CN206013747U - Full-automatic belt wheel outward appearance comprehensive detection line - Google Patents
Full-automatic belt wheel outward appearance comprehensive detection line Download PDFInfo
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- CN206013747U CN206013747U CN201621064428.3U CN201621064428U CN206013747U CN 206013747 U CN206013747 U CN 206013747U CN 201621064428 U CN201621064428 U CN 201621064428U CN 206013747 U CN206013747 U CN 206013747U
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Abstract
The utility model discloses a kind of full-automatic belt wheel outward appearance comprehensive detection line, including Vision Builder for Automated Inspection and automatic control system, the Vision Builder for Automated Inspection includes that station, conveyer device are detected in the end surface measurement station for setting gradually, endoporus detection station, side, product can be delivered to the end surface measurement station, endoporus detection station and side detection station by the conveyer device, the automatic control system includes main frame, and the end surface measurement station, endoporus detection station, side detection station, conveyer device connect the main frame by LAN respectively.Hole size detection and surface defects detection are integrated on a streamline and are completed, improve production efficiency and accuracy of detection, realized the purpose of " machine substitute human labor " using vision detection technology and automatic control technology by the utility model.
Description
Technical field
This utility model is related to belt pulley testing equipment field, and specifically, this utility model is related to a kind of full-automatic belt
Wheel outward appearance comprehensive detection line.
Background technology
Belt wheel of automobile engine is an important accessory in car transmissions, to the hole size precision of belt pulley,
Appearance requirement is very high.Wherein, belt pulley open defect, such as damage, cut, holiday, study for a second time courses one has flunked vestige, pit/starting point/corrugation, hang
Hook vestige, field trash, wet plating/leakage paint/layer of swimming/fall comes off etc. belt pulley can be caused to get rusty, and affects to use；The defect such as damage sometimes
The reduction of dimensional accuracy can also be caused, being allowed to cannot be supporting with main engine plants；Hole size precision is not up to standard to affect assembly precision,
So as to affect life-span and the transmission performance of belt pulley.Therefore, it is necessary to carry out to the hole size precision of automobile belt, surface defect
Strict detection.
At present, some companies automobile belt wheel production during, endoporus detection using manual detection method, using plug
Whether rule (only drift) inspection hole size precision meets the requirements, and each belt pulley endoporus detection about needs time-consuming 30 seconds.Outward appearance lacks
Method of the detection using artificial naked-eye observation is fallen into, detection need to take 40 seconds per part.Add up to each belt pulley detection take 70 seconds.
Because reviewer's experience, technical merit are uneven, and the prolonged repeated work of reviewer causes work efficiency and inspection
Test accuracy decline, through inspection after finished product in disqualification rate close to 5%, accuracy of detection is not high, affects product quality and public affairs
Department's reputation.
Utility model content
Technical problem underlying to be solved in the utility model is to provide a kind of full-automatic belt wheel outward appearance comprehensive detection line,
The utility model utilizes advanced vision detection technology and automatic control technology, by rational procedure arrangement and structure design,
Hole size detection and surface defects detection are integrated on a streamline and are completed, material is reduced and is circulated, improve production efficiency,
By the producing equipment using automatization and integration, reduce to artificial dependence, improve work efficiency and Product Precision,
Realize " machine substitute human labor " and improve the purpose of detection level.
This utility model solve the technical scheme that adopted of above-mentioned technical problem for：Full-automatic belt wheel outward appearance comprehensive detection
Line, including Vision Builder for Automated Inspection and automatic control system, end surface measurement station that the Vision Builder for Automated Inspection includes setting gradually,
Product can be delivered to the end surface measurement work by endoporus detection station, side detection station, conveyer device, the conveyer device
Position, endoporus detection station and side detection station, the automatic control system include main frame, the end surface measurement station, endoporus
Detection station, side detection station, conveyer device connect the main frame by LAN respectively.
By above-mentioned technical proposal, product to be detected is mainly belt pulley, and end surface measurement station is used for detecting belt pulley
Two end faces, endoporus detection station is used for detecting that the endoporus of belt pulley, side detection station are used for the side for detecting belt pulley,
Main frame is used for controlling the work of Vision Builder for Automated Inspection and whether qualified analysis belt pulley is, when the main frame judges that product is qualified
Afterwards, host computer control conveyer device conveying products are detected to next station；After main frame judges that product is unqualified, then control machine is regarded
Feel system stops carrying out next step detection to product, by being integrated in one of detection of the end face of belt pulley, endoporus and side, certainly
Detected on dynamicization equipment, improve accuracy of detection, the work efficiency of product, reduce labour cost, generate profit most
Bigization.
