton cocoons, cocoons and the like) by comparing the images in the database, and meanwhile, codes, recovery station numbers and real-time coordinates are printed on each recovered cocoon, and the information is uploaded to the system controller. The system controller regenerates the coordinates of each recovered cocoon after the T moment by integrating the running speed of the cocoon, converts the coordinates into the running angles of 1#, 2#, and 3# (namely three servo motors 21 in the figure 2) servo motors, and transmits the running angles to the mechanical arm controller for driving control, thereby completing the walking.
The working principle of the classification operation of the recovered cocoons is as follows:
first, the system controller assigns a number and a collection station number to each collected cocoon. Different recovered cocoons are conveyed to different recovery stations by the mechanical arm, once the herringbone sticky hands adhered with the recovered cocoons enter the recovery stations, the photoelectric sensors sense and upload the cocoons to the field controller immediately, the field controller drives the corresponding recovery station to drive the steering engine, the recovered cocoons are collected into the corresponding recovery buckets, and counting and accumulated counting are uploaded to the system controller. The administrator can see the number of the various types of recovered cocoons through a human-computer interface.
The working process of the invention is as follows: the herringbone cocoon gluing hand is arranged below a movable platform of the parallel mechanical arm, the parallel mechanical arm receives an instruction of the control system to move rapidly, after the recovered cocoons are glued, the herringbone cocoon gluing hand moves to a cocoon recovery device, and the recovered cocoons are automatically separated by the cocoon recovery device.
The working principle of the invention is as follows:
according to the work process of the cocoon selection robot for accurately classifying and recovering cocoons, the cocoon selection robot can be divided into an identification area (namely an area where a camera is located), a gluing area (an area where a cocoon adhering mechanism is located), and a recovery area (an area where a cocoon recovery device is located, and specifically, the cocoon selection robot can correspond to different types of recovered cocoons through a plurality of recovery areas). Cocoon materials on the cocoon conveying belt are shot by a camera of a cocoon selection robot for accurately classifying and recovering cocoons and are uploaded to a control system, the control system converts images into information of various cocoons, such as cocoon types, real-time coordinates, direction angles, movement speeds and the like, and controls parallel mechanical arms (herringbone cocoon gluing hands below the movable platform) to glue. Specifically, the x coordinate of the cocoon selection area = the coordinate of the identification area + the speed of the conveyer belt × time, and the y coordinate is unchanged.
A cocoon recovery device consisting of a recovery hopper, a cocoon-raking hand, a steering engine, a photoelectric sensor and a cocoon-raking controller is arranged in a recovery area (which can be a plurality of) of a cocoon selection robot for accurately classifying and recovering cocoons. After the photoelectric sensor senses that the movable platform enters the recovery area, the steering engine drives the cocoon raking hand to rake cocoons from the herringbone cocoon sticking hand, and the cocoons enter the recovery hopper below the herringbone cocoon raking hand. A cocoon selection robot for accurately classifying and recovering cocoons can be provided with a plurality of cocoon recovery devices corresponding to different 'recovered cocoons', such as a lower-foot cocoon recovery device, a double-cocoon recovery device and the like, so as to meet the requirements of users on various types of selected cocoons.
The installation position of the cocoon selection robot for accurately classifying and recovering cocoons: a cocoon selection robot for accurately classifying and recovering cocoons is arranged above a cocoon conveying belt, and one, two, three or even more devices can be arranged above the cocoon conveying belt according to needs.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; while the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes, modifications, additions and substitutions may be made without departing from the spirit of the invention and the scope of the invention as defined in the accompanying claims.
Claims (8)
1. Cocoon selection robot of accurate categorised recovery cocoon to reach the parallel mechanical arm mechanism of setting in the frame, its characterized in that including setting up the frame in the conveyer belt top: the cocoon recycling system also comprises a system control center, a cocoon gluing mechanism arranged at the lower end of the parallel mechanical arm mechanism, and a plurality of cocoon recycling devices matched with the cocoon gluing mechanism; under the control of a system control center, different types of recovered cocoons are put into corresponding recovered cocoon devices one by one according to classification through cocoon sticking mechanisms under parallel mechanical arm mechanisms.
2. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 1, wherein: the cocoon sticking mechanism is a herringbone cocoon sticking mechanism which comprises a clamping frame, two sticking strips and a hooping ring, wherein the clamping frame is provided with a base, and the base is connected to the movable platform.
3. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 2, wherein: at least 100 small sticky hooks are arranged in each square centimeter of the surface of each sticky strip and used for sticking and taking back the collected cocoons.
4. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 3, wherein: the cocoon recovery device comprises a cocoon raking hand, a steering engine, a photoelectric sensor and a cocoon recovery hopper; the steering engine comprises a motor, a motor shaft of the motor is connected with a flange, the flange is provided with a connecting block, and a cocoon raking hand is arranged on the connecting block; when the photoelectric sensor senses that the herringbone cocoon-sticking mobile mechanism approaches, the cocoon raking hand rakes cocoons on the herringbone cocoon-sticking mobile mechanism down under the action of the steering engine, so that the cocoons fall into the cocoon recycling hopper.
5. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 4, wherein: the system control center comprises an image processing module, a parallel mechanical arm control module and a cocoon recovery device control module, wherein the image processing module is used for identifying and classifying the recovered cocoons, the parallel mechanical arm control module is used for controlling the motion of a mechanical arm, and the cocoon recovery device control module comprises a recovery station steering engine driving module, a photoelectric sensor module and a speed measuring module; the device comprises a steering engine driving module, a photoelectric sensor module and a speed measuring module, wherein the steering engine driving module is used for driving a steering engine, the photoelectric sensor module is used for sensing the position of a cocoon sticking mechanism, and the speed measuring module is used for measuring the speed of a conveying belt; the system control center assigns a number and a corresponding recovery station number to each type of recovered cocoons in advance, and each recovery station number corresponds to one recovered cocoon device; under the control of the system control center, each type of recovered cocoons are put into the corresponding recovered cocoon device under the action of the parallel mechanical arm control module and the recovered cocoon device control module.
6. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 5, wherein: the parallel mechanical arm mechanism comprises a parallel mechanical arm drive, a parallel mechanical arm and a movable platform, and the parallel mechanical arm control module controls the parallel mechanical arm to drive the movable platform to move.
7. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 5, wherein: the image processing module comprises at least one camera and is positioned right above the conveying belt; the control system converts the image transmitted by the image processing module into information of cocoon type, real-time coordinate, direction angle and movement speed, and controls the parallel mechanical arms to pick up after synthesizing the speed of the conveying belt.
8. The cocoon selection robot for accurately classifying and recovering cocoons according to claim 5, wherein: and the control system controls the parallel mechanical arm control module to control the parallel mechanical arm to drive the movable platform to move towards the recovery cocoon device of the corresponding recovery station number according to the cocoon classification information identified by the image processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211514166.6A CN115890703A (en) | 2022-11-29 | 2022-11-29 | Cocoon selection robot capable of accurately classifying and recovering cocoons |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211514166.6A CN115890703A (en) | 2022-11-29 | 2022-11-29 | Cocoon selection robot capable of accurately classifying and recovering cocoons |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115890703A true CN115890703A (en) | 2023-04-04 |
Family
ID=85731816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211514166.6A Pending CN115890703A (en) | 2022-11-29 | 2022-11-29 | Cocoon selection robot capable of accurately classifying and recovering cocoons |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115890703A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107779960A (en) * | 2017-11-17 | 2018-03-09 | 中国计量大学 | A kind of silk cocoon separation counting device and its application method based on vacuum cup |
| US20180318884A1 (en) * | 2017-05-08 | 2018-11-08 | China Jiliang University | Automated silkworm cocoon sex sorting |
| CN211420372U (en) * | 2019-11-23 | 2020-09-04 | 合肥市聚丰制丝有限责任公司 | Silk cocoon recovery unit that reels off silk |
| CN113714149A (en) * | 2021-10-09 | 2021-11-30 | 山东农业大学 | Parallel arm intelligent silkworm cocoon sorting robot and silkworm cocoon sorting method |
| CN217445883U (en) * | 2022-07-04 | 2022-09-20 | 新疆大学 | Strawberry picking robot based on machine vision |
-
2022
- 2022-11-29 CN CN202211514166.6A patent/CN115890703A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180318884A1 (en) * | 2017-05-08 | 2018-11-08 | China Jiliang University | Automated silkworm cocoon sex sorting |
| CN107779960A (en) * | 2017-11-17 | 2018-03-09 | 中国计量大学 | A kind of silk cocoon separation counting device and its application method based on vacuum cup |
| CN211420372U (en) * | 2019-11-23 | 2020-09-04 | 合肥市聚丰制丝有限责任公司 | Silk cocoon recovery unit that reels off silk |
| CN113714149A (en) * | 2021-10-09 | 2021-11-30 | 山东农业大学 | Parallel arm intelligent silkworm cocoon sorting robot and silkworm cocoon sorting method |
| CN217445883U (en) * | 2022-07-04 | 2022-09-20 | 新疆大学 | Strawberry picking robot based on machine vision |
Non-Patent Citations (1)
| Title |
|---|
| 覃南强等: "基于并联机器人的自动选茧系统的设计", 科技视界, no. 01, 5 January 2017 (2017-01-05), pages 163 - 164 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104822230B (en) | A kind of multi-functional pcb board production automation system | |
| CN105817422A (en) | Robot-based automatic-collection random-placing express package information system and method thereof | |
| CN206854123U (en) | Express mail bar code automatic recognition system based on image procossing | |
| CN106984556A (en) | A kind of plastic bottle intelligent sorting system and its method of work | |
| CN110743818A (en) | Garbage sorting system and garbage sorting method based on vision and deep learning | |
| CN104802510A (en) | Automatic transfer-printer | |
| CN107031902A (en) | A kind of preceding road package system of backlight and method | |
| CN108406887A (en) | A kind of strip garden stuff processing device and processing method based on image vision technology | |
| CN206665009U (en) | A kind of intelligent sorting packaging facilities of SMD metalworks | |
| CN109261531A (en) | Stacking baling line based on intelligent sorting | |
| CN104584779A (en) | Apple maturity automatic detection and picking robot based on binocular vision | |
| CN209077200U (en) | A kind of mold sorting equipment | |
| CN104944202A (en) | Automatic detecting and sealing device for electronic components | |
| CN210655194U (en) | Filter rubber coating machine | |
| CN113714149A (en) | Parallel arm intelligent silkworm cocoon sorting robot and silkworm cocoon sorting method | |
| CN210592627U (en) | Automatic coil pad pasting equipment | |
| CN111846947A (en) | Automatic brick system of arranging of mosaic | |
| CN208067234U (en) | A kind of automatic riveting system based on machine vision | |
| CN115890703A (en) | Cocoon selection robot capable of accurately classifying and recovering cocoons | |
| CN204659179U (en) | A kind of pad printing machine | |
| CN107972227B (en) | Sorting and stacking system of injection molding machine and working method thereof | |
| CN110589587B (en) | Automatic forming, picking and checking integrated production line for grinding wheel meshes | |
| CN209651140U (en) | A kind of product doffer | |
| CN210245477U (en) | High-efficient milling flutes take-up device of smart card | |
| CN208163719U (en) | Light bar automatic cutting feeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |