CN116413273A - Fine positioning device for clamping wool fabric flaws and automatic system thereof - Google Patents

Fine positioning device for clamping wool fabric flaws and automatic system thereof Download PDF

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Publication number
CN116413273A
CN116413273A CN202210005439.8A CN202210005439A CN116413273A CN 116413273 A CN116413273 A CN 116413273A CN 202210005439 A CN202210005439 A CN 202210005439A CN 116413273 A CN116413273 A CN 116413273A
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CN
China
Prior art keywords
fine positioning
positioning device
cloth
manipulator
flaw
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Pending
Application number
CN202210005439.8A
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Chinese (zh)
Inventor
刘浩
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Shanghai Lynuc Numerical Control Technology Co ltd
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Shanghai Lynuc Numerical Control Technology Co ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Shanghai Lynuc Numerical Control Technology Co ltd filed Critical Shanghai Lynuc Numerical Control Technology Co ltd
Priority to CN202210005439.8A priority Critical patent/CN116413273A/en
Publication of CN116413273A publication Critical patent/CN116413273A/en
Pending legal-status Critical Current

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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
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/8861—Determining coordinates of flaws

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Biochemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

The invention discloses a fine positioning device for clamping wool fabric defects and an automatic system thereof. The automated system comprises a fine positioning device for clamping wool fabric defects as described above. The flaws on the cloth are identified through the photographing identification mechanism, so that the mechanical arm and the grabbing mechanism are controlled to accurately clean the flaws, an automatic mode is realized to replace manual flaw picking, and the efficiency is high.