Further it is optimized for, the conveyer device includes detecting that conveyer belt, the end surface measurement station are included equipped with sensing
The first camera of device, switching mechanism and the first material-pulling device, the first camera are located at directly over the detection conveyer belt, institute
State switching mechanism to connect by holding wire located at the detection conveyer belt side, the first camera and first material-pulling device
The main frame, first material-pulling device is relative to the first camera located at the rear end for detecting tape transport direction.
By above-mentioned technical proposal, the setting of first camera, it is easy to two end faces for shooting belt pulley, sensor to be used for examining
The position of belt pulley is surveyed, which detects by Chang'an after belt pulley is delivered to correct position, end face of the first camera to belt pulley
Taken pictures, the setting of switching mechanism is easy to be overturn belt pulley, so as to conveniently detect the other end of belt pulley, when
When main frame judges that the end face of belt pulley is unqualified, signal transmission is given the first material-pulling device, the first pusher by holding wire by main frame
Underproof belt pulley is released detection conveyer belt by device, and after main frame judges that product is qualified, belt pulley is by detecting conveyer belt
Next station is delivered to, when taking pictures to product using camera, image is sent to main frame carries out intellectual analysis, then controls
Substandard product is released by material-pulling device processed, and speed is fast, high precision, improves production efficiency.
Further it is optimized for, the conveyer device includes that adjacent with the detection conveyer belt and height is not higher than the detection
First defective products conveyer belt of conveyer belt, the first defective products conveyer belt is located at relatively described first pusher on detection conveyer belt
The opposite side of device.
By above-mentioned technical proposal, after main frame judges that belt pulley is unqualified, signal is passed to by main frame by holding wire
First material-pulling device, the first material-pulling device shift underproof belt pulley onto first defective products conveyer belt from detection conveyer belt
On, substandard product is delivered to specified location conveniently, hand labor is reduced, and substandard product is collected, side
Convenient to operate human users, reduce hand labor, improve production efficiency.
Further it is optimized for, the first camera includes front detection camera and reverse side detection camera, the switching mechanism
Detect between camera and reverse side detection camera located at the front.
By above-mentioned technical proposal, the setting of front detection camera and reverse side camera, it is easy to the positive and negative of quick detection product
Whether face is qualified, realizes that once property detects the positive and negative end face of belt pulley on a conveyer belt, saves detection operation, improves
Production efficiency.
Further it is optimized for, the switching mechanism is included located at the rotating disk for detecting conveyer belt sidepiece, upset air inlet
Cylinder and cylinder is tilted out, in the rotating disk, offer one or more depressed parts that can place product, the upset
Inlet casing is placed in front end of the rotating disk along the detection tape transport direction, and the cylinder that tilts out is placed in the rotation
Rear end of the disk along the detection tape transport direction.
By above-mentioned technical proposal, the setting of depressed part, it is easy to place belt pulley, so as to realize rotating disk to belt pulley
Belt pulley can be pushed on depressed part from detection conveyer belt by upset, upset inlet casing, then by rotating disc spins 180
Degree, then belt pulley is pushed on detection conveyer belt from depressed part by tilting out cylinder, then by detection tape transport to the
Detection of taking pictures is carried out at one camera, inlet casing is overturn and is tilted out the setting of cylinder, quickly and easily product is advanced and is released
Rotating disk, the setting of rotating disk, simple structure quickly achieve the upset of product, reduce hand labor, improve production effect
Rate.
Further it is optimized for, the endoporus detection station includes second camera, the inspection for connecting the main frame using holding wire
Platform and the first mechanical hand is surveyed, located at the surface of the detection platform, first mechanical hand is by letter for the second camera
Number line connects the main frame, and the first mechanical hand is arranged between the detection conveyer belt and the detection platform.
