CN115900561A - Metal plate detection device and detection method - Google Patents
Metal plate detection device and detection method Download PDFInfo
- Publication number
- CN115900561A CN115900561A CN202211717654.7A CN202211717654A CN115900561A CN 115900561 A CN115900561 A CN 115900561A CN 202211717654 A CN202211717654 A CN 202211717654A CN 115900561 A CN115900561 A CN 115900561A
- Authority
- CN
- China
- Prior art keywords
- sheet metal
- metal product
- image
- controller
- detection
- 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
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application provides a sheet metal detection device and a detection method, relates to the technical field of product detection, and comprises the following steps: the device comprises a rack, a fixed table, a light source, an image collector and a multi-axis displacement assembly which are respectively arranged on the rack, and a controller which is respectively and electrically connected with the image collector and the multi-axis displacement assembly; be used for placing the panel beating product that waits to detect on the fixed station, the light source is towards the panel beating product light-emitting, and image collector and multiaxis displacement subassembly are connected, and through the drive of multiaxis displacement subassembly, image collector acquires the image of the different angles of panel beating product on the fixed station to feed back to the controller, the controller integrates the image of different angles, and compare with the image of predetermineeing, in order to acquire the dimensional tolerance of panel beating product. The automatic detection makes the detection efficiency of panel beating product high, detects the precision and satisfies the requirement, and the detection quality of panel beating product obtains guaranteeing, has also correspondingly guaranteed the performance of subsequent mechanical structure after assembling.
Description
Technical Field
The application relates to the technical field of product detection, in particular to a metal plate detection device and a detection method.
Background
Sheet metal is a common part in mechanical structures, so sheet metal machining is also essential basic machining in mechanical machining. After panel beating processing accomplished, mainly detect the appearance of panel beating, hole site equidimension, but current panel beating detection efficiency is low excessively, detects the precision and also can not reach the requirement for the detection quality of panel beating can not obtain guaranteeing, influences the performance of the mechanical structure after the follow-up equipment.
Disclosure of Invention
The embodiment of the application aims to provide a sheet metal detection device and a sheet metal detection method, which can automatically detect the size of a sheet metal product and have high detection precision and detection efficiency.
On one hand, the embodiment of the application provides a sheet metal detection device, which comprises a rack, a fixed table, a light source, an image collector and a multi-axis displacement assembly, wherein the fixed table, the light source, the image collector and the multi-axis displacement assembly are respectively arranged on the rack; the device comprises a fixing table, a light source, an image collector, a multi-axis displacement assembly, a controller and an image collector, wherein the fixing table is used for placing a sheet metal product to be detected, the light source emits light towards the sheet metal product, the image collector is connected with the multi-axis displacement assembly, the image collector obtains images of the sheet metal product on the fixing table at different angles through driving of the multi-axis displacement assembly and feeds the images back to the controller, and the controller integrates the images at different angles and compares the images with a preset image to obtain the dimensional tolerance of the sheet metal product.
Optionally, the sheet metal product processing system further comprises a scanner electrically connected with the controller, wherein the scanner is used for scanning the two-dimensional code on the sheet metal product and feeding back the two-dimensional code to the controller, and the controller acquires the two-dimensional drawing of the sheet metal product according to the two-dimensional code to serve as the preset image.
Optionally, the capture range of the image capture device is less than or equal to 300mm 20mm.
Optionally, the device further comprises a display screen electrically connected with the controller and used for displaying the detection result.
Optionally, the sheet metal product handling system further comprises a manipulator electrically connected with the controller, the manipulator being configured to transport the sheet metal product.
On the other hand of the embodiment of the application, a detection method is provided, the above-mentioned sheet metal detection device is used for detecting sheet metal products, and the detection method includes: calling a preset image and starting a light source;
driving the multi-axis displacement assembly to drive the image collector to move so as to obtain images of the sheet metal product at different angles;
and comparing the integrated images at different angles with the preset image, and outputting the dimensional tolerance of the sheet metal product.
Optionally, the method further includes a scanner, and the retrieving the preset image and activating the light source includes:
driving the scanner to scan the two-dimensional code on the sheet metal product;
and calling the two-dimensional drawing of the sheet metal product in a drawing library according to the two-dimensional code.
Optionally, the driving the scanner to scan the two-dimensional code on the sheet metal product includes:
controlling a manipulator to transfer the sheet metal product to the fixing table;
acquiring a two-dimensional code on the sheet metal product packaging film;
and removing the packaging film through the mechanical arm.
Optionally, comparing the integrated images at different angles with the preset image, and outputting the dimensional tolerance of the sheet metal product includes:
outputting a comparison result on a display screen;
and generating a record table of the detection result.
Optionally, after comparing the integrated images at different angles with the preset image and outputting a dimensional tolerance of the sheet metal product, the method further includes:
controlling a mechanical arm to seal the metal plate product with a film;
and transferring the sheet metal product to the next station.
The sheet metal detection device and the sheet metal detection method provided by the embodiment of the application are characterized in that a fixed table for bearing a sheet metal product to be detected is arranged on a rack, an image collector for collecting an image of the sheet metal product and a light source for irradiating the sheet metal product are further arranged, and the image collector is connected with the multi-axis displacement assembly to drive the image collector to move to different positions and obtain images of the sheet metal product at different angles. The image collector feeds back the collected images at different angles to the controller, the controller integrates the images at different angles and compares the integrated images with preset images to obtain the size tolerance of the sheet metal product and the preset images, and then the detection result of the sheet metal product is obtained. Through the sheet metal detection device provided by the embodiment of the application, the detection efficiency of the sheet metal product is high due to automatic detection, the detection precision meets the requirement, the detection quality of the sheet metal product is ensured, and the performance of a mechanical structure after subsequent assembly is correspondingly ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a sheet metal detection device provided in this embodiment;
fig. 2 is a second schematic structural diagram of the sheet metal detecting device provided in this embodiment;
fig. 3 is a flowchart of the detection method provided in this embodiment.
An icon: 100-a frame; 101-a stationary table; 102-a light source; 103-a multi-axis displacement assembly; 104-image collector.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the application is usually placed in when used, and are used only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
It should also be noted that, unless expressly stated or limited otherwise, the terms "disposed" and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.
Referring to fig. 1 and fig. 2, an embodiment of the present application provides a sheet metal detection apparatus, which includes a rack 100, and a fixing table 101, a light source 102, an image collector 104, and a multi-axis displacement assembly 103, which are respectively disposed on the rack 100, and further includes a controller electrically connected to the image collector 104 and the multi-axis displacement assembly 103; the fixing table 101 is used for placing a sheet metal product to be detected, the light source 102 emits light towards the sheet metal product, the image collector 104 is connected with the multi-axis displacement assembly 103, the image collector 104 obtains images of the sheet metal product on the fixing table 101 at different angles through driving of the multi-axis displacement assembly 103 and feeds the images back to the controller, and the controller integrates the images at different angles and compares the images with preset images to obtain the dimensional tolerance of the sheet metal product.
The rack 100 is used as a main body for bearing the sheet metal detection device, a fixing table 101 is arranged on the rack 100 close to the lower position, and the fixing table 101 is fixed on the rack 100 and used for placing a sheet metal product to be detected; a light source 102 and an image collector 104 are arranged on the rack 100 and above the fixed table 101, and the light source 102 is used for giving illumination to the sheet metal product when the image collector 104 collects the sheet metal product, so that the image collected by the image collector 104 is clearer. Exemplarily, the image collector 104 in the present application may be a camera for shooting an image of a sheet metal product, so as to compare the image with a preset image.