Description

Fine positioning device for clamping wool fabric flaws and automatic system thereof
Technical Field
The invention relates to a fine positioning device for clamping defects of wool fabric and an automatic system thereof.
Background
In the wool spinning industry, when wool spins cloth, impurities of the wool or impurities in the external environment in the spinning process are doped into the wool to spin the wool cloth, so that the spun cloth has flaws. The defect types of the woolen cloth are various, and mainly comprise cavity wool, wool particles, grass scraps, snake skin threads, fine filaments and the like.
At present, the traditional wool spinning industry is mainly characterized in that defects are repaired manually, the defects are identified, picked and taken out by means of naked eyes, time and labor are wasted by means of manpower, and accuracy is not guaranteed.
Disclosure of Invention
The invention aims to overcome the defects existing in the prior art, and provides a fine positioning device for clamping wool fabric defects and an automatic system thereof.
The invention is realized by the following technical scheme:
the utility model provides a press from both sides fine positioning device who gets wool cloth flaw, it includes manipulator fixed station, manipulator and fine positioning snatch the subassembly, fine positioning snatch the subassembly including take a picture recognition mechanism and snatch the mechanism, the both ends of manipulator connect respectively in the manipulator fixed station with snatch the mechanism, take a picture recognition mechanism electricity connect in the manipulator and be used for controlling horizontal migration, elevating movement and the rotation of manipulator, take a picture recognition mechanism electricity connect in snatch the mechanism and be used for controlling snatch the operation of mechanism.
Further, the grabbing mechanism comprises a mounting seat, a driving component and an electric clamping jaw, wherein the top of the driving component is connected with the mounting seat, and the bottom of the driving component is connected with the electric clamping jaw and used for driving the electric clamping jaw to rotate.
Further, the grabbing mechanism further comprises a slip ring, the slip ring is arranged on the mounting seat, and a cable of the electric clamping jaw penetrates through the slip ring.
Further, the grabbing mechanism further comprises an angle sensor, the angle sensor is connected to the mounting base, the input end of the angle sensor is electrically connected to the photographing identification mechanism, the output end of the angle sensor is electrically connected to the driving component, and the angle sensor is used for detecting the rotation of the electric clamping jaw and controlling the switch of the driving component.
Further, snatch mechanism still includes the cloth pressing head, the top of cloth pressing head connect in the mount pad, just the cloth pressing head can go up and down to remove and be used for compressing tightly the cloth on the mount pad, the bottom of cloth pressing head has the through-hole that is used for exposing the cloth, electronic clamping jaw passes the through-hole is used for pressing from both sides to get the flaw on the cloth.
Further, the cloth pressing head comprises a pressing block, a plurality of springs and a plurality of lifting columns, wherein the bottoms of the lifting columns are connected to the pressing block, the tops of the lifting columns penetrate through the mounting seat and can move up and down on the mounting seat, the lifting columns and the springs are in one-to-one correspondence, the springs are sleeved on the lifting columns, the two ends of the springs are respectively propped against the mounting seat and the pressing block, and the through holes are formed in the pressing block.
Further, the electric clamping jaw comprises an upper connecting part, an elastic piece and a lower connecting part which are sequentially connected from top to bottom, and the upper connecting part is connected with the driving part.
Further, the bottom end of the lower connecting part is provided with a plurality of chucks, the chucks are in a zigzag shape, and the chucks are meshed with each other.
Further, the photographing identification mechanism is a fine positioning camera.
An automated system comprising a fine positioning device as described above for gripping a wool cloth flaw.
The invention has the beneficial effects that:
according to the fine positioning device for clamping the defects of the wool fabric and the automatic system thereof, the defects on the fabric are identified through the photographing identification mechanism, so that the mechanical arm and the grabbing mechanism are controlled to accurately clean the defects, an automatic mode is realized to replace manual picking of the defects, and the efficiency is high.
Drawings
Fig. 1 is a schematic structural view of a fine positioning device for picking up defects of a woolen cloth according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a fine positioning grabbing component of a fine positioning device for clamping a wool fabric defect according to an embodiment of the present invention.
Fig. 3 is a schematic front view of a fine positioning grabbing component of a fine positioning device for clamping a wool fabric defect according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing an internal structure of a fine positioning grabbing component of a fine positioning device for clamping a wool fabric defect according to an embodiment of the present invention.
Reference numerals illustrate:
fine positioning grabbing component 1
Photographing identification mechanism 12
Gripping mechanism 11
Mounting base 111
Drive member 112
Electric clamping jaw 113
Upper connection 1131
Lower connection 1132
Elastic member 1133
Clamping head 1134
Slip ring 114
Angle sensor 115
Cloth pressing head 116
Through hole 1161
Pressing block 1162
Spring 1163
Lifting column 1164
Manipulator 2
Manipulator fixing table 3
Detailed Description
The following description of embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced.
