CN211577600U - Paper taking system - Google Patents
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- CN211577600U CN211577600U CN201720625472.5U CN201720625472U CN211577600U CN 211577600 U CN211577600 U CN 211577600U CN 201720625472 U CN201720625472 U CN 201720625472U CN 211577600 U CN211577600 U CN 211577600U
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Abstract
The utility model discloses a paper taking system relates to liquid crystal glazing technical field, and the main objective is the paper taking coordinate that is used for automatically regulated paper taking equipment, guarantees glass substrate's packaging quality. The utility model discloses a main technical scheme does: a paper-fetching system comprising: the paper taking platform is provided with a preset coordinate position, and the coordinate position is used for placing spacing paper; the paper taking device is used for grabbing the spacing paper on the paper taking platform; the shooting device is connected with the paper taking equipment, a lens of the shooting device faces the edge position of the spacing paper and is used for shooting a position image of the edge of the spacing paper, offset coordinates of the spacing paper are calculated according to the offset size of the spacing paper in the position image relative to the coordinate position, and the working position of the paper taking platform and/or the paper taking equipment is adjusted according to the offset coordinates, so that the preset relative position relation is kept between the paper taking equipment and the spacing paper during paper taking. The utility model discloses mainly used gets paper.
Description
Technical Field
The utility model relates to a liquid crystal glazing technical field especially relates to a get paper system.
Background
In the packaging process of the liquid crystal glass substrates in the production process, in order to ensure the packaging quality, the spacing paper is clamped between every two adjacent liquid crystal glass substrates so as to avoid the damage of the liquid crystal glass substrates caused by the direct contact between the glass substrates.
Along with the continuous improvement of automation level, the laying work of interval paper is usually accomplished automatically by industrial robot, can improve the laying efficiency and the laying quality of interval paper like this, wherein, interval paper can place in advance in the coordinate position department of getting the paper platform, industrial robot can according to get the paper coordinate through accurate sucking disc with interval paper after the sucking disc is inhaled lay between two adjacent glass substrate, however, in the practical application in-process, the skew appears easily in the position of interval paper on getting the paper platform, in order to avoid influencing glass substrate's packing quality, operating personnel adjusts the position of interval paper through the mode that adopts manual regulation, but can reduce glass substrate's production efficiency like this, and increase human cost.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a paper system of getting, the main objective is the coordinate of getting that is used for automatically regulated paper equipment of getting, guarantees glass substrate's packaging quality.
In order to achieve the above object, the utility model mainly provides the following technical scheme:
the utility model provides a paper taking system, include:
the paper taking platform is provided with a preset coordinate position, and the coordinate position is used for placing spacing paper;
the paper taking device is used for grabbing the spacing paper on the paper taking platform;
the shooting device is connected with the paper taking equipment, a lens of the shooting device faces the edge position of the partition paper and is used for shooting a position image of the edge of the partition paper, the offset coordinate of the partition paper is calculated according to the offset size of the partition paper in the position image relative to the coordinate position, and the working position of the paper taking platform and/or the paper taking equipment is adjusted according to the offset coordinate, so that the preset relative position relation is kept when the paper is taken between the paper taking equipment and the partition paper.
Furthermore, the shooting device comprises a first sub-lens and a second sub-lens, the first sub-lens and the second sub-lens face two corners of a piece of partition paper on the paper taking platform respectively and are used for shooting position images of the two corners of the partition paper respectively, calculating offset coordinates of the partition paper according to the offset positions of the two pieces of partition paper in the position images, and adjusting the working position of the paper taking platform and/or the paper taking equipment according to the offset coordinates, so that a preset relative position relation is kept when the paper is taken between the paper taking equipment and the partition paper.
Furthermore, the shooting device comprises a third sub-lens and a fourth sub-lens, the third sub-lens and the fourth sub-lens face two adjacent sidelines of the spacing paper on the paper taking platform respectively, and are used for shooting position images of the two sidelines of the spacing paper respectively, calculating offset coordinates of the spacing paper according to the offset positions of the two spacing papers in the position images, and adjusting the working position of the paper taking platform and/or the paper taking equipment according to the offset coordinates, so that a preset relative position relationship is kept when the paper is taken between the paper taking equipment and the spacing paper.