Still set up multiaxis displacement assembly 103 on the frame 100, multiaxis displacement assembly 103 and image collector 104 are connected, drive image collector 104 and remove to make image collector 104 can obtain the image of the different angles of panel beating product, these images reflect the different sizes of panel beating product, for example length, width, the thickness of panel beating product, and the position of hole on the panel beating product, size of aperture etc. size information. After different size information is integrated, an image capable of reflecting all size information of the sheet metal product is obtained, and the integrated image is compared with a preset image to obtain a detection result.
The detection processes are all automatically controlled by the controller, a plurality of images of the sheet metal product collected by the image collector 104 are fed back to the controller, the controller stitches and calculates the collected images to obtain the integrated image of the sheet metal product, and the integrated image is compared with the preset image in the controller, so that the size tolerance between the integrated image and the preset image can be obtained, and the detection result of the sheet metal product is obtained.
For example, the multi-axis displacement assembly 103 may drive the image collector 104 to realize movement in the directions of the X axis, the Y axis, and the Z axis, which may be realized by a combined structure of a push rod cylinder and a slide rail, and the specific structure may refer to the prior art and is not described herein again.
Further, in an implementation manner of the present application, the collection range of the image collector 104 is less than or equal to 300mm × 20mm, the collection ranges of different image collectors 104 are different, or the collection range of the image collector 104 can be adjusted according to the size of the sheet metal product, so as to make the collection range of the image collector 104 close to the maximum size of the sheet metal product as much as possible, and thus the precision of the collected image is higher.
Generally, the shooting speed of the image collector is less than or equal to 6S, the precision is +/-0.1 mm, the repeated detection precision is +/-0.1 mm, the processing speed of the controller is less than or equal to 20S, the processing speed is high, and the detection precision is high.
Therefore, the sheet metal detection device provided by the embodiment of the application is provided with the fixed station 101 for bearing the sheet metal product to be detected, the image collector 104 for collecting the image of the sheet metal product and the light source 102 for irradiating the sheet metal product, wherein the image collector 104 is connected with the multi-axis displacement assembly 103 so as to drive the image collector 104 to move to different positions and obtain images of the sheet metal product at different angles. The image collector 104 feeds back the collected images at different angles to the controller, and the controller compares the integrated images at different angles with the preset image to obtain the size tolerance of the sheet metal product and the preset image, so as to obtain the detection result of the sheet metal product. Through the sheet metal detection device provided by the embodiment of the application, the detection efficiency of the sheet metal product is high due to automatic detection, the detection precision meets the requirement, the detection quality of the sheet metal product is ensured, and the performance of a mechanical structure after subsequent assembly is correspondingly ensured.
Further, the automatic sheet metal product processing device further comprises a scanner electrically connected with the controller, wherein the scanner is used for scanning the two-dimensional code on the sheet metal product and feeding back the two-dimensional code to the controller, and the controller acquires the two-dimensional drawing of the sheet metal product according to the two-dimensional code to serve as a preset image.
The metal plate product is pasted with the two-dimensional code, one metal plate product or the same batch of metal plate products correspond to the only two-dimensional code, and a two-dimensional drawing of the metal plate product can be obtained by scanning the two-dimensional code, and the two-dimensional drawing is a preset image and is used for comparing the preset image with the integrated image to obtain the size tolerance of different positions of the metal plate product.
The two-dimensional drawing is preset in a drawing library of the controller, the scanner scans the two-dimensional code and feeds the two-dimensional code back to the controller, and the controller automatically calls the unique two-dimensional drawing corresponding to the two-dimensional code from the drawing library.
The embodiment of the application provides a panel beating detection device still includes the display screen of being connected with the controller electricity for show the testing result. The display screen is visual and strong, can visually reflect the size tolerance between the sheet metal product and the preset image, and is convenient for operators to check.
In addition, images at different angles acquired by the image acquirer 104, images after the images at different angles are integrated, and two-dimensional images of sheet metal products obtained by scanning the two-dimensional codes can be displayed on a display screen, so that an operator can visually check the detection process.
