CN203705352U - Magnetic shoe online detecting device based on machine vision - Google Patents
Magnetic shoe online detecting device based on machine vision Download PDFInfo
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- CN203705352U CN203705352U CN201420041520.2U CN201420041520U CN203705352U CN 203705352 U CN203705352 U CN 203705352U CN 201420041520 U CN201420041520 U CN 201420041520U CN 203705352 U CN203705352 U CN 203705352U
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Abstract
Description
Technical field
The utility model relates to mechanical engineering lighting technical field, particularly a kind of magnetic shoe online detection instrument based on machine vision.
Background technology
Magnetic shoe is a kind of watt shape ferrite permanent-magnet materials, is mainly used on magneto, and its effect is to replace field copper to produce magnetic field, is the important composition parts of magneto, is widely used at industrial circles such as automobile, household electrical appliances, electric tools, and demand is huge.The quality of magnetic shoe quality has a great impact the performance of magneto.In exported product, even have and cause the risk of returning goods by the gross because indivedual magnetic shoes are defective.Therefore sort out defective magnetic shoe and there is very important economic worth.
Ferrite magnetic shoe production process mainly contains Preburning material preparation, powder process, moulding, sintering, mill processing, examines several steps of grading, and several factors all can cause magnetic shoe to occur defect.Ferrite magnetic shoe has all been realized full-automatic production in production processes such as compressing, sintering and mill processing.But due to because magnetic shoe kind specification is various, size and shape difference are very large, detection faces is many, output is very high, productive temp is very fast, within 1 minute, can reach 120, in addition the defect kind of magnetic shoe own a lot (comprise crackle, collapse rotten, chamfering, owe mill, play level, collapse rotten, play level, interlayer and spot etc.), magnetic shoe detection difficulty and workload are very large, cause the development of the practical online automatic detection equipment of magnetic shoe all also not obtain up to now substantial progress, magnetic shoe manufacturer is all still taking artificial visual detection as main all the time.This artificial visual detection method is because labour intensity is large, and the impact that quality control is subject to looking into the human factors such as personnel's technology, experience, the state of mind and working environment is larger, and detection efficiency is low, and flase drop and loss are higher, and unstable; Meanwhile, due to magnetic shoe out-of-shape, output is large, and critical size is also difficult to manually entirely examining, and out-of-size magnetic shoe can not be rejected, and can not carry out grading and classification to increase economic efficiency to magnetic shoe.Magnetic shoe defect inspection has been the bottleneck that improves magnetic shoe production efficiency, improves the quality of products and reduce costs.
Because human resources are nervous and cost of labor constantly rises, belong to the product of single-piece small profits, production in enormous quantities for this production feature of magnetic shoe, the an urgent demand of magnetic shoe manufacturer is developed fast, economic, harmless, the comprehensive real-time online detection of non-sampling sorting arrangement, to reach online high speed detection, realize automatic sorting to ensure all-round excellent product.
Mechanical vision inspection technology is a kind of like this advanced person's detection technique just.In the detection method based on machine vision, mainly comprise Image Acquisition, image pre-service, feature extraction and selection, four basic steps of pattern classification.Along with constantly improving and development of the infotech such as computer vision, Digital Image Processing, Machine Vision Detection has become one of main method of industrial automation detection.It has fast, accurately, the outstanding advantages such as reliable and noncontact, to improve the examination and test of products consistance, improve the quality of products, reduce hand labor intensity and raising enterprises production efficiency has vital role.
In general, a set of vision system aims at specific model product design, all has certain specificity at aspects such as imaging system configuration, algorithm design and mechanism design, and is not suitable for the multiple widely different product of a set of Vision Builder for Automated Inspection detection.Because magnetic shoe kind specification is various, a producer just may produce 100 kinds, and magnetic shoe size and shape difference very large, detection faces is many, productive temp is very fast, output is very high, the defect kind of magnetic shoe own is a lot of in addition, some defect characteristic is also not obvious.These reasons have all caused the magnetic tile surface defect detection method based on machine vision extremely difficult.The major reason that magnetic tile surface defect detection method based on machine vision is difficult to make progress is exactly the diversity due to magnetic shoe shape and size, make machine vision imaging system be difficult to adapt to all magnetic shoes, be difficult to obtain steady and audible image, affected subsequent detection treatment step.Up to now the online automation equipment that detects in real time that, still can not adapt to watt shape magnetic tile surface defect inspection that model specification is numerous and dimensional measurement is introduced to the market.
Utility model content
Goal of the invention of the present utility model is, for the problem of above-mentioned existence, provides a kind of and can adapt to the surface imperfection inspection of Multiple Type specification magnetic shoe and the magnetic shoe online detection instrument based on machine vision that critical size is measured.