Further, the paper taking apparatus includes: the paper taking platform comprises an adjusting portion and a grabbing portion, wherein the grabbing portion is used for grabbing spacing paper on the paper taking platform, the adjusting portion is movably connected to the grabbing portion, and the adjusting portion is used for adjusting the grabbing position of the grabbing portion, so that the paper taking device and the spacing paper keep a preset relative position relation during paper taking.
Further, the grabbing part comprises a plurality of suckers and a vacuum pump, the vacuum pump is connected with the suckers, and the suckers of the suckers are on the same straight line.
Furthermore, the paper taking platform is movably connected to the base, and the relative position of the paper taking platform and the base is adjustable, so that a preset relative position relation is kept between the paper taking device and the interval paper during paper taking.
Further, the shooting direction of the lens is perpendicular to the paper taking platform.
Further, the photographing apparatus includes: the system comprises a control system, a processor and a lens, wherein the output end of the lens is connected with the processor, the output end of the processor is connected with the control system, the control system is connected with the paper taking device, the lens is used for shooting a position image of the partition paper on the paper taking platform and sending the position graphic information to the processor, the processor is used for calculating the offset coordinate of the partition paper according to the offset size of the partition paper in the position image relative to the coordinate position, the processor is used for sending the offset coordinate to the control system, and the control system is used for driving the paper taking device to grab the partition paper according to the offset coordinate.
Further, the control system is a programmable logic control system.
Further, the processor is a server or a computer.
The utility model provides a paper taking system for the paper taking coordinate of automatic adjustment paper taking equipment guarantees glass substrate's packaging quality, and among the prior art, when the skew appears on paper taking platform as the interval paper, adjusts the position of interval paper through the mode that all adopts artifical the regulation, can reduce glass substrate's production efficiency like this, and increase the human cost. Compared with the prior art, the paper fetching system provided by the patent comprises a paper fetching platform, paper fetching equipment and a shooting device, when the position of the partition paper on the paper fetching platform deviates, the position of the partition paper on the paper fetching platform can be adjusted without adjusting, the deviation coordinate of the partition paper is calculated by shooting the position of the partition paper on the paper fetching platform through the shooting device, the working position of the paper fetching platform and/or the paper fetching equipment is adjusted according to the deviation coordinate, the preset relative position relation is kept when the paper is fetched between the paper fetching equipment and the partition paper, the relative position of the paper fetching time partition paper and the paper fetching equipment is kept unchanged, the packaging quality of the glass substrate is further ensured, and the labor cost is saved.
Drawings
Fig. 1 is a schematic structural diagram of a paper fetching system according to an embodiment of the present invention;
fig. 2 is a graph of the corner vertex of the spacing paper according to an embodiment of the present invention;
fig. 3 is a graph of the corner vertex of the spacing paper according to another embodiment of the present invention;
fig. 4 is a coordinate diagram of a spacer paper sideline according to an embodiment of the present invention;
fig. 5 is a coordinate diagram of a partition paper sideline according to another embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention for achieving the intended purpose of the present invention, the following detailed description of the embodiments, structures, features and effects of the paper-fetching device according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, an embodiment of the present invention provides a paper fetching system, including:
the paper taking platform 1 is provided with a preset coordinate position, and the coordinate position is used for placing spacing paper 2;
the paper taking device 3 is used for grabbing the spacing paper 2 on the paper taking platform 1;
the shooting device 4 is connected to the paper taking device 3, a lens 41 of the shooting device 4 faces the edge position of the spacing paper 2 and is used for shooting a position image of the edge of the spacing paper 2, offset coordinates of the spacing paper 2 are calculated according to offset sizes of the spacing paper 2 in the position image relative to the coordinate position, and working positions of the paper taking platform 1 and/or the paper taking device 3 are adjusted according to the offset coordinates, so that a preset relative position relation is kept when the paper is taken between the paper taking device 3 and the spacing paper 2.
Wherein, get paper platform 1 and can follow the horizontal direction setting, it has predetermined coordinate position to get on the paper platform 1, this coordinate position is used for placing separation paper 2, separation paper 2 can be the range upon range of form and place in the predetermined coordinate position department of getting paper platform 1, the foretell paper equipment 3 of getting of every time gets moves to the top of the predetermined coordinate position of getting paper platform 1, get paper through tools such as sucking disc, and move separation paper 2 to one side of glass substrate and lay, in order to realize automatic paper work of getting, wherein, the quantity of getting paper at every turn can be one. In addition, the above-mentioned spacing paper 2 is generally rectangular, the spacing paper 2 may have four corners and four side lines, and when the spacing paper 2 is placed on the paper fetching platform 1, the corners and the side lines of the spacing paper 2 should correspond to the preset coordinate position, so that it can be ensured that the paper fetching device 3 maintains a relatively accurate position relation with the spacing paper 2 when fetching paper.