As shown in fig. 1, 2, 3 and 4, the embodiment discloses a fine positioning device for clamping a wool fabric defect, the fine positioning device for clamping a wool fabric defect comprises a manipulator fixing table 3, a manipulator 2 and a fine positioning grabbing component 1, the fine positioning grabbing component 1 comprises a shooting recognition mechanism 12 and a grabbing mechanism 11, two ends of the manipulator 2 are respectively connected to the manipulator fixing table 3 and the grabbing mechanism 11, the shooting recognition mechanism 12 is electrically connected to the manipulator 2 and used for controlling horizontal movement, lifting movement and rotation of the manipulator 2, and the shooting recognition mechanism 12 is electrically connected to the grabbing mechanism 11 and used for controlling grabbing operation of the grabbing mechanism 11.
When the fine positioning device for clamping the defects of the woolen cloth is used, the cloth is photographed and identified by the photographing and identifying mechanism 12, so that whether the defects exist on the cloth or not is identified; after the defects are identified by photographing, converting coordinates of the defects on the cloth into coordinates under a coordinate system of the manipulator 2, controlling the manipulator 2 to horizontally move to an area above the defects, then controlling the manipulator 2 to downwardly move, and controlling grabbing operation of the grabbing mechanism 11, so that the defects are clamped; the rotation of the manipulator 2 drives the grabbing mechanism 11 to rotate together, so that the defect can be rotationally pulled out. The flaws on the cloth are identified through the photographing identification mechanism 12, so that the mechanical arm 2 and the grabbing mechanism 11 are controlled to accurately clean the flaws, an automatic mode is realized to replace manual picking of the flaws, and the efficiency is high. The fine positioning device for clamping the defects of the wool fabric cloth can effectively realize that one set of mechanism can simultaneously take out various types of defects through the working mode and the mechanical movement, so as to achieve the intelligentization of finishing. Wherein the photographing identification mechanism 12 is a precision positioning camera.
The defective wool has various shapes, such as slender and granular, and the positions and states are different, and some of the defective wool floats on the surface of the cloth, and some of the defective wool is buried in the cloth. By recognizing various types of flaws by the photographing recognition mechanism 12, flaws can be effectively gripped and pulled out by controlling the horizontal movement, the lifting movement, and the rotation of the robot arm 2. Particularly, as some flaw hair is longer and part of the flaw hair is hidden in cloth, the flaw hair is directly lifted upwards, the resistance is high, and the flaw hair is pulled out and broken; in order to solve the problem, the gripping mechanism 11 is used for gripping the flaw hair, and then the gripping mechanism 11 is used for performing in-situ turning, so that the flaw hair can be pulled out along the direction of the flaw hair, and the manipulator 2 moves upwards again, so that the flaw can be effectively removed. Therefore, manual operation is not needed, time and labor are saved, and the preparation rate is ensured.
The gripping mechanism 11 includes a mount 111, a driving member 112, and an electric jaw 113, the top of the driving member 112 is connected to the mount 111, and the bottom of the driving member 112 is connected to the electric jaw 113 and is used to drive rotation of the electric jaw 113. In this embodiment, the end connection of the manipulator 2 is on the mount pad 111 to can drive the removal of snatching mechanism 11, electronic clamping jaw 113 is used for gripping the flaw, drives the rotation of electronic clamping jaw 113 through drive unit 112, and manipulator 2 is used for the thick rotation to electronic clamping jaw 113, and drive unit 112 is used for the smart rotation to electronic clamping jaw 113, has effectively guaranteed to take out the flaw, and guarantees can not cause the damage to the cloth, has improved the stability of the smart positioner who presss from both sides and gets the woolen cloth flaw greatly.
The grabbing mechanism 11 further comprises a slip ring 114, the slip ring 114 is arranged on the mounting base 111, and the cables of the electric clamping jaws 113 pass through the slip ring 114. The electric clamping jaw 113 is provided with a cable, when the electric clamping jaw 113 rotates or ascends, the cable can be wound, the cable of the electric clamping jaw 113 is connected out by the slip ring 114, the problem can be effectively avoided, and the safety and stability of the fine positioning device for clamping the wool fabric defects are greatly improved.
The grabbing mechanism 11 further includes an angle sensor 115, the angle sensor 115 is connected to the mounting base 111, and an input end of the angle sensor 115 is electrically connected to the photographing identification mechanism 12, an output end of the angle sensor 115 is electrically connected to the driving component 112, and the angle sensor 115 is used for detecting rotation of the electric clamping jaw 113 and controlling opening and closing of the driving component 112. The shooting recognition mechanism 12 accurately recognizes the position of the flaw on the cloth and controls the electric clamping jaw 113 to clamp the flaw, the angle required to rotate by the electric clamping jaw 113 can be calculated through the shooting recognition mechanism 12, the angle sensor 115 receives the angle required to rotate and detects the rotation of the electric clamping jaw 113, and the electric clamping jaw 113 is controlled to be closed after rotating in place, so that stable removal of the flaw is realized, and the stability of a fine positioning device for clamping the flaw of the woolen cloth is greatly improved.
The grabbing mechanism 11 further comprises a cloth pressing head 116, the top of the cloth pressing head 116 is connected to the mounting seat 111, the cloth pressing head 116 can move up and down on the mounting seat 111 and is used for pressing cloth, a through hole 1161 for exposing the cloth is formed in the bottom of the cloth pressing head 116, and the electric clamping jaw 113 penetrates through the through hole 1161 and is used for clamping flaws on the cloth. In the process of downwards moving the manipulator 2, cloth is pressed by the cloth pressing head 116, and the electric clamping jaw 113 clamps flaws on the cloth by the through hole 1161; when the manipulator 2 is lifted up again, the cloth pressing head 116 is still in a compressed state within a certain stroke, and after the flaw hair overcomes the resistance and is pulled out of the cloth, the manipulator 2 is lifted up continuously, and the cloth pressing head 116 is in a loose state. The cloth is tightly pressed through the cloth pressing head 116, so that the fine positioning device for clamping the defects of the wool fabric can not generate offset phenomenon in the using process, and the stability of the fine positioning device for clamping the defects of the wool fabric is further improved.
The cloth pressing head 116 comprises a pressing block 1162, a plurality of springs 1163 and a plurality of lifting columns 1164, the bottoms of the plurality of lifting columns 1164 are connected to the pressing block 1162, the tops of the plurality of lifting columns 1164 penetrate through the mounting base 111 and can move up and down on the mounting base 111, the plurality of lifting columns 1164 correspond to the plurality of springs 1163 one by one, the springs 1163 are sleeved on the lifting columns 1164, two ends of the springs 1163 respectively abut against the mounting base 111 and the pressing block 1162, and the through holes 1161 are located in the pressing block 1162.
The pressing block 1162 is used for pressing the cloth, and the plurality of lifting columns 1164 pass through the mounting seat 111 and ascend relative to the mounting seat 111 in the descending process of the grabbing mechanism 11; the grabbing mechanism 11 realizes that the pressing block 1162 always presses the cloth in the whole process of descending, clamping and ascending. Restoration of the cloth pressing head 116 will be achieved by the spring 1163. In this embodiment, the lifting column 1164 is a cylindrical pin, and a linear bearing is provided between the cylindrical pin and the mounting base 111.
In this embodiment, the bottom end of the electric clamping jaw 113 is provided with a clamping head 1134, the electric clamping jaw 113 is controlled by the manipulator 2 to move downwards, the cloth pressing head 116 presses the cloth, the clamping head 1134 needs to descend to a depth of about 1mm below the flaw, and the manipulator 2 moves up and down to set a fixed descending height; the problem of inconsistent height exists in the workbench on which the cloth is placed, so that in the process of moving the manipulator 2 from the workbench, inconsistent height of descending of the manipulator 2 exists, and the situation that the chuck 1134 descends to a depth below 1mmm of the flaw is caused, so that the flaw cannot be clamped. To solve this problem, the electric jaw 113 includes an upper connection portion 1131, an elastic member 1133, and a lower connection portion 1132, which are sequentially connected from top to bottom, and the upper connection portion 1131 is connected to the driving part 112.
A gap is formed between the upper connecting portion 1131 and the lower connecting portion 1132, and an elastic member 1133 is disposed between the upper connecting portion 1131 and the lower connecting portion 1132, so that the lower connecting portion 1132 can move up and down to fine-tune the position through the elastic member 1133. In this embodiment, the electric clamping jaw 113 is designed into an elastic structure device, the electric clamping jaw 113 has an elastic moving space of up and down 4mmm, the flatness of a workbench for cloth movement is adjusted to be smaller than 4mm, the descending height of the manipulator 2 is adjusted, the clamping head 1134 is elastically contacted with the workbench surface, and the clamping head 1134 can be effectively elastically contacted with the workbench under the set fixed height of the manipulator 2, so that flaws can be accurately clamped.
The bottom end of the lower connecting portion 1132 is provided with a plurality of clamping heads 1134, the clamping heads 1134 are in a zigzag shape, and the clamping heads 1134 are meshed with each other. After the flaws are identified by the photographing identification mechanism 12, the clamping head 1134 is moved to the upper part of the flaws by the mechanical arm 2, so that the flaws in the shape of strips and grains can be clamped simultaneously, the clamping head 1134 is designed into a saw-tooth shape, and the clamping head 1134 can be meshed with each other after being closed, so that the clamping of the flaws is ensured, and the stability of a fine positioning device for clamping the flaws of the woolen cloth is greatly improved. When the photographing identification mechanism 12 identifies the particle defect, the opening direction of the clamping head 1134 can be arbitrary, and the clamping head 1134 can be rotated at an arbitrary angle; when the photographing identification mechanism 12 identifies the strip-shaped flaw, the chuck 1134 firstly returns to zero by utilizing the angle sensor 115, and then the opening direction of the rotary chuck 1134 is approximately perpendicular to the flaw direction, so that the flaw can be effectively clamped when the chuck 1134 is closed; thereby realizing a set of devices and a pair of motorized jaws 113 that can remove a variety of defective hair.
The embodiment also discloses an automatic system, which comprises the fine positioning device for clamping the wool fabric defects. Thereby realize automatic mode and replace the manual work and select the flaw, need not manual operation, labour saving and time saving, and the readiness rate obtains guaranteeing, efficient.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (10)