By above-mentioned technical proposal, second camera is used for the endoporus for shooting belt pulley, and detection platform is used for placing belt pulley,
Facilitate second camera to take pictures belt pulley accurately, consequently facilitating main frame detects whether to the endoporus of belt pulley qualified, improve master
Belt pulley is transported in detection platform from detection conveyer belt and carries out detection of taking pictures by the accuracy of detection of machine, the first mechanical hand, works as master
When machine judges that the endoporus of belt pulley is unqualified, the underproof belt pulley in detection platform is transported to the by the first mechanical hand
On one defective products conveyer belt；After main frame judges that belt pulley is qualified, belt pulley is detected by next station, using the first machine
Tool handss replace manually transporting product, reduce labour cost, and accuracy of detection is higher, and detection speed faster, improves belt pulley
Detection efficiency.
Further it is optimized for, the conveyer device includes detecting the non-defective unit conveyer belt of station, the side located at the side
Locating shaft that face detection station includes being vertically arranged, the third camera located at locating shaft periphery, the second material-pulling device, the
Three material-pulling devices and the second mechanical hand, the locating shaft can be rotated about the axis thereof using Motor drive, second pusher
Relative with the non-defective unit conveyer belt side on the locating shaft of device, second mechanical hand and the detection platform phase
Adjacent.
By above-mentioned technical proposal, the non-defective unit belt pulley qualified in conveying detection used for conveyer belt, locating shaft are used for placing product
Product, facilitate third camera accurately to be taken pictures product and are placed on rotatable locating shaft, locating shaft under the driving of motor
Product is driven to rotate around the axis of locating shaft, so as to be shot to whole sides of product with camera, simple structure is saved
Human cost, improves shooting precision, and the operation of equipment automatization also improves detection efficiency, and the second material-pulling device is used for will be fixed
Qualified products on the axle of position are pushed on non-defective unit conveyer belt, and the 3rd material-pulling device is used for releasing the substandard product on locating shaft
Locating shaft, the second mechanical hand carry out side for endoporus being detected, qualified belt pulley is transported on locating shaft from detection platform
Detection, the second material-pulling device, the 3rd material-pulling device and the second mechanical hand improve detection efficiency and detection essence by host computer control
Degree, saves human cost.
Further it is optimized for, the conveyer device includes that the second defective products conveyer belt, the second defective products conveyer belt set
The side relative with the 3rd material-pulling device on the locating shaft.
By above-mentioned technical proposal, the second defective products conveyer belt is oppositely arranged with the 3rd material-pulling device, when main frame judges skin
After belt wheel is unqualified, the 3rd material-pulling device receives the signal of main frame and the unqualified belt pulley on locating shaft is pushed to second not
On non-defective unit conveyer belt, substandard product is delivered to specified location so as to convenient, hand labor is reduced, and to substandard product
Collected, facilitate operator to operate, reduce hand labor, improve production efficiency.
Further it is optimized for, the Vision Builder for Automated Inspection includes discharging box, substandard product can be in the conveyer device
On be delivered in the discharging box.
Rear end by above-mentioned technical proposal, the first defective products conveyer belt and the second defective products conveyer belt is adjacent, discharging box
It is placed on below the rear end of the first defective products conveyer belt and the second defective products conveyer belt, convenient collection is from the first defective products conveyer belt
The unqualified belt pulley dropped with the rear end of the second bad conveyer belt, saves human cost, improves detection efficiency, in detection
During maintain good detection environment.
Explanation of nouns：The conveying direction of the detection conveyer belt is to be delivered to rear end from front end.
In sum, the beneficial effects of the utility model are：
(1), equipment contains end surface measurement, endoporus detection and side detection operation, makes end face, endoporus and the side of belt pulley
Face achieves the detection of integration, simplifies detection operation, and equipment employs automated control technology, saves human cost,
The accuracy of detection of product is improve, detection efficiency is improve, " machine substitute human labor " is realized and is improved the purpose of detection level.
(2), the setting of detection conveyer belt, non-defective unit conveyer belt and defective products conveyer belt, simple structure, replace artificial conveyance to produce
Product, save human cost, improve detection efficiency.
(3), the setting of discharging box, convenient collection substandard product, it is ensured that the neat and tidy of detection environment.