The technical solution of the utility model is achieved in that a kind of magnetic shoe online detection instrument based on machine vision, comprise frame and be arranged on the conveying device in frame, it is characterized in that: described conveying device is divided into two sections of detection lines, between first paragraph detection line and second segment detection line, be provided with the turn-over rig for magnetic shoe turn-over, described first paragraph detection line comprises for to before magnetic shoe, rear end face carries out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof is carried out to the station of image acquisition, described second segment detection line comprises for magnetic shoe inner arcuate surface being carried out to image acquisition and the left side to magnetic shoe, right side and fillet surface thereof carry out the station of image acquisition, before described magnetic shoe, rear end face and fillet surface thereof carry out image acquisition by two even imaging devices of magnetic shoe that are arranged on conveying device top, described magnetic shoe outer arcuate surface and fillet surface thereof, magnetic shoe inner arcuate surface and fillet surface thereof and a magnetic shoe left side, right side and fillet surface thereof carry out image acquisition by six magnetic shoe flexible imaging devices that are arranged on conveying device top respectively.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, first paragraph detection line also comprises the station for the vertical fillet surface of magnetic shoe left and right side extrados being carried out to image acquisition, the vertical fillet surface of described magnetic shoe left and right side extrados carries out image acquisition by two even imaging devices of magnetic shoe that are arranged on conveying device top, between the image acquisition station of the vertical fillet surface of magnetic shoe left and right side extrados and the image acquisition station of magnetic shoe front and rear end, is provided with steering gear.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, the even imaging device of magnetic shoe comprises first camera, the first light source assembly, bracket component and first camera linear motion component, described the first light source assembly is fixedly connected with the first installing plate, described first camera is connected with the first installing plate by first camera linear motion component, described the first installing plate is connected with bracket component by slide mechanism, described first camera coordinates with light source assembly before magnetic shoe, rear end face and fillet surface thereof and a magnetic shoe left side, extrados vertical fillet surface in right side carries out even imaging.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, the first light source assembly comprises the first lampshade, the the first lampshade base plate being connected with the first lampshade bottom and being arranged on the first lampshade base plate, be distributed in the arc light source group of the first lampshade bottom inner side, be provided with camera imaging opening at described the first lampshade top, in described the first lampshade, be provided with the first shadow shield being connected with governor motion, described the first shadow shield moves along camera motion direction under the first governor motion effect, described the first governor motion comprises adjuster bar, installation sleeve and lock-screw, described installation sleeve is connected on the first lampshade, camera imaging opening one side, described adjuster bar one end is connected with the first shadow shield, described lock-screw and installation sleeve are threaded connection, its end is resisted against in the stopper slot of adjuster bar, for carrying out spacing to adjuster bar and being locked.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, first camera linear motion component comprises the first base plate being fixedly connected with the first installing plate, driving mechanism, the first line slideway and the first slide block, described driving mechanism comprises the first stepper motor of strap brake, the first synchronous pulley being connected with the first stepping motor power output terminal of strap brake, be arranged on that the first roller on the first base plate and solderless wrapped connection be connected by the first belt contiguous block with on the first roller and two ends at the first synchronous pulley the first Timing Belt, on described the first base plate, be processed with the groove as the first Timing Belt space along the first line slideway surrounding, described the first slide block is connected with the first belt contiguous block, and along being fixed on the first line slideway moving linearly on the first base plate, described the first slide block is connected with the first support by transition contiguous block, described the first support is connected with first camera by camera mount pad, on described transition contiguous block, be provided with original point position plate and limiting plate, on described the first base plate, be provided with the optoelectronic switch of original point position plate corresponding matching and with the limit switch of limiting plate corresponding matching.
Wherein, described bracket component comprises front vertical plate, coulisse, back vertical plate and transverse slat, on described coulisse, be provided with chute, described the first installing plate is slidably connected by slide mechanism and coulisse, described slide mechanism comprises card extender, briquetting and the first web joint, described first web joint one end is fixedly connected with the first installing plate, and its other end is connected to the chute place of coulisse by card extender and briquetting.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, magnetic shoe flexible imaging device comprises second camera, secondary light source assembly, camera circular motion assembly, second camera linear motion component and camera rotary components, described second camera is connected with camera rotary components, described camera rotary components is connected with second camera linear motion component, described second camera linear motion component is connected with camera circular motion assembly, and described second camera coordinates magnetic shoe is carried out to imaging with secondary light source assembly.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, secondary light source assembly comprises semisphere lampshade, the the second lampshade base plate being connected with semisphere lampshade bottom and being arranged on the second lampshade base plate, be distributed in the arc light source group of semisphere lampshade bottom inner side, in both sides, described semisphere lampshade bottom, magnetic shoe is set and passes through groove, in semisphere lampshade one side, camera imaging open slot is set, in described semisphere lampshade, be provided with the second shadow shield being connected with governor motion, described the second shadow shield axially moves up and down along semisphere lampshade under the second governor motion effect, described the second governor motion comprises adjusting screw(rod), be arranged on swivel nut and the set nut at semisphere lampshade top, described adjusting screw(rod) lower end is connected with the second shadow shield and is threaded connection with swivel nut, drive the second shadow shield move up and down and be locked by set nut by rotating adjusting screw(rod).
Wherein, described secondary light source assembly is connected with circular arc support, described circular arc support is connected with mounting bracket by light source lifting assembly, described light source lifting assembly comprises screw rod, lifting set nut and lift adjustment nut, described screw rod upper end is connected with mounting bracket, its lower end is through circular arc support, and described lifting set nut and lift adjustment nut are placed in respectively circular arc and prop up the upper and lower both sides of top of the trellis and be threaded connection with screw rod.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, camera circular motion assembly comprises curved plate, be arranged on the arc-shaped guide rail on curved plate, slide and circular motion driving mechanism, described circular motion driving mechanism comprises circular motion stepper motor and arc-shape synchronous belt, on described arc-shaped guide rail, be provided with the groove to arc-shape synchronous tape guide, in described groove, be provided with some rollers, described roller and the movement locus that is arranged on roller assembly on curved plate and has formed arc-shape synchronous belt, described slide contacts guiding by the deep groove ball bearing of installing on four location and installation axles with arc-shaped guide rail with surface bearing, described circular motion stepper motor drives slide to move along arc-shaped guide rail by arc-shape synchronous belt, described second camera linear motion component is connected with slide, on described curved plate, be provided with circular motion optoelectronic switch and circular motion limit switch, on described slide, be provided with the circular motion limiting plate with circular motion optoelectronic switch and circular motion limit switch corresponding matching,
Described second camera linear motion component comprises the second base plate being connected with slide, the second line slideway, the second slide block and the second straight line movement driving mechanism, described the second straight line movement driving mechanism comprises the second rectilinear motion stepper motor, the second synchronous pulley being connected with the second rectilinear motion stepper motor clutch end, be arranged on that the second roller on the second base plate and solderless wrapped connection be connected by the second belt contiguous block with on the second roller and two ends at the second synchronous pulley the second Timing Belt, on described the second base plate, be processed with the groove as the second Timing Belt space along the second line slideway surrounding, described the second slide block is connected with the second belt contiguous block, and along being fixed on the second line slideway moving linearly on the second base plate, described camera rotary components is connected with the second slide block by the second web joint, on described the second base plate, be provided with rectilinear motion optoelectronic switch and rectilinear motion limit switch, on described the second slide block, be provided with the rectilinear motion limiting plate with rectilinear motion optoelectronic switch and rectilinear motion limit switch corresponding matching.