When the spacing paper 2 is placed on the paper fetching platform 1 and the position of the spacing paper 2 deviates from the preset coordinate position, if the paper fetching device 3 still fetches paper according to the preset coordinate position on the paper fetching platform 1, the position relationship between the paper fetching device 3 and the spacing paper 2 also deviates during paper fetching due to the deviation between the position of the spacing paper 2 and the preset coordinate position, so that the laying quality of the spacing paper 2 is affected, and the paper fetching coordinate needs to be set up again when the paper fetching device 3 fetches paper to be suitable for the deviated position of the spacing paper 2, so that the spacing paper 2 and the paper fetching device 3 can keep the preset relative position relationship, and the laying quality of the spacing paper 2 is further ensured. Specifically, firstly, after the above-mentioned partition paper 2 is placed on the paper fetching platform 1, the position image of the partition paper 2 on the paper fetching platform 1 is shot by the shooting device 4, the shooting position may be the corner position of the partition paper 2, or the sideline position of the partition paper 2, and whether the partition paper 2 has a deviation or not can be judged by the position of the edge of the partition paper 2 in the position image, for example: when the edge position of the interleaving paper 2 in the position image is at the preset position in the position image, it can be judged that the interleaving paper 2 has no offset, when the edge position of the partition paper 2 in the position image deviates from the preset position, the position of the partition paper 2 on the paper taking platform 1 can be judged to also deviate, the offset size of the spacer paper 2 on the paper-taking platform 1 with respect to the preset coordinate position can be calculated from the offset size of the spacer paper 2 in the position image, further obtaining the offset coordinate after the offset of the spacing paper 2, sending the information of the offset coordinate to the paper taking device or the paper taking platform 1, and then adjust the paper fetching position of paper fetching device or adjust the fixed position of paper fetching platform 1, keep predetermined relative position relation when making to fetch paper between paper fetching equipment 3 and interval paper 2, and then can guarantee glass substrate's packing quality.
The embodiment of the utility model provides a paper system of getting for the paper coordinate of getting of automatic adjustment paper equipment guarantees glass substrate's packing quality, and among the prior art, when the skew appears on getting the paper platform as the interval paper, adjusts the position of interval paper through the mode that all adopts artifical the regulation, can reduce glass substrate's production efficiency like this, and increase the human cost. Compared with the prior art, the paper fetching system provided by the patent comprises a paper fetching platform, paper fetching equipment and a shooting device, when the position of the partition paper on the paper fetching platform deviates, the position of the partition paper on the paper fetching platform can be adjusted without adjusting, the deviation coordinate of the partition paper is calculated by shooting the position of the partition paper on the paper fetching platform through the shooting device, the working position of the paper fetching platform and/or the paper fetching equipment is adjusted according to the deviation coordinate, the preset relative position relation is kept when the paper is fetched between the paper fetching equipment and the partition paper, the relative position of the paper fetching time partition paper and the paper fetching equipment is kept unchanged, the packaging quality of the glass substrate is further ensured, and the labor cost is saved.