Description of the drawings
Fig. 1 is the fragmentary front view of end surface measurement station in embodiment；
Fig. 2 is the top partial view diagram of end surface measurement station in embodiment；
Fig. 3 is the top view that station is detected in endoporus detection station and side in embodiment；
In figure, the corresponding component names of each reference are：1st, end surface measurement station；111st, front detection camera；
112nd, reverse side detection camera；12nd, switching mechanism；121st, rotating disk；1211st, depressed part；122nd, inlet casing is overturn；123；Tilt out
Cylinder；13rd, the first material-pulling device；2nd, endoporus detection station；21st, detection platform；22nd, the first mechanical hand；3rd, side detection station；
31st, locating shaft；32nd, the second mechanical hand；33rd, third camera；34th, the second material-pulling device；35th, the 3rd material-pulling device；41st, detect defeated
Send band；42nd, non-defective unit conveyer belt；43rd, the first defective products conveyer belt；44th, the second defective products conveyer belt；5th, discharging box.
Specific embodiment
In order to more fully understand content of the present utility model, it is described further with reference to specific embodiments and the drawings.
It should be understood that these embodiments are only used for further illustrating this utility model, rather than limit scope of the present utility model.This
Outward it should be understood that after content described in the utility model has been read, person skilled in art is made to this utility model
Nonessential change or adjustment, still fall within protection domain of the present utility model.
Embodiment
Full-automatic belt wheel outward appearance comprehensive detection line, including Vision Builder for Automated Inspection and automatic control system, machine vision system
System includes end surface measurement station 1, endoporus detection station 2, the side detection station 3, conveyer device for setting gradually, and automatically controls and is
System includes controlling the whether qualified main frame (being not drawn in figure) of Vision Builder for Automated Inspection work and analysis product, and main frame passes through local
Connecting end surface detection station 1, endoporus detection station 2, side detects that station 3 and conveyer device, product are filled by conveying to net respectively
Put and be delivered to end surface measurement station 1, endoporus detection station 2 and side detection station 3, product to be detected is mainly belt pulley.
Referring to Fig. 1 and Fig. 2, conveyer device includes detecting conveyer belt 41 and the first defective products conveyer belt 43, end surface measurement work
Position 1 includes that first camera, switching mechanism 12, the first material-pulling device 13, first camera are located at directly over detection conveyer belt 41, upset
Mechanism 12 include arranging three depressed parts 1211 and can be rotatable around its axis rotating disk 121, upset inlet casing 122 and upset
Go out cylinder 123, rotating disk 121 is arranged on the side of detection conveyer belt 41, overturn inlet casing 122 and be arranged on detection conveyer belt 41
Opposite side, and the side just to rotating disk 121, tilt out the opposite side that cylinder 123 is arranged on rotating disk 121, and just right
The opposite side of rotating disk 121, overturns inlet casing 122 and is arranged on rotating disk 121 along the front end of detection 41 conveying direction of conveyer belt, turn over
Produce cylinder 123 rotating disk 121 is located at along the rear end of detection 41 conveying direction of conveyer belt.First defective products conveyer belt 43 and detection
41 adjacent, parallel setting of conveyer belt, and the first defective products conveyer belt 43 is arranged on relative first pusher dress on detection conveyer belt 41
Put 13 opposite side.First camera is connected with main frame by holding wire with the first material-pulling device 13, and first camera includes that front is examined
Survey camera 111 and reverse side detection camera 112, switching mechanism 12 located at front detection camera 111 and reverse side detect camera 112 it
Between, the first material-pulling device 13 is arranged on first camera along the rear end of detection 41 conveying direction of conveyer belt, when product is judged by main frame
When unqualified, main frame transmits signals to the first material-pulling device 13, so as to control the first material-pulling device 13 by belt pulley from detection
Conveyer belt 41 is pushed on the first defective products conveyer belt 43；When product is judged qualified by main frame, by detecting that conveyer belt 41 will
Product is delivered to endoporus detection station 2；When product is delivered to below first camera, sensor (being not drawn in figure) detects product
Product, first camera are taken pictures to product end surface automatically, and photograph is sent to main frame by holding wire then carries out detection judgement.
Referring to Fig. 3, endoporus detection station 2 includes second camera (being not drawn in figure), detection platform 21, the first mechanical hand
22, the first mechanical hand 22 is preferably dual-arm robot, and the first mechanical hand 22 passes through host computer control, when product is judged not conforming to by main frame
During lattice, product is transported to the first defective products conveyer belt 43 from the detection platform 21 by the first mechanical hand 22；When product is by main frame
When judging qualified, then detect that station 3 is detected to product by side.