1. The utility model provides a press from both sides fine positioning device who gets wool cloth flaw, its characterized in that includes manipulator fixed station, manipulator and fine positioning snatch the subassembly, fine positioning snatch the subassembly including take a picture recognition mechanism and snatch the mechanism, the both ends of manipulator connect respectively in the manipulator fixed station with snatch the mechanism, take a picture recognition mechanism electricity connect in the manipulator and be used for controlling horizontal migration, lifting movement and the rotation of manipulator, take a picture recognition mechanism electricity connect in snatch the mechanism and be used for controlling snatch the operation of mechanism.
2. The fine positioning device for picking up a wool fabric defect according to claim 1, wherein the grabbing mechanism comprises a mounting base, a driving part and an electric clamping jaw, the top of the driving part is connected to the mounting base, and the bottom of the driving part is connected to the electric clamping jaw and is used for driving the electric clamping jaw to rotate.
3. The fine positioning device for picking up a wool cloth flaw according to claim 2, wherein the grabbing mechanism further comprises a slip ring, the slip ring is arranged on the mounting base, and a cable of the electric clamping jaw passes through the slip ring.
4. The fine positioning device for picking up a wool fabric defect according to claim 2, wherein the grabbing mechanism further comprises an angle sensor, the angle sensor is connected to the mounting base, an input end of the angle sensor is electrically connected to the photographing identification mechanism, an output end of the angle sensor is electrically connected to the driving component, and the angle sensor is used for detecting rotation of the electric clamping jaw and controlling switching of the driving component.
5. The fine positioning device for clamping a wool fabric flaw according to claim 2, wherein the grabbing mechanism further comprises a cloth pressing head, the top of the cloth pressing head is connected to the mounting seat, the cloth pressing head can move up and down on the mounting seat and is used for pressing the fabric, a through hole for exposing the fabric is formed in the bottom of the cloth pressing head, and the electric clamping jaw penetrates through the through hole and is used for clamping the flaw on the fabric.
6. The fine positioning device for clamping wool fabric defects according to claim 5, wherein the cloth pressing head comprises a pressing block, a plurality of springs and a plurality of lifting columns, the bottoms of the lifting columns are connected to the pressing block, the tops of the lifting columns penetrate through the mounting base and can move up and down on the mounting base, the lifting columns are in one-to-one correspondence with the springs, the springs are sleeved on the lifting columns, two ends of the springs respectively abut against the mounting base and the pressing block, and the through holes are formed in the pressing block.
7. The fine positioning device for picking up a defect of a woolen cloth according to claim 2, wherein the electric jaw comprises an upper connecting part, an elastic member and a lower connecting part which are sequentially connected from top to bottom, and the upper connecting part is connected to the driving part.
8. The fine positioning device for picking up a defect of a woolen cloth according to claim 7, wherein the bottom end of the lower connecting portion is provided with a plurality of chucks, the chucks are shaped like saw teeth, and the chucks are engaged with each other.
9. The fine positioning device for picking up a defect of a woolen cloth according to claim 1, wherein the photographing identification mechanism is a fine positioning camera.
10. An automated system comprising a fine positioning device according to any one of claims 1-9 for picking up a wool cloth flaw.
CN202210005439.8A 2022-01-05 2022-01-05 Fine positioning device for clamping wool fabric flaws and automatic system thereof Pending CN116413273A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210005439.8A CN116413273A (en) 2022-01-05 2022-01-05 Fine positioning device for clamping wool fabric flaws and automatic system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210005439.8A CN116413273A (en) 2022-01-05 2022-01-05 Fine positioning device for clamping wool fabric flaws and automatic system thereof

Publications (1)

Publication Number Publication Date
CN116413273A true CN116413273A (en) 2023-07-11

Family

ID=87048562

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210005439.8A Pending CN116413273A (en) 2022-01-05 2022-01-05 Fine positioning device for clamping wool fabric flaws and automatic system thereof

Country Status (1)

Country Link
CN (1) CN116413273A (en)

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