The shooting device 4 is used for shooting the edge position of the partition paper 2 to determine the offset size of the partition paper 2 and the coordinate position on the paper taking platform 1, wherein the shooting device 4 can be used for shooting the edge line position of the partition paper 2 and the corner position of the partition paper 2, optionally, the shooting device comprises a first sub-lens and a second sub-lens, the first sub-lens and the second sub-lens face to the two corners of the partition paper 2 on the paper taking platform 1 respectively and are used for shooting position images of the two corners of the partition paper 2 respectively, offset coordinates of the partition paper 2 are calculated according to the offset positions of the two corners in the position images, and the working positions of the paper taking platform 1 and/or the paper taking device 3 are adjusted according to the offset coordinates, so that a preset relative position relationship is maintained when the paper taking device 3 and the partition paper 2 take paper. In this embodiment, the first sub-lens may determine the offset coordinate of the first corner of the partition paper 2, specifically, as shown in fig. 2, when there is no offset, the vertex position of the first corner should be set at the original position in the position image, and when the position of the first corner shifts to the position of a point, the vertex of the first corner may be calculated to shift by an X1 distance in the X-axis direction and shift by a Y1 distance in the Y-axis direction, and then the position of the point a on the paper fetching platform 1 may be determined, and similarly, the second sub-lens may determine the offset coordinate of the second corner of the partition paper 2, wherein as shown in fig. 3, the vertex of the second corner shifts to the position of B, the vertex of the second corner may be calculated to shift by an X2 distance in the X-axis direction and shift by a Y2 distance in the Y-axis direction, and then the position of the point B on the paper fetching platform 1 may be determined by the positions of the point a and the point B, the accurate position of the spacing paper 2 on the paper taking platform 1 can be determined, the offset coordinate of the spacing paper 2 is established according to the accurate position of the spacing paper 2, and the working position of the paper taking platform 1 and/or the paper taking device 3 is adjusted according to the offset coordinate, so that the preset relative position relation is kept between the paper taking device 3 and the spacing paper 2 during paper taking, and the paper taking accuracy is ensured.
The shooting device 4 can shoot the corner position of the partition paper 2 and the sideline position of the partition paper 2, specifically, the shooting device 4 comprises a third sub-lens and a fourth sub-lens, the third sub-lens and the fourth sub-lens face two adjacent sidelines of the partition paper 2 on the paper taking platform 1 respectively and are used for shooting position images of the two sidelines of the partition paper 2 respectively, offset coordinates of the partition paper 2 are calculated according to the offset positions of the two sidelines in the position images, and the working positions of the paper taking platform 1 and/or the paper taking device 3 are adjusted according to the offset coordinates, so that a preset relative position relation is kept when the paper taking device 3 and the partition paper 2 take paper. In this embodiment, the first sub-lens is used to capture the position of the first edge line, and the second sub-lens is used to capture the position of the second edge line, specifically, as shown in fig. 4, when the first edge line is not shifted, the first edge line should be disposed on the Y axis, when the first edge line is shifted, the intersection point of the first edge line and the X axis is the D point, the intersection point of the first edge line and the Y axis is the C point, and the offset angle and the offset distance of the first edge line can be calculated by using the coordinates of the C point and the D point, similarly, as shown in fig. 5, when the second edge line is not shifted, the second edge line should be disposed on the X axis, and when the first edge line is shifted, the offset of the second edge line can also occur, wherein the intersection point of the second edge line and the X axis is the F point, the intersection point of the second edge line and the Y axis is the E point, and the coordinates of the E point and the F point can be used to calculate the offset angle and the offset distance of the second edge line, offset coordinates of the spacing paper 2 can be accurately calculated and reestablished through the offset positions of the first side line and the second side line, and the working positions of the paper taking platform 1 and/or the paper taking device 3 are adjusted according to the offset coordinates, so that a preset relative position relation is kept between the paper taking device 3 and the spacing paper 2 during paper taking, and the accuracy of paper taking is guaranteed.
When the lens is used for shooting the position image, in order to further improve the accuracy of the position information on the image, the shooting direction of the lens 41 is optionally perpendicular to the paper taking platform 1. In this embodiment, the lens 41 is mainly used to photograph a three-dimensional object into a planar image, and in order to reduce the visual declination occurring at the far and near positions of the object in the imaging process of the lens 41, the photographing direction of the lens 41 can be made perpendicular to the paper pickup platform 1, so that the image information of the position image of the spacing paper 2 on the paper pickup platform 1 can reduce the visual declination, and the photographing accuracy can be improved.
The above-mentioned paper fetching device 3 may be of various structures, and optionally, the paper fetching device 3 includes: the paper taking device comprises an adjusting portion 32 and a grabbing portion 31, wherein the grabbing portion 31 is used for grabbing the spacing paper 2 on the paper taking platform 1, the adjusting portion 32 is movably connected to the grabbing portion 31, and the adjusting portion 32 is used for adjusting the grabbing position of the grabbing portion 31 so that a preset relative position relation is kept when the paper taking device 3 and the spacing paper 2 take the paper. In this embodiment, the adjusting portion 32 can drive the grabbing portion 31 to grab the partition paper 2, and is specific, the grabbing portion 31 can be arranged at a position about 30mm above the partition paper 2, when grabbing, the adjusting portion 32 can drive the grabbing portion 31 to move downwards, so that the grabbing portion 31 contacts and grabs the partition paper 2, then the adjusting portion 32 can grab the partition paper 2 and then move to the preset position to lay, wherein the grabbing position between the grabbing portion 31 and the partition paper 2 can be adjusted by the adjusting portion 32, when the partition paper 2 deviates, after the shooting device 4 calculates the deviation coordinate of the partition paper 2, the adjusting portion 32 can adjust the grabbing position of the grabbing portion 31 according to the deviation coordinate, so that the preset relative position relationship is maintained when the paper is fetched between the paper fetching device 3 and the partition paper 2, and the laying quality of the partition paper 2 is further improved.