Described camera rotary components comprises rectangle support and rotary drive mechanism, described rectangle support is connected with the second slide block by the second web joint, described rotary drive mechanism comprises the rotary actuation stepper motor being arranged on rectangle support, the pinion wheel being connected with rotary actuation stepper motor clutch end and the gear wheel engaging with pinion wheel, described gear wheel is connected with camera installing plate by the coupling shaft being attached thereto, described second camera is arranged on camera installing plate, on described coupling shaft, be provided with original point position sheet, described original point position sheet be arranged on the optoelectronic switch corresponding matching that rotatablely moves on rectangle support.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, turn-over rig comprises base and is arranged on the sled mechanism on base, the upper end of described sled mechanism is corresponding with the output terminal of a upper conveying mechanism, its lower end is corresponding with the input end of next conveying mechanism, described sled mechanism comprises skateboard component and is separately positioned on a left side for skateboard component both sides and top, right plate and cover plate, described skateboard component, left, right plate and cover plate form the sliding space of magnetic shoe, described skateboard component is made up of two slide rails, described two slide rails are connected with first crossbeam by corresponding fixed head respectively, described first crossbeam connects with corresponding L-type support respectively, the sliding rail arranging on described L-type support and base is slidably connected, a described left side, right plate bottom coordinates with skateboard component, the output terminal corresponding matching of its top and a upper conveying mechanism forms guide frame, a described left side, right plate is arranged on second cross beam by governor motion respectively, on a described left side, right plate inner side is respectively arranged with the arc-shaped guide plate corresponding with the output terminal of a upper conveying mechanism, described arc-shaped guide plate lower end is corresponding with skateboard component, the bottom of described arc-shaped guide plate adopts flexible material, output terminal correspondence at described skateboard component is provided with planker and baffle plate, described planker is slidably disposed on base by sliding slider, described planker is corresponding with the input end of next conveying mechanism, described baffle plate is connected with apron block, described apron block is slidably disposed on the sliding rail of base, be respectively arranged with lower side panel in described baffle plate both sides, be provided with lower platen in baffle plate upper end, described baffle plate, lower side panel and lower platen form the material space that of magnetic shoe.
Magnetic shoe online detection instrument based on machine vision described in the utility model, described in it, steering gear comprises the importing assembly of arranging successively along the tape transport direction of conveying device, steering assembly and correcting assembly, described importing assembly, steering assembly and correcting assembly are slidably disposed on respectively on guide assembly, described importing assembly comprises the importing support being slidably disposed on guide assembly and is arranged on the deflector apron importing on support by governor motion, described deflector apron is arranged along tape transport direction, described steering assembly comprises the turning rack being slidably disposed on guide assembly and is arranged on the gear tongue on turning rack by governor motion, described gear tongue is arranged along the throughput direction perpendicular to conveying belt, described correcting assembly comprises the guiding trestle being slidably disposed on guide assembly and is arranged on two groups of guide plates on guiding trestle by governor motion, described two groups of guide plates coordinate the passage that passes through that forms magnetic shoe, described deflector apron and gear tongue are separately positioned on the both sides of conveying belt along throughput direction center line, on described guiding trestle, be provided with orienting lug by governor motion, described orienting lug is positioned at gear tongue front, described deflector apron front portion expands gradually to conveying belt side, the magnetic shoe that described two groups of guide plates form is by passage flare, described guide assembly comprises and is arranged on the guide rail of conveying belt both sides and is slidably disposed on the moving slider on guide rail, and described importing support, turning rack and guiding trestle are fixedly connected with corresponding moving slider respectively.
The utility model carries out image acquisition by the even imaging device of magnetic shoe and the magnetic shoe flexible imaging device of multiple stations in conveying device and conveying device, in magnetic shoe course of conveying, completing magnetic shoe by steering gear turns to, complete magnetic shoe turn-over by turn-over rig, by sorting equipment, defective magnetic shoe is sorted, complete the inspection work to various watts of shape magnetic shoe External Defects, thereby realize the real-time online inspection to magnetic shoe.
Owing to having adopted technique scheme, the beneficial effects of the utility model are:
1, in the utility model, the even imaging device of magnetic shoe mainly completes magnetic shoe front/rear end and fillet surface thereof, the image acquisition work of the vertical fillet surface of magnetic shoe extrados, wherein camera linear motion component and light source assembly can be done as a wholely on bracket component, differently to do adaptive movement according to what detect magnetic shoe model, camera linear motion component again can be with respect to light source assembly moving linearly simultaneously, and by the position of shadow shield in manual adjustments light source assembly, can control the illumination ratio of magnetic shoe front/rear end and fillet surface thereof, Polaroidly can obtain magnetic shoe front end face and fillet surface and magnetic shoe rear end face and the steady and audible image of fillet surface thereof, reduce imaging station, reduce view data treatment capacity, improve magnetic shoe real-time online detection speed.
2, in the utility model, magnetic shoe flexible imaging device can be according to different magnetic shoe specifications and physical dimension, and camera can move along arc-shaped guide rail and line slideway in magnetic shoe imaging two dimensional surface, thereby adjust camera position, controls image-forming range and imaging size; Simultaneously, camera can rotate by similar human eye up and down, adjust the relative angle of magnetic shoe imaging surface and camera, coordinate light illumination, by apery eye function, Automatic-searching optimal imaging position and angle, adapt to the imaging of Multiple Type specification magnetic shoe inner-outer arc surface and fillet surface, left and right end face and fillet surface thereof; According to different imaging station, the utility model, by Polaroid, can obtain respectively the picture rich in detail of magnetic shoe inner-outer arc surface and fillet surface thereof, left side and fillet surface thereof and right side and fillet surface thereof.
3, in the utility model, turn-over rig is by being arranged between first paragraph detection line and second segment detection line, utilizing magnetic shoe automatically to fall after turn-over glides by sliding space, and according to the magnetic shoe of different size, each parts in turn-over rig are carried out to accommodation, thereby guarantee magnetic shoe in downslide process, there will not be turn to, the phenomenon such as rolling, make it meet the requirement of subsequent detection.
4, in the utility model, steering gear is by importing assembly and the go to action of realizing magnetic shoe on conveying belt coordinating of steering assembly, finally recycle correcting assembly to turning to the regular not magnetic shoe in rear position to carry out correcting arrangement, make it meet subsequent detection work bit position and direction requirement completely.
Brief description of the drawings
Fig. 1 is a kind of typical magnetic shoe.
Fig. 2 is another kind of typical magnetic shoe.
Fig. 3 is front view of the present utility model.
Fig. 4 is vertical view of the present utility model.