The sheet metal detection device provided by the embodiment of the application further comprises a manipulator electrically connected with the controller, and the manipulator is used for transferring sheet metal products.
The manipulator makes things convenient for the transport of panel beating product in the testing process, accomplishes and goes up unloading. The manipulator is controlled to move through the controller, so that the manipulator can accurately control the position of the sheet metal product in the carrying process, for example, during feeding, the manipulator can accurately carry the sheet metal product to the specified position on the fixed table 101, and the sheet metal product can be accurately carried to the next station after detection is completed.
Meanwhile, a packaging film covers the surface of the sheet metal product before detection, and the two-dimension code is attached to the packaging film; after the detection is finished, a packaging film needs to be sealed on the sheet metal product to protect the surface of the sheet metal product and avoid abrasion. Therefore, the manipulator can also be used for membrane removal before detection and membrane sealing after detection, compared with manual operation, the operation efficiency is improved, and the membrane sealing requirement of a product is ensured through standardized operation of the manipulator.
On this basis, please refer to fig. 3, an embodiment of the present application further discloses a detection method, which adopts the above-mentioned sheet metal detection apparatus for detecting sheet metal products, and the method includes:
s100, a preset image is called and the light source 102 is started.
Preparation work before detection is done, including conveying the sheet metal product to be detected to the fixed table 101, turning on the light source 102, and taking a preset image.
When the preset image is called, the preset image can be called through a scanner; specifically, the controller is electrically connected with the scanner, the two-dimensional code for identifying the product is pasted on the sheet metal product, the controller drives the scanner to scan the two-dimensional code on the sheet metal product and feeds the information of the two-dimensional code back to the controller, and the controller calls the unique two-dimensional drawing corresponding to the sheet metal product in the drawing library according to the information of the two-dimensional code to serve as a preset image.
Further, when the sheet metal product is transported to the fixing table 101, the transportation can be completed by a robot. The controller is electrically connected with the manipulator to control the action of the manipulator.
The controller controls the manipulator earlier and transports the panel beating product to fixed station 101 on, and the surface covering of panel beating product has the packaging film this moment, and the two-dimensional code is pasted on the packaging film, and controller drive scanner acquires the two-dimensional code on the panel beating product packaging film, then transfers the two-dimensional drawing, demolishs the packaging film through the manipulator at last, exposes the panel beating product to be convenient for follow-up image acquisition that carries on.
And S110, driving the multi-axis displacement assembly 103 to drive the image collector 104 to move so as to obtain images of the sheet metal product at different angles.
After the preparation work is finished, the controller drives the multi-axis displacement assembly 103 to start, drives the image collector 104 to move to a position above the sheet metal product, and collects images of the sheet metal product at different angles by combining a two-dimensional drawing, for example, the length and the width of the sheet metal product are obtained, and when the thickness of the sheet metal product needs to be obtained, the image collector 104 needs to move along the Z-axis direction; the method also comprises the step of obtaining the size information of the position size, the aperture and the like of the hole in the sheet metal product. In the process, the image collector 104 feeds back the acquired images at different angles to the controller.
And S120, comparing the integrated images with different angles with a preset image, and outputting the dimensional tolerance of the sheet metal product.
The controller stitches and calculates the images at different angles to integrate the images to obtain images containing all size information of the sheet metal product, the integrated images are compared with the called two-dimensional drawing, and the size information is compared one by one to obtain the size tolerance between the actual size of the sheet metal product and the two-dimensional drawing.
Then, the comparison result can be output on a display screen for operators to check; and generating a record table of the detection result for archiving.
In addition, the above-mentioned image that obtains the different angles of panel beating product to and the process of comparing with two-dimensional image also can show on the display screen, and the operating personnel of being convenient for looks over the process of comparing.
And S131, controlling the mechanical arm to seal the film of the sheet metal product.