Conveyer device includes the non-defective unit conveyer belt 42 and the second defective products conveyer belt 44 for being located at side detection station 3, side
Detection station 3 includes locating shaft 31, the third camera 33 for being arranged on 31 periphery of locating shaft, the second material-pulling device 34, the 3rd pusher
Device 35 and the second mechanical hand 32, the second mechanical hand 32 are preferably single arm robot, and locating shaft 31 can be around using Motor drive
Its axis rotation, wherein the second material-pulling device 34 and non-defective unit conveyer belt 42 are arranged on relative both sides on locating shaft 31, and the 3rd pushes away
Material device 35 and the second defective products conveyer belt 44 are arranged on relative both sides on locating shaft 31.
First material-pulling device 13, the second material-pulling device 34, the 3rd material-pulling device 35 preferably pusher cylinder, first camera,
Second camera and third camera 33 are preferably digital camera.
When belt pulley is judged unqualified by main frame, unqualified belt pulley is pushed by the 3rd material-pulling device 35 from locating shaft 31
To on the second defective products conveyer belt 44.
The end of the first defective products conveyer belt 43 and the second defective products conveyer belt 44 arranges discharging box 5, unqualified belt pulley
It is transported in discharging box 5 from the first defective products conveyer belt 4342 and the second defective products conveyer belt 44.
Operator are put into the end face of product to be measured such as belt pulley on detection conveyer belt 41 upwards, detect front, front
Detection camera 111 is taken pictures, special light source (being not drawn in figure) polishing, automatically judges whether front is qualified, and defective work is by first
Material-pulling device 13 is pushed into the first defective products conveyer belt 43, and certified products are pushed to the depression of rotating disk 121 by overturning inlet casing 122
Portion 1211 is overturn, and certified products is pushed on detection conveyer belt 41 by cylinder 123 is tilted out, is detected product reverse side, reverse side
Detection camera 112 is taken pictures, special light source polishing, judges automatically whether reverse side is qualified, and defective work is pushed away by the first material-pulling device 13
To the first defective products conveyer belt 43, certified products are transported to 22 crawl position of the first mechanical hand, carry out endoporus detection.
In place, falling head captures product and detects that station 2, the first mechanical hand 22 capture product to endoporus first mechanical hand 22
It is placed in detection platform 21, second camera is taken pictures to product endoporus, it is qualified to determine whether, defective work is by the second mechanical hand 32
Taken to the second defective products conveyer belt 44, certified products are sent to side detection station 3 by the second mechanical hand 32.Then, the first machine
Tool handss 22 are rotated by 90 °, an arm material grasping, and another arm blowing repeats above cycle of operation.
Second mechanical hand 32 treats that endoporus detection is finished, and material grasping to side detects that, on the locating shaft 31 of station 3, locating shaft 31 is pushed up
Product is played, motor drives locating shaft 31 to rotate, because belt pulley is cylinder, need rotation just can detect whole side, the
Three cameras 33 are taken pictures judgement, and detection is finished, and certified products are shifted onto on non-defective unit conveyer belt 42 by the second material-pulling device 34, and defective products is by
Three material-pulling devices 35 are shifted onto on the second defective products conveyer belt 44, defective work finally by the first defective products conveyer belt 43 and second not
Non-defective unit conveyer belt 44 is sent in discharging box 5, and certified products are then put in storage by hand-filling.
Automatic control system controls the operating of whole detection line, is transported to test position, and root including by belt pulley
Processed according to the judgement signal (OK or NG) of visual system.If OK, belt conveyor takes turns to next detection station；If NG,
Then control pusher cylinder shifts unqualified belt pulley onto the first defective products conveyer belt 43 or the second defective products conveyer belt 44, and records
The amount of waste material of the detection station.
The testing process of comprehensive detection system is：Endoporus and appearance images are collected by digital camera first, main frame is transferred to
Processed, extracted information needed, it is qualified to be determined whether by comparison according to the information that extraction gets, and fills to control to convey accordingly
Put, the action of the first material-pulling device 13, the second material-pulling device 34 and the 3rd material-pulling device 35.
As described above, just can preferably realize this utility model.