Fig. 5 is the front view of the even imaging device of magnetic shoe in the utility model.
Fig. 6 is the left view of Fig. 5.
Fig. 7 is the vertical view of Fig. 5.
Fig. 8 is the structural representation of the first light source assembly in the even imaging device of magnetic shoe.
Fig. 9 is the vertical view that the even imaging device of magnetic shoe uses state.
Figure 10 is the front view of magnetic shoe flexible imaging device in the utility model.
Figure 11 is camera linear motion component and the vertical view of camera rotary components in the time of horizontal level in magnetic shoe flexible imaging device.
Figure 12 is camera linear motion component and the side view of camera rotary components in the time of upright position in magnetic shoe flexible imaging device, not shown adjusting screw(rod).
Figure 13 is A portion enlarged drawing in Figure 12.
Figure 14 is the structural representation of secondary light source assembly in magnetic shoe flexible imaging device.
Figure 15 is the structural representation that secondary light source assembly is connected with light source lifting assembly.
Figure 16 is the structural representation of turn-over rig in the utility model.
Figure 17 is the front view of Figure 16.
Figure 18 is the side view of Figure 16.
Figure 19 is the vertical view of Figure 16.
Figure 20 is the structural representation of steering gear in the utility model.
Figure 21 is the front view of Figure 20.
Figure 22 is the side view of Figure 20.
Figure 23 is the vertical view of Figure 20.
Mark in figure: 1 is frame, 2 is conveying device, 3 is turn-over rig, 4 is the even imaging device of magnetic shoe, 5 is magnetic shoe flexible imaging device, 6 is steering gear, 7 is first camera, 8 is the first installing plate, 9 is the first lampshade, 10 is the first lampshade base plate, 11 is camera imaging opening, 12 is the first shadow shield, 13 is adjuster bar, 14 is installation sleeve, 15 is lock-screw, 16 is the first base plate, 17 is the first line slideway, 18 is the first slide block, 19 is the first stepper motor, 20 is the first synchronous pulley, 21 is the first roller, 22 is the first belt contiguous block, 23 is the first Timing Belt, 24 is the first support, 25 is transition contiguous block, 26 is camera mount pad, 27 is original point position plate, 28 is limiting plate, 29 is optoelectronic switch, 30 is limit switch, 31 is front vertical plate, 32 is coulisse, 33 is back vertical plate, 34 is transverse slat, 35 is card extender, 36 is briquetting, 37 is the first web joint, 38 is second camera, 39 is semisphere lampshade, 40 is the second lampshade base plate, 41 pass through groove for magnetic shoe, 42 is camera imaging open slot, 43 is the second shadow shield, 44 is adjusting screw(rod), 45 is swivel nut, 46 is set nut, 47 is circular arc support, 48 is mounting bracket, 49 is screw rod, 50 is lifting set nut, 51 is lift adjustment nut, 52 is curved plate, 53 is arc-shaped guide rail, 54 is slide, 55 is circular motion stepper motor, 56 is arc-shape synchronous belt, 57 is roller, 58 is roller assembly, 59 is location and installation axle, 60 is deep groove ball bearing, 61 is surface bearing, 62 is circular motion limit switch, 63 is circular motion optoelectronic switch, 64 is circular motion limiting plate, 65 is the second base plate, 66 is the second line slideway, 67 is the second slide block, 68 is the second rectilinear motion stepper motor, 69 is the second synchronous pulley, 70 is the second roller, 71 is the second belt contiguous block, 72 is the second Timing Belt, 73 is the second web joint, 74 is rectilinear motion optoelectronic switch, 75 is rectilinear motion limit switch, 76 is rectilinear motion limiting plate, 77 is rectangle support, 78 for rotariling actuate stepper motor, 79 is pinion wheel, 80 is gear wheel, 81 is coupling shaft, 82 is camera installing plate, 83 is original point position sheet, 84 is the optoelectronic switch that rotatablely moves, 85 is base, 86a, 86b is left, right plate, 87 is cover plate, 88 is magnetic shoe, 89 is slide rail, 90 is fixed head, 91 is first crossbeam, 92 is L-type support, 93 is sliding rail, 94 is second cross beam, 95 is arc-shaped guide plate, 96 is planker, 97 is baffle plate, 98 is sliding slider, 99 is apron block, 100 is lower side panel, 101 is lower platen, 102 is conveying belt, 103 for importing support, 104 is deflector apron, 105 is turning rack, 106 is gear tongue, 107 is guiding trestle, 108 is guide plate, 109 is orienting lug, 110 is guide rail, 111 is moving slider, 112 is sorting equipment, 113 is right side, 114 is rear end face, 115 is extrados, 116 is left side, 117 is fillet surface, 118 is intrados, 119 is front end face, 120 is the vertical fillet surface of left side extrados, 121 is the vertical fillet surface of right side extrados.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figures 3 and 4, a kind of magnetic shoe online detection instrument based on machine vision, comprise frame 1 and be arranged on the conveying device 2 in frame 1, described conveying device is divided into two sections of detection lines, between first paragraph detection line and second segment detection line, be provided with the turn-over rig 3 for magnetic shoe turn-over, described first paragraph detection line comprises for to before magnetic shoe, rear end face carries out image acquisition and magnetic shoe outer arcuate surface and fillet surface thereof is carried out to the station of image acquisition, described second segment detection line comprises for magnetic shoe inner arcuate surface being carried out to image acquisition and the left side to magnetic shoe, right side and fillet surface thereof carry out the station of image acquisition, before described magnetic shoe, rear end face and fillet surface thereof carry out image acquisition by two even imaging devices 4 of magnetic shoe that are arranged on conveying device 2 tops, described magnetic shoe outer arcuate surface and fillet surface thereof, magnetic shoe inner arcuate surface and fillet surface thereof and a magnetic shoe left side, right side and fillet surface thereof carry out image acquisition by six magnetic shoe flexible imaging devices 5 that are arranged on conveying device 2 tops respectively.Conveying device, by tape transport magnetic shoe, gathers image by the even imaging device of magnetic shoe, magnetic shoe flexible imaging device respectively in the time of the each detection station of magnetic shoe process; In magnetic shoe course of conveying, complete magnetic shoe by steering gear and turn to, complete magnetic shoe turn-over by turn-over rig, by sorting equipment, defective magnetic shoe is sorted.