After detection is completed, the image collector 104 returns to the initial position through the driving of the multi-axis displacement assembly 103, and the manipulator seals the sheet metal product again on the fixed table 101 so as to protect the surface quality of the sheet metal product.
S132: and transferring the sheet metal product to the next station.
After the film sealing is finished, the sheet metal product is transferred to the next station through the mechanical arm, and therefore a detection operation is finished.
Of course, the transportation of the sheet metal products, the membrane removal and the membrane sealing can also be finished manually.
In summary, the sheet metal product of the present application specifically includes the following steps during detection:
1) The clamping plate supplies materials, and the materials can be loaded manually or by a mechanical arm.
2) Scanning discernment, scan the two-dimensional code of setting on panel beating product packaging film to confirm the serial number of panel beating product, chronogenesis 3S.
3) And according to the unique serial number of the sheet metal product, reading a 2D drawing by the PTC, and performing time sequence 5S.
4) Unpacking and feeding, and membrane removal can be performed on the sheet metal product through manpower or a mechanical arm, wherein the time sequence is 60S.
5) And after the step 3), the PTC acquires the 2D drawing information and immediately sends data to the controller, and the time sequence is 5S.
6) And the controller sends an instruction to the multi-axis displacement assembly 103, so that the multi-axis displacement assembly 103 drives the image collector 104 to perform position adjustment according to the position, the thickness and the like of the sheet metal product, and the time sequence is 5S.
7) The multi-axis displacement component 103 moves, the image collector 104 collects a plurality of images, and the collected images can be 10-30 images in a time sequence of 15S.
8) And the controller stitches and calculates a plurality of acquired images in a time sequence 45S.
9) And comparing the processed image with a 2D drawing by the controller, and performing time sequence 120S.
10 And outputs the comparison result on the display, time sequence 15S.
11 In sequence 15S), a record table for the detection results is generated.
12 And (4) sealing and blanking the sheet metal product, and performing 70S time sequence.
By the detection method, the detection accuracy can reach 100%, the detection efficiency is improved by 80%, the detection of small and medium-sized sheet metal products can be covered, and the problem that the detection efficiency and the detection precision are too low in the detection processes of the size, hole positions and the like of the sheet metal products is solved.
The detection method comprises the same structure and beneficial effects as the sheet metal detection device in the embodiment. The structure and the beneficial effects of the metal plate detection device have been described in detail in the foregoing embodiments, and are not described again here.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A sheet metal detection device, comprising: the device comprises a rack (100), a fixed table (101), a light source (102), an image collector (104) and a multi-axis displacement assembly (103) which are respectively arranged on the rack (100), and a controller which is respectively electrically connected with the image collector (104) and the multi-axis displacement assembly (103); the sheet metal product that is used for placing waiting to detect on fixed station (101), light source (102) orientation sheet metal product light-emitting, image collector (104) with multiaxis displacement subassembly (103) are connected, through the drive of multiaxis displacement subassembly (103), image collector (104) acquire the image of the different angles of sheet metal product on fixed station (101) to feed back to the controller, the controller integrates the image of different angles to compare with the image of predetermineeing, in order to acquire the dimensional tolerance of sheet metal product.
2. The sheet metal detection device of claim 1, further comprising a scanner electrically connected to the controller, wherein the scanner is configured to scan the two-dimensional code on the sheet metal product and feed back the two-dimensional code to the controller, and the controller obtains the two-dimensional drawing of the sheet metal product as the preset image according to the two-dimensional code.
3. The sheet metal detection device according to claim 1, wherein the image collector (104) has a collection range of 300mm x 20mm or less.
4. The sheet metal detection device of any one of claims 1 to 3, further comprising a display screen electrically connected to the controller for displaying a detection result.
5. The sheet metal detection device of claim 1, further comprising a manipulator electrically connected to the controller, the manipulator being configured to transport the sheet metal product.