Further, the grasping portion 31 includes a plurality of suction cups and a vacuum pump connected to the plurality of suction cups, wherein the suction heads of the plurality of suction cups are on the same straight line. In this embodiment, the grabbing portion 31 can suck up the spacer paper 2 in a vacuum sucking manner, so that the spacer paper 2 is fixed on the suckers, in addition, the suckers can be on the same straight line, and the suckers can suck up one edge of the spacer paper 2.
After the offset coordinates are calculated, the relative position relationship between the spacing paper 2 and the paper taking device 3 can be maintained by adjusting the grabbing position of the paper taking device 3, and the relative position relationship between the spacing paper 2 and the paper taking device 3 can also be maintained by adjusting the position of the paper taking platform 1, optionally, the paper taking platform 1 is movably connected to the base, and the relative position between the paper taking platform 1 and the base is adjustable, so that the preset relative position relationship is maintained when the paper taking device 3 and the spacing paper 2 take paper. In this embodiment, when the offset appears in interval paper 2, can adjust the position of interval paper 2 through adjusting paper platform 1 of getting, wherein, the base can adjust the position of interval paper 2 according to the skew coordinate, makes to get paper equipment 3 and keeps predetermined relative position relation between paper equipment 3 and the interval paper 2 when getting paper, and then guarantees interval paper 2's the quality of laying.
The above-described photographing device 4 may have various structures, and optionally, the photographing device 4 includes: the control system 43, the processor 42 and the lens 41, the output end of the lens 41 is connected to the processor 42, the output end of the processor 42 is connected to the control system 43, the control system 43 is connected to the paper fetching device 3 and the paper fetching platform 1, wherein the lens 41 is used for shooting a position image of the spacing paper 2 on the paper fetching platform 1 at any time and sending position graphic information to the processor 42, the processor 42 is used for calculating offset coordinates of the spacing paper 2 according to the offset size of the spacing paper 2 in the position image relative to the coordinate position, the processor 42 is used for sending the offset coordinates to the control system 43, and the control system 43 is used for adjusting the working position of the paper fetching platform and/or the paper fetching device according to the offset coordinates so as to enable the paper fetching device and the spacing paper to keep a preset relative position relationship when fetching the paper. In this embodiment, the lens 41 may be disposed at a work site for photographing the position of the spacing paper 2 on the paper fetching platform 1, the lens 41 may be fixed on the base of the paper fetching platform 1 through a fixing structure, and the relative position relationship between the lens 41 and the paper fetching platform 1 is fixed. The processor 42 may be disposed at a position far from the work site, and the processor 42 performs graphic processing and operation to obtain the offset coordinates after the position offset, and the processor 42 may be a server or a computer, etc., and has a high practicability and a good operation processing effect. In addition, the control system 43 may be a programmable logic control system, which employs a programmable memory for storing programs therein, executing instructions for user-oriented operations such as logic operation, sequence control, timing, counting, and arithmetic operation, and controlling various types of machines or manufacturing processes through digital or analog input/output, has the characteristics of simple programming, strong functional reliability, and the like, and is tried in various different working scenarios.