Wherein, described first paragraph detection line also comprises the station for the vertical fillet surface of magnetic shoe left and right side extrados being carried out to image acquisition, the vertical fillet surface of described magnetic shoe left and right side extrados carries out image acquisition by two even imaging devices 4 of magnetic shoe that are arranged on conveying device 2 tops, between the image acquisition station of the vertical fillet surface of magnetic shoe left and right side extrados and the image acquisition station of magnetic shoe front and rear end, is provided with steering gear 6.
In the present embodiment, complete respectively magnetic shoe outer surfaces image acquisition by ten stations and work, six stations of first paragraph detection line, four stations of second segment detection line, two sections of detection lines are by the tape transport magnetic shoe of conveying device.Between second and third station of first paragraph detection line, be provided with magnetic shoe steering device 6 and sorting equipment 112, between two sections of detection lines, be provided with turn-over rig 3 and sorting equipment 112; Be provided with sorting equipment 112 at second segment detection line end.As illustrated in fig. 1 and 2, specifically, with station two, the vertical fillet surface 120,121 of magnetic shoe left and right side extrados is carried out to image acquisition at station one; At station three and station four, image acquisition is carried out in magnetic shoe front and rear end 119,114 and fillet surface 117 thereof; At station five and station six, magnetic shoe extrados 115 and fillet surface thereof are carried out to image acquisition; At station seven and station eight, magnetic shoe intrados 118 is carried out to image acquisition; At station nine and station ten, the left and right end face 116,113 of magnetic shoe and fillet surface thereof are carried out to image acquisition.
Wherein, image acquisition station has very large dirigibility and adaptability, is easy to adjust camera imaging position and imaging angle to obtain steady and audible image according to magnetic shoe specifications and models, gathers station number and is also easy to expand according to actual needs or reduce.
As shown in Fig. 5,6 and 7, the even imaging device 4 of described magnetic shoe comprises first camera 7, the first light source assembly, bracket component and first camera linear motion component, described the first light source assembly is fixedly connected with the first installing plate 8, described first camera 7 is connected with the first installing plate 8 by first camera linear motion component, described the first installing plate 8 is connected with bracket component by slide mechanism, and described first camera 7 coordinates with light source assembly carries out even imaging to magnetic shoe front and rear end and fillet surface thereof and the vertical fillet surface of magnetic shoe left and right side extrados.
As shown in Figure 8, described the first light source assembly comprises the first lampshade 9, the the first lampshade base plate 10 being connected with the first lampshade 9 bottoms and being arranged on the first lampshade base plate 10, be distributed in the arc light source group of the first lampshade 9 bottom inside, described lampshade is 1/4 ball-type, be provided with camera imaging opening 11 at described the first lampshade 9 tops, in described the first lampshade 9, be provided with the first shadow shield 12 being connected with governor motion, described the first shadow shield 12 moves along camera motion direction under the first governor motion effect, described the first governor motion comprises adjuster bar 13, installation sleeve 14 and lock-screw 15, described installation sleeve 14 is connected on the first lampshade 9, camera imaging opening 11 1 sides, described adjuster bar 13 one end are connected with the first shadow shield 12, described lock-screw 15 is threaded connection with installation sleeve 14, its end is resisted against in the stopper slot of adjuster bar 13, for adjuster bar 13 is locked.
As illustrated in Figures 5 and 6, described first camera linear motion component comprises the first base plate 16 being fixedly connected with the first installing plate 8, driving mechanism, the first line slideway 17 and the first slide block 18, described driving mechanism comprises the first stepper motor 19 of strap brake, the first synchronous pulley 20 being connected with the first stepper motor 19 clutch ends of strap brake, be arranged on that the first roller 21 on the first base plate 16 and solderless wrapped connection be connected by the first belt contiguous block 22 with on the first roller 21 and two ends at the first synchronous pulley 20 the first Timing Belt 23, on described the first base plate 16, be processed with the groove as the first Timing Belt 23 spaces along the first line slideway 17 surroundings, described the first slide block 18 is connected with the first belt contiguous block 22, and along being fixed on the first line slideway 17 moving linearlies on the first base plate 16, described the first slide block 18 is connected with the first support 24 by transition contiguous block 25, described the first support 24 is connected with first camera 7 by camera mount pad 26, on described transition contiguous block 25, be provided with original point position plate 27 and limiting plate 28, on described the first base plate 16, be provided with the optoelectronic switch 29 of original point position plate 27 corresponding matching and with the limit switch 30 of limiting plate 28 corresponding matching.At the first slide block movement, after assigned position, the brake of the first stepper motor is worked, and the first slide block is remained on to assigned position; Wherein, original point position plate is used for triggering optoelectronic switch and sends the initial point signal of the first slide block movement, and limiting plate is used for triggering limit switch and sends the limit position signal of the first slide block movement.
Wherein, described bracket component comprises front vertical plate 31, coulisse 32, back vertical plate 33 and transverse slat 34, on described coulisse 32, be provided with chute, described the first installing plate 8 is slidably connected by slide mechanism and coulisse 32, described slide mechanism comprises card extender 35, briquetting 36 and the first web joint 37, described first web joint 37 one end are fixedly connected with the first installing plate 8, and its other end is connected to the chute place of coulisse 32 by card extender 35 and briquetting 36.
If Fig. 9 is the use view of the even imaging device of magnetic shoe, by horizontally disposed in conveying device both sides even magnetic shoe imaging device alternative expression ground, four stations be set altogether and respectively magnetic shoe front/rear end and fillet surface thereof, the vertical fillet surface of magnetic shoe left and right sides extrados carried out to image acquisition work; If magnetic shoe does not contain the vertical fillet surface of left and right sides extrados, station 1 and station 2 are not worked.Wherein, first camera linear motion component is used for regulating the position of first camera, and the first light source assembly is used for magnetic shoe that suitable illumination is provided, and magnetic shoe is coordinated with camera, evenly imaging.First camera linear motion component and the first light source assembly are done as a whole, can on bracket component, slide, to regulate light source part with respect to the position of various model specification magnetic shoe front/rear ends, the first light source assembly adjusting position can be by graduation indication, and is locked by latch mechanism.