6. A detection method for detecting sheet metal products by using the sheet metal detection device of any one of claims 1 to 5, the method comprising:
calling a preset image and starting a light source (102);
driving the multi-axis displacement assembly (103) to drive the image collector (104) to move so as to obtain images of the sheet metal product at different angles;
and comparing the integrated images at different angles with the preset image to output the dimensional tolerance of the sheet metal product.
7. The detection method according to claim 6, further comprising a scanner, said retrieving a preset image and activating the light source (102) comprising:
driving the scanner to scan the two-dimensional code on the sheet metal product;
and calling the two-dimensional drawing of the sheet metal product in a drawing library according to the two-dimensional code.
8. The detection method according to claim 7, wherein the driving the scanner to scan the two-dimensional code on the sheet metal product comprises:
controlling a mechanical hand to transfer the sheet metal product to the fixed table (101);
acquiring a two-dimensional code on the sheet metal product packaging film;
and removing the packaging film through the mechanical arm.
9. The detection method according to claim 6, wherein the comparing the integrated images at different angles with the preset image and outputting the dimensional tolerance of the sheet metal product comprises:
outputting a comparison result on a display screen;
and generating a record table of the detection result.
10. The inspection method according to claim 6, wherein after comparing the integrated images at different angles with the preset image and outputting a dimensional tolerance of a sheet metal product, the method further comprises:
controlling a mechanical arm to seal the sheet metal product with a film;
and transferring the sheet metal product to the next station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211717654.7A CN115900561A (en) | 2022-12-29 | 2022-12-29 | Metal plate detection device and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211717654.7A CN115900561A (en) | 2022-12-29 | 2022-12-29 | Metal plate detection device and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115900561A true CN115900561A (en) | 2023-04-04 |
Family
ID=86476297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211717654.7A Pending CN115900561A (en) | 2022-12-29 | 2022-12-29 | Metal plate detection device and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115900561A (en) |
-
2022
- 2022-12-29 CN CN202211717654.7A patent/CN115900561A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110188843B (en) | Workpiece quality detection mark recording system | |
| CN213340460U (en) | Automatic battery mounting equipment | |
| EP3745118A1 (en) | Optical imaging and scanning of holes | |
| CN110860806A (en) | Ultraviolet femtosecond laser cutting system | |
| CN114628299B (en) | Wafer alignment confirmation method and Taizhou ring cutting method | |
| CN217237794U (en) | Diversified outward appearance detection device | |
| CN115900561A (en) | Metal plate detection device and detection method | |
| CN106018415A (en) | System for detecting quality of small parts based on micro-vision | |
| CN115047005B (en) | High-throughput digital slice scanning device and method | |
| CN112577423A (en) | Method for machine vision position location including in motion and application thereof | |
| CN112213328A (en) | Wafer inspection apparatus | |
| CN116818782A (en) | AOI detection equipment for detecting appearance defects of lenses | |
| CN114113163B (en) | Automatic digital ray detection device and method based on intelligent robot | |
| CN114783924B (en) | Wafer carrying device, wafer carrying control method, electric device, and storage medium | |
| JP2020127996A (en) | Machine tool, foreign substance detecting method, and foreign substance detection program | |
| CN215658423U (en) | Automatic pre-welding and detecting device | |
| JP2017021275A (en) | Image acquisition device | |
| CN212749627U (en) | Vision-guided material taking and placing device and system | |
| CN208187946U (en) | A kind of display screen detection device | |
| WO2021056274A1 (en) | Full surface visual inspection system for an object having a sheet shape | |
| CN111524828A (en) | Workbench for inspection | |
| WO2022176602A1 (en) | Material management system | |
| CN220299685U (en) | Get blowing mechanism and receiving device | |
| CN218766676U (en) | Support plate detection and re-judgment device | |
| US20210313207A1 (en) | Wafer image capturing apparatus and method of wafer image capturing |
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 |