Claims (9)
1. full-automatic belt wheel outward appearance comprehensive detection line, including Vision Builder for Automated Inspection and automatic control system, it is characterised in that institute
State end surface measurement station (1), endoporus detection station (2), side detection station (3) that Vision Builder for Automated Inspection includes setting gradually,
Product can be delivered to end surface measurement station (1), endoporus detection station (2) and side by conveyer device, the conveyer device
Face detection station (3), the automatic control system include main frame, end surface measurement station (1), endoporus detection station (2), side
Face detection station (3), conveyer device connect the main frame by LAN respectively.
2. full-automatic belt wheel outward appearance comprehensive detection line according to claim 1, it is characterised in that the conveyer device bag
Include detection conveyer belt (41), end surface measurement station (1) include first camera equipped with sensor, switching mechanism (12) and
First material-pulling device (13), directly over detection conveyer belt (41), switching mechanism (12) set the first camera
Detect that conveyer belt (41) side, the first camera and first material-pulling device (13) are described by holding wire connection in described
Main frame, the first material-pulling device (13) are relative to the first camera after detection conveyer belt (41) conveying direction
End.
3. full-automatic belt wheel outward appearance comprehensive detection line according to claim 2, it is characterised in that the conveyer device bag
Include the first defective products conveyer belt of not higher than described detection conveyer belt (41) of and height adjacent with detection conveyer belt (41)
(43), described first defective products conveyer belt (43) located in detection conveyer belt (41) relatively described first material-pulling device (13) another
Side.
4. full-automatic belt wheel outward appearance comprehensive detection line according to claim 2, it is characterised in that the first camera bag
Front detection camera (111) and reverse side detection camera (112) is included, described switching mechanism (12) detect camera located at the front
(111) between reverse side detection camera (112).
5. full-automatic belt wheel outward appearance comprehensive detection line according to claim 2, it is characterised in that the switching mechanism
(12) include the rotating disk (121) located at detection conveyer belt (41) sidepiece, upset inlet casing (122) and tilt out cylinder
(123), offer one or more depressed parts (1211) that can place product on rotating disk (121), described turn over
Rotate into cylinder (122) and the rotating disk (121) is placed in along the front end of detection conveyer belt (41) conveying direction, described tilt out
Cylinder (123) is placed in the rotating disk (121) along the rear end of detection conveyer belt (41) conveying direction.
6. full-automatic belt wheel outward appearance comprehensive detection line according to claim 2, it is characterised in that the endoporus detects work
Position (2) includes second camera, detection platform (21) and the first mechanical hand (22) for connecting the main frame using holding wire, described the
Located at the surface of the detection platform (21), the first mechanical hand (22) connect the main frame by holding wire to two cameras,
First mechanical hand (22) is arranged between detection conveyer belt (41) and the detection platform (21).
7. full-automatic belt wheel outward appearance comprehensive detection line according to claim 6, it is characterised in that the conveyer device bag
Include and detect that the non-defective unit conveyer belt (42) of station (3), side detection station (3) include that be vertically arranged determines located at the side
Position axle (31), the third camera (33) located at the locating shaft (31) periphery, the second material-pulling device (34), the 3rd material-pulling device
(35) and the second mechanical hand (32), locating shaft (31) can be rotated about the axis thereof using Motor drive, and described second pushes away
Relative with non-defective unit conveyer belt (42) side on the locating shaft (31) of material device (34), second mechanical hand
(32) adjacent with the detection platform (21).
8. full-automatic belt wheel outward appearance comprehensive detection line according to claim 7, it is characterised in that the conveyer device bag
The second defective products conveyer belt (44) is included, described second defective products conveyer belt (44) are located on the locating shaft (31) and the described 3rd
The relative side of material-pulling device (35).
9. according to the full-automatic belt wheel outward appearance comprehensive detection line described in claim 1, it is characterised in that the machine vision
System includes that discharging box (5), substandard product can be delivered on the conveyer device in the discharging box (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621064428.3U CN206013747U (en) | 2016-09-20 | 2016-09-20 | Full-automatic belt wheel outward appearance comprehensive detection line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064428.3U CN206013747U (en) | 2016-09-20 | 2016-09-20 | Full-automatic belt wheel outward appearance comprehensive detection line |
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| CN201621064428.3U Expired - Fee Related CN206013747U (en) | 2016-09-20 | 2016-09-20 | Full-automatic belt wheel outward appearance comprehensive detection line |
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