As shown in figure 10, described magnetic shoe flexible imaging device 5 comprises second camera 38, secondary light source assembly, camera circular motion assembly, second camera linear motion component and camera rotary components, described second camera 38 is connected with camera rotary components, described camera rotary components is connected with second camera linear motion component, described second camera linear motion component is connected with camera circular motion assembly, and described second camera 38 coordinates magnetic shoe is carried out to imaging with secondary light source assembly.
As shown in figure 14, described secondary light source assembly comprises semisphere lampshade 39, the the second lampshade base plate 40 being connected with semisphere lampshade 39 bottoms and being arranged on the second lampshade base plate 40, be distributed in the arc light source group of semisphere lampshade 39 bottom inside, magnetic shoe is set by groove 41 in described semisphere lampshade 39 both sides, bottom, pass through the space of secondary light source assembly as magnetic shoe, in semisphere lampshade 39 1 sides, camera imaging open slot 42 is set, camera is taken pictures to the magnetic shoe on transport tape in light source by this groove, in described semisphere lampshade 39, be provided with the second shadow shield 43 being connected with governor motion, described the second shadow shield 43 axially moves up and down along semisphere lampshade 39 under the second governor motion effect, described the second governor motion comprises adjusting screw(rod) 44, be arranged on swivel nut 45 and the set nut 46 at semisphere lampshade 39 tops, described adjusting screw(rod) 44 lower ends are connected with the second shadow shield 43 and are threaded connection with swivel nut 45, on described adjusting screw(rod), be carved with scale, in order to indicate the adjusting position of shadow shield, drive the second shadow shield 43 move up and down and be locked by set nut 46 by rotating adjusting screw(rod) 44.
As shown in figure 15, described secondary light source assembly is connected with circular arc support 47, described circular arc support 47 is connected with mounting bracket 48 by light source lifting assembly, described light source lifting assembly comprises screw rod 49, lifting set nut 50 and lift adjustment nut 51, on described screw rod, be carved with scale, in order to the height and position of pilot light source component, described screw rod 49 upper ends are connected with mounting bracket 48, its lower end is through circular arc support 47, described lifting set nut 50 and lift adjustment nut 51 are placed in respectively circular arc support 47 upper and lower both sides, top and are threaded connection with screw rod 49, secondary light source assembly is adjusted to after the height needing, locked by lifting set nut.
As shown in Figure 10-13, described camera circular motion assembly comprises curved plate 52, be arranged on the arc-shaped guide rail 53 on curved plate 52, slide 54 and circular motion driving mechanism, described arc-shaped guide rail is connected with two sections of line slideway transition by quadrant arc guide rail, described circular motion driving mechanism comprises circular motion stepper motor 55 and arc-shape synchronous belt 56, on described arc-shaped guide rail 53, be provided with the groove that arc-shape synchronous belt 56 is led, in described groove, be provided with some rollers 57, described roller 57 and the movement locus that is arranged on roller assembly 58 on curved plate 52 and has formed arc-shape synchronous belt 56, described slide 54 contacts guiding with surface bearing 61 with arc-shaped guide rail 53 by the deep groove ball bearing 60 of installing on four location and installation axles 59, the friction force moving to reduce slide, described circular motion stepper motor 55 drives slide 54 to move along arc-shaped guide rail 53 by arc-shape synchronous belt 56, move to after assigned position at slide, the braking action of the second stepper motor, slide is remained on to assigned position, described second camera linear motion component is connected with slide 54, on described curved plate 52, be provided with circular motion optoelectronic switch 63 and circular motion limit switch 62, on described slide 54, be provided with the circular motion limiting plate 64 with circular motion optoelectronic switch 63 and circular motion limit switch 62 corresponding matching, in order to trigger initial point signal and the limit position signal of slide motion.
Described second camera linear motion component comprises the second base plate 65 being connected with slide 54, the second line slideway 66, the second slide block 67 and the second straight line movement driving mechanism, described the second straight line movement driving mechanism comprises the second rectilinear motion stepper motor 68, the second synchronous pulley 69 being connected with the second rectilinear motion stepper motor 68 clutch ends, be arranged on that the second roller 70 on the second base plate 65 and solderless wrapped connection be connected by the second belt contiguous block 71 with on the second roller 70 and two ends at the second synchronous pulley 69 the second Timing Belt 72, on described the second base plate 65, be processed with the groove as the second Timing Belt 72 spaces along the second line slideway 66 surroundings, described the second slide block 67 is connected with the second belt contiguous block 71, and along being fixed on the second line slideway 66 moving linearlies on the second base plate 65, at the second slide block movement after assigned position, the braking action of the second stepper motor, the second slide block is remained on to assigned position, described camera rotary components is connected with the second slide block 67 by the second web joint 73, on described the second base plate 65, be provided with rectilinear motion optoelectronic switch 74 and rectilinear motion limit switch 75, on described the second slide block 67, be provided with the rectilinear motion limiting plate 76 with rectilinear motion optoelectronic switch 74 and rectilinear motion limit switch 75 corresponding matching, in order to trigger initial point signal and the limit position signal of slide block movement.
Wherein, described camera rotary components comprises rectangle support 77 and rotary drive mechanism, described rectangle support 77 is connected with the second slide block 67 by the second web joint 73, described rotary drive mechanism comprises the rotary actuation stepper motor 78 being arranged on rectangle support 77, the pinion wheel 79 being connected with rotary actuation stepper motor 78 clutch ends and the gear wheel 80 engaging with pinion wheel 79, described gear wheel 80 is connected with camera installing plate 82 by the coupling shaft 81 being attached thereto, described second camera 38 is arranged on camera installing plate 82, rotate to after assigned position in second camera, the brake that rotarilys actuate stepper motor 78 is worked, second camera is remained on to assigned position, on described coupling shaft 81, be provided with original point position sheet 83, described original point position sheet 83 be arranged on optoelectronic switch 84 corresponding matching that rotatablely move on rectangle support 77, the described optoelectronic switch that rotatablely moves is used for sending the initial point signal that camera rotatablely moves, the initial point signal that original point position sheet rotatablely moves in order to trigger camera.