The embodiment of the utility model provides a paper system of getting for the paper coordinate of getting of automatic adjustment paper equipment guarantees glass substrate's packing quality, and among the prior art, when the skew appears on getting the paper platform as the interval paper, adjusts the position of interval paper through the mode that all adopts artifical the regulation, can reduce glass substrate's production efficiency like this, and increase the human cost. Compared with the prior art, the paper fetching system provided by the patent comprises a paper fetching platform, paper fetching equipment and a shooting device, when the position of the partition paper on the paper fetching platform deviates, the position of the partition paper on the paper fetching platform can be adjusted without adjusting, the deviation coordinate of the partition paper is calculated by shooting the position of the partition paper on the paper fetching platform through the shooting device, the working position of the paper fetching platform and/or the paper fetching equipment is adjusted according to the deviation coordinate, the preset relative position relation is kept when the paper is fetched between the paper fetching equipment and the partition paper, the relative position of the paper fetching time partition paper and the paper fetching equipment is kept unchanged, the packaging quality of the glass substrate is further ensured, and the labor cost is saved.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A paper retrieval system, comprising:
the paper taking platform is provided with a preset coordinate position, and the coordinate position is used for placing spacing paper;
the paper taking device is used for grabbing the spacing paper on the paper taking platform;
the shooting device is connected with the paper taking equipment, a lens of the shooting device faces the edge position of the partition paper and is used for shooting a position image of the edge of the partition paper, the offset coordinate of the partition paper is calculated according to the offset size of the partition paper in the position image relative to the coordinate position, and the working position of the paper taking platform and/or the paper taking equipment is adjusted according to the offset coordinate, so that the preset relative position relation is kept when the paper is taken between the paper taking equipment and the partition paper.
2. Paper extraction system according to claim 1,
the shooting device comprises a first sub-lens and a second sub-lens, the first sub-lens and the second sub-lens face two corners of a piece of partition paper on the paper taking platform respectively and are used for shooting position images of the two corners of the partition paper respectively, calculating offset coordinates of the partition paper according to the offset positions of the two corners in the position images, and adjusting the working position of the paper taking platform and/or the paper taking equipment according to the offset coordinates, so that a preset relative position relation is kept when the paper is taken between the paper taking equipment and the partition paper.
3. Paper extraction system according to claim 1,
the shooting device comprises a third sub-lens and a fourth sub-lens, the third sub-lens and the fourth sub-lens face two adjacent sidelines of the spacing paper on the paper taking platform respectively and are used for shooting position images of the two sidelines of the spacing paper respectively, calculating offset coordinates of the spacing paper according to the offset positions of the two sidelines in the position images, and adjusting the working position of the paper taking platform and/or the paper taking equipment according to the offset coordinates, so that a preset relative position relation is kept when the paper is taken between the paper taking equipment and the spacing paper.
4. Paper extraction system according to claim 1,
the paper taking apparatus includes: the paper taking platform comprises an adjusting portion and a grabbing portion, wherein the grabbing portion is used for grabbing spacing paper on the paper taking platform, the adjusting portion is movably connected to the grabbing portion, and the adjusting portion is used for adjusting the grabbing position of the grabbing portion, so that the paper taking device and the spacing paper keep a preset relative position relation during paper taking.
5. The paper extraction system of claim 4,
the grabbing part comprises a vacuum pump and a plurality of suckers, the vacuum pump is connected with the suckers, and the suckers of the suckers are on the same straight line.
6. Paper extraction system according to claim 1,
the paper taking platform is movably connected to the base, and the relative position of the paper taking platform and the base is adjustable, so that the preset relative position relation is kept between the paper taking equipment and the interval paper during paper taking.
7. Paper extraction system according to claim 1,
the shooting direction of the lens is perpendicular to the paper taking platform.
8. Paper extraction system according to claim 1,
the photographing apparatus includes: a control system, a processor and the lens, wherein the output end of the lens is connected with the processor, the output end of the processor is connected with the control system, the control system is connected with the paper taking equipment and the paper taking platform, wherein the lens is used for shooting a position image of the spacing paper on the paper taking platform and sending the position image information to the processor, the processor is used for calculating the offset coordinate of the spacing paper according to the offset size of the spacing paper in the position image relative to the coordinate position, the processor is used for sending the offset coordinate to the control system, and the control system is used for adjusting the working position of the paper taking platform and/or the paper taking equipment according to the offset coordinate so that the preset relative position relationship is kept when the paper is taken between the paper taking equipment and the interval paper.
9. Paper extraction system according to claim 8,
the control system is a programmable logic control system.
10. Paper extraction system according to claim 9,
the processor is a server or a computer.
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| CN201720625472.5U CN211577600U (en) | 2017-06-01 | 2017-06-01 | Paper taking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106990571A (en) * | 2017-06-01 | 2017-07-28 | 芜湖东旭光电科技有限公司 | Paper pickup system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106990571A (en) * | 2017-06-01 | 2017-07-28 | 芜湖东旭光电科技有限公司 | Paper pickup system |
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