In the utility model, at described second camera camera lens front end, utilize lens interface that a cone has been installed, in order to block the useless light beyond visual field, avoid interference, improve magnetic shoe image quality, the cone other end is processed with the hickey matching with optical filtering interface, can according to circumstances install suitable optical filtering additional.By regulating the position of the second shadow shield in the height of secondary light source assembly and secondary light source assembly, can control the incident intensity ratio of magnetic shoe inner-outer cambered surface and fillet surface thereof, left and right end face and fillet surface thereof, can be formed into the uniform illuminating effect of picture to Multiple Type specification magnetic shoe curved surfaces and fillet surface, left and right end face and fillet surface thereof.Meanwhile, camera can move along arc-shaped guide rail and line slideway in magnetic shoe imaging two dimensional surface, thereby adjusts the relative position of camera and magnetic shoe, controls image-forming range and imaging size; Second camera, by rotating, can be adjusted the imaging angle on second camera and magnetic shoe surface.According to magnetic shoe model specification, regulate the height of secondary light source assembly and the position of the second shadow shield, simultaneous computer control system control second camera is by apery eye movement, Automatic-searching optimal imaging position and angle, adapt to the imaging of Multiple Type specification magnetic shoe inner-outer arc surface and fillet surface, left and right end face and fillet surface thereof.According to different imaging station, by Polaroid, can obtain respectively the picture rich in detail of magnetic shoe inner-outer arc surface and fillet surface thereof, left side and fillet surface thereof and right side and fillet surface thereof.
If further improve automaticity, shadow shield position adjusting mechanism in light source elevating mechanism, the first light source assembly and secondary light source assembly in light source lifting assembly can be changed into leading screw and nut mechanism driven by stepper motors or synchronous belt drive mechanism, or the automatic controls that directly drives of step-by-step linear electric motor.
As shown in Figure 16-19, described turn-over rig 3 comprises base 85 and is arranged on the sled mechanism on base 85, the upper end of described sled mechanism is corresponding with the output terminal of a upper conveying mechanism, its lower end is corresponding with the input end of next conveying mechanism, described sled mechanism comprises skateboard component and is separately positioned on a left side for skateboard component both sides and top, right plate 86a, 86b and cover plate 87, described skateboard component, left, right plate and cover plate 87 form the sliding space of magnetic shoe 88, a described left side, right plate bottom coordinates with skateboard component, the output terminal corresponding matching of its top and a upper conveying mechanism forms guide frame, a described left side, right plate is arranged on second cross beam 94 by governor motion respectively, on a described left side, right plate inner side is respectively arranged with the arc-shaped guide plate corresponding with the output terminal of a upper conveying mechanism 95, described arc-shaped guide plate 95 lower ends are corresponding with skateboard component, the bottom of described arc-shaped guide plate 95 adopts flexible material, arc-shaped guide plate can effectively lead to the magnetic shoe of turn-over, when adopting flexible material can avoid magnetic shoe to fall, bottom breaks, the magnetic shoe falling from a upper conveying mechanism drops on skateboard component after arc-shaped guide plate.
Wherein, described skateboard component is made up of two slide rails 89, described two slide rails 89 are connected with first crossbeam 91 by corresponding fixed head 90 respectively, and described first crossbeam 91 connects with corresponding L-type support 92 respectively, and the sliding rail 93 arranging on described L-type support 92 and base 85 is slidably connected.Described slide rail can be adjusted along horizontal and vertical, to adapt to the magnetic shoe of different size.
In actual use, if the throughput direction of next conveying mechanism is when the glide direction on skateboard component is contrary with magnetic shoe, be provided with planker 96 and baffle plate 97 in the output terminal correspondence of described skateboard component, described planker 96 is slidably disposed on base 85 by sliding slider 98, described planker 96 is corresponding with the input end of next conveying mechanism, described baffle plate 97 is connected with apron block 99, described apron block 99 is slidably disposed on the sliding rail 93 of base 85, be respectively arranged with lower side panel 100 in described baffle plate 97 both sides, be provided with lower platen 101 in baffle plate 97 upper ends, described baffle plate 97, lower side panel 100 and lower platen 101 form the material space that of magnetic shoe 88.Magnetic shoe is in the time skidding off skateboard component, and its leading section drops on planker, and then rear portion is dropped on next conveyer belt again, effective like this avoid magnetic shoe directly to drop on next conveyer belt after the problem of break-in or upset.
As shown in Figure 20-23, described steering gear 6 comprises importing assembly, steering assembly and the correcting assembly arranged successively along conveying belt 102 throughput directions of conveying device 2, described importing assembly, steering assembly and correcting assembly are slidably disposed on respectively on guide assembly, according to its correct position on guide assembly of magnetic shoe size adjustment.
Described importing assembly comprises the importing support 103 being slidably disposed on guide assembly and is arranged on the deflector apron 104 importing on support 103 by governor motion, described deflector apron 104 is along conveying belt 102 throughput directions layouts, and described deflector apron 104 front portions expand gradually to conveying belt 102 sides, described steering assembly comprises the turning rack 105 being slidably disposed on guide assembly and is arranged on the gear tongue 106 on turning rack 105 by governor motion, described gear tongue 106 is arranged along the throughput direction perpendicular to conveying belt 102, it is scalable, collapsing length regulates according to magnetic shoe size, described deflector apron 104 and gear tongue 106 are separately positioned on the both sides of conveying belt 102 along throughput direction center line, on described guiding trestle 107, be provided with orienting lug 109 by governor motion, described orienting lug 109 is positioned at gear tongue 106 fronts, for the magnetic shoe before turning to is further adjusted to guiding, described correcting assembly comprises the guiding trestle 107 being slidably disposed on guide assembly and is arranged on two groups of guide plates 108 on guiding trestle 107 by governor motion, described two groups of guide plates 108 coordinate the passage that passes through that forms magnetic shoe, the magnetic shoe that described two groups of guide plates 108 form is by passage flare, for to turning to the regular not magnetic shoe in rear position to carry out correcting arrangement, make it meet subsequent detection work bit position and direction requirement completely.
Wherein, described guide assembly comprises and is arranged on the guide rail 110 of conveying belt 102 both sides and is slidably disposed on the moving slider 111 on guide rail 110, and described importing support 103, turning rack 105 and guiding trestle 107 are fixedly connected with corresponding moving slider 111 respectively.
Steering gear in actual use, according to the size of different magnetic shoes, described baffle plate, gear tongue, guide plate and orienting lug all can move as adaptability along tape transport direction or perpendicular to tape transport direction under the effect of corresponding adjusting mechanism, turn to required space requirement to meet different size specification magnetic shoe.
Computer control system described in the utility model is mainly made up of computing machine, router, image pick-up card, motion control card, PLC, stepper motor driver, relay, power supply, high-power power switch, optoelectronic switch etc.Computing machine and router, image pick-up card, motion control card, PLC and each camera composition high-speed LANs.Computer control system mainly completes the control of following aspect:
1, the initialization control of camera imaging position and angle
Computer control system, according to the model specification of different magnetic shoes, in the even imaging source device of magnetic shoe, regulates the horizontal level of camera and magnetic shoe end face by stepper motor in control camera parts moving linearly; In magnetic shoe flexible imaging device, regulate respectively the relative position of camera and magnetic shoe by the stepper motor in control circular motion parts and parts moving linearly, control image-forming range and imaging size; In magnetic shoe flexible imaging device, control the corner of camera by the stepper motor in control camera rotary part, to adjust the imaging angle on camera and magnetic shoe surface.
2, light source control and image acquisition control
Magnetic shoe is real-time online inspection, and computer system gathers magnetic shoe image in magnetic shoe motion process.Because movement velocity is very fast, for avoiding motion blur, light-source brightness is very high, and power is very large, and for solving light source heat radiation problem, light source adopts stroboscopic illumination mode; For avoiding the impact on light-source brightness of temperature and light decay, make light-source brightness keep stablizing and extending light source serviceable life, light source power adopts constant current source, and computer control system, by the detection analysis to light-source brightness, is controlled constant current source size of current and made light-source brightness keep stable.Arrive after image capture position at magnetic shoe, send magnetic shoe position arriving signal by optoelectronic switch, PLC receives after this signal, makes light source stroboscopic light certain hour by controlling high-power power switch, after light-source brightness is stable, PLC controls collected by camera magnetic shoe image.
3, image processing
Computer control system is obtained each camera image and is carried out image processing by high-speed LANs, according to processing result image control sorting equipment, defective magnetic shoe is sorted, and completes On line inspection and sorting work to various watts of shape magnetic shoe External Defects.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420041520.2U CN203705352U (en) | 2014-01-23 | 2014-01-23 | Magnetic shoe online detecting device based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420041520.2U CN203705352U (en) | 2014-01-23 | 2014-01-23 | Magnetic shoe online detecting device based on machine vision |
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| CN203705352U true CN203705352U (en) | 2014-07-09 |
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| CN201420041520.2U CN203705352U (en) | 2014-01-23 | 2014-01-23 | Magnetic shoe online detecting device based on machine vision |
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| CN (1) | CN203705352U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743752A (en) * | 2014-01-23 | 2014-04-23 | 四川大学 | Online detecting equipment for magnetic shoes based on machine vision |
| CN105547187A (en) * | 2016-01-21 | 2016-05-04 | 昆明理工大学 | Drum-type magnetic-tile-shaped measurement device |
| CN105699393A (en) * | 2016-03-22 | 2016-06-22 | 横店集团东磁股份有限公司 | System suitable for magnetic tile appearance defect detection and method for realizing system |
| CN106248679A (en) * | 2016-04-01 | 2016-12-21 | 上海众思电子设备有限公司 | The online double-side detecting device of many line-scan digital cameras |
| CN106248671A (en) * | 2016-03-23 | 2016-12-21 | 上海众思电子设备有限公司 | Many line-scan digital cameras online one side detection device |
| CN104535582B (en) * | 2014-12-08 | 2017-01-11 | 昆明理工大学 | Horizontal swing magnetic tile detection device |
| CN108772752A (en) * | 2018-06-11 | 2018-11-09 | 吉林工程技术师范学院 | A kind of high-precision laser multipoint positioning numerically-controlled machine tool |
| CN109239075A (en) * | 2018-08-27 | 2019-01-18 | 北京百度网讯科技有限公司 | Battery detection method and device |
| WO2020191919A1 (en) * | 2019-03-26 | 2020-10-01 | 博众精工科技股份有限公司 | Appearance detection device and appearance detection method for product to be detected |
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2014
- 2014-01-23 CN CN201420041520.2U patent/CN203705352U/en not_active IP Right Cessation
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743752A (en) * | 2014-01-23 | 2014-04-23 | 四川大学 | Online detecting equipment for magnetic shoes based on machine vision |
| CN103743752B (en) * | 2014-01-23 | 2016-02-10 | 四川大学 | A kind of magnetic shoe online detection instrument based on machine vision |
| CN104535582B (en) * | 2014-12-08 | 2017-01-11 | 昆明理工大学 | Horizontal swing magnetic tile detection device |
| CN105547187A (en) * | 2016-01-21 | 2016-05-04 | 昆明理工大学 | Drum-type magnetic-tile-shaped measurement device |
| CN105547187B (en) * | 2016-01-21 | 2018-06-15 | 昆明理工大学 | A kind of drum-type magnetic shoe form measuring instrument |
| CN105699393A (en) * | 2016-03-22 | 2016-06-22 | 横店集团东磁股份有限公司 | System suitable for magnetic tile appearance defect detection and method for realizing system |
| CN105699393B (en) * | 2016-03-22 | 2018-09-25 | 横店集团东磁股份有限公司 | One kind being suitable for magnetic shoe open defect detecting system and its implementation |
| CN106248671A (en) * | 2016-03-23 | 2016-12-21 | 上海众思电子设备有限公司 | Many line-scan digital cameras online one side detection device |
| CN106248679A (en) * | 2016-04-01 | 2016-12-21 | 上海众思电子设备有限公司 | The online double-side detecting device of many line-scan digital cameras |
| CN108772752A (en) * | 2018-06-11 | 2018-11-09 | 吉林工程技术师范学院 | A kind of high-precision laser multipoint positioning numerically-controlled machine tool |
| CN108772752B (en) * | 2018-06-11 | 2020-03-10 | 吉林工程技术师范学院 | High-precision laser multipoint positioning numerical control machine tool |
| CN109239075A (en) * | 2018-08-27 | 2019-01-18 | 北京百度网讯科技有限公司 | Battery detection method and device |
| WO2020191919A1 (en) * | 2019-03-26 | 2020-10-01 | 博众精工科技股份有限公司 | Appearance detection device and appearance detection method for product to be detected |
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