CN212749627U - Vision-guided material taking and placing device and system - Google Patents
Vision-guided material taking and placing device and system Download PDFInfo
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- CN212749627U CN212749627U CN202021462216.7U CN202021462216U CN212749627U CN 212749627 U CN212749627 U CN 212749627U CN 202021462216 U CN202021462216 U CN 202021462216U CN 212749627 U CN212749627 U CN 212749627U
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- 238000007599 discharging Methods 0.000 claims abstract description 51
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- 238000007664 blowing Methods 0.000 abstract description 16
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- 238000010586 diagram Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 2
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Abstract
The utility model provides a vision guide is got and is put material device and system, include: the device comprises a machine table, a feeding assembly, a visual guide assembly, an electrical measurement jig and a discharging assembly, wherein the feeding assembly, the visual guide assembly, the electrical measurement jig and the discharging assembly are fixed at the designated positions of the machine table; the feeding assembly moves the material to be put to a first designated area of the visual guide assembly; the visual guide assembly identifies the attitude information of the material to be put in the first designated area and outputs an attitude deviation value between the material to be put in and the electrical measurement jig to the feeding assembly; the feeding assembly moves the material to be put to the electrical measuring jig based on the attitude deviation value; the electrical measurement jig is used for carrying out electrical measurement processing on the material to be put; the discharging assembly retreats the materials to be put in after the electrical measurement in the electrical measurement jig. The utility model discloses can effectively reduce the cost of labor who gets the material process of putting, can also effectively improve the efficiency and the accurate degree of getting the blowing.
Description
Technical Field
The utility model belongs to the technical field of the material input technique and specifically relates to a vision guide is got and is put material device and system is related to.
Background
The putting in and taking out of the materials are used as more important links in industrial production, and the whole production process is directly influenced. At present, the traditional mode of getting to put is artifical blowing, and the manual work is got again after equipment production, and traditional mode of getting to put has manual operation's inherent shortcoming, such as, the cost of labor is higher, get to put the material efficiency lower and get the material precision lower scheduling problem.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vision guide is got and is put material device and system can effectively reduce the cost of labor who gets the material process of putting, can also effectively improve the efficiency and the accurate degree of getting the blowing.
In a first aspect, an embodiment of the present invention provides a vision-guided material taking and placing device, including: the device comprises a machine table, a feeding assembly, a visual guide assembly, an electrical measurement jig and a discharging assembly, wherein the feeding assembly, the visual guide assembly, the electrical measurement jig and the discharging assembly are fixed at the designated positions of the machine table; the feeding assembly moves the material to be put to a first designated area of the visual guide assembly; the visual guide assembly identifies the attitude information of the material to be put in the first designated area and outputs an attitude deviation value between the material to be put in and the electrical measuring jig to the feeding assembly; the attitude deviation value is related to the attitude information, the attitude information comprises coordinate information and angle information, and the attitude deviation value comprises a coordinate deviation value and an angle deviation value; the feeding assembly moves the material to be put to the electrical measuring jig based on the attitude deviation value; the electrical measurement jig is used for carrying out electrical measurement processing on the material to be put; and the discharging assembly retreats the material to be put after the electrical measurement in the electrical measurement jig.
In one embodiment, the feeding assembly comprises a feeding unit and a feeding manipulator; the feeding unit moves the material to be put to a second designated area in the feeding assembly; and the feeding manipulator clamps the material to be put from the second designated area and places the material to be put in the first designated area of the visual guide assembly.
In one embodiment, the feeding unit comprises a first tray, a feeding shaft and a first lifting shaft; the first material tray is internally provided with materials to be put; the feeding shaft moves the first material tray to a third designated area in the feeding assembly; and the first lifting shaft lifts the first material tray in the third designated area to a second designated area in the material feeding assembly.
In one embodiment, the visual guidance assembly includes a camera unit and a processor; the shooting unit shoots a material image of the material to be put in the first designated area; the processor carries out image processing on the material image so as to identify the attitude information of the material to be put in the first designated area, and calculates the attitude deviation value between the material to be put in and the electric measuring jig according to the attitude information.
In one embodiment, the photographing unit includes a light source, a camera, and a lens.
In one embodiment, the discharging assembly comprises a discharging unit and a discharging module; the blanking discharging module is used for taking out the materials to be discharged after electrical measurement from the electrical measurement jig; and the discharging unit withdraws the materials to be put after the electrical measurement processing.
In one embodiment, the discharging unit comprises a second material tray, a discharging shaft and a second lifting shaft; the second material tray is internally provided with the material to be put after the electrical measurement processing; the second lifting shaft lowers the second material tray to a fourth designated area in the discharging assembly; and the discharging shaft retreats the second tray in the fourth designated area.
In one embodiment, the feeding assembly further comprises a linear motor disposed below the feeding robot; wherein, the linear motor provides the drive power for the pan feeding manipulator.
In one embodiment, the apparatus further comprises a display assembly.
In a second aspect, the embodiment of the present invention provides a vision-guided material taking and placing system, including: the vision-guided material taking and placing device comprises a machine table shell and a material taking and placing device, wherein the machine table shell is arranged outside the vision-guided material taking and placing device.
The embodiment of the utility model provides a following beneficial effect has been brought:
the embodiment of the utility model provides a pair of vision guide is got and is put material device and system, include: the device comprises a machine table, a feeding assembly, a visual guide assembly, an electrical measurement jig and a discharging assembly, wherein the feeding assembly, the visual guide assembly, the electrical measurement jig and the discharging assembly are fixed at the designated positions of the machine table; the feeding assembly moves the material to be put to a first designated area of the visual guide assembly; the visual guide assembly identifies the attitude information of the material to be put in the first designated area and outputs an attitude deviation value between the material to be put in and the electrical measurement jig to the feeding assembly; the feeding assembly moves the material to be put to the electrical measuring jig based on the attitude deviation value; the electrical measurement jig is used for carrying out electrical measurement processing on the material to be put; the discharging assembly retreats the materials to be put in after the electrical measurement in the electrical measurement jig. The attitude deviation value is related to attitude information, the attitude information comprises coordinate information and angle information, and the attitude deviation value comprises a coordinate deviation value and an angle deviation value. The device guides getting the material process through vision guide subassembly, need not manual operation, compares the artifical mode of getting the blowing in prior art, the embodiment of the utility model provides a can effectively reduce the cost of labor who gets the material process, can also effectively improve the efficiency and the accurate degree of getting the blowing.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a vision-guided material taking and placing device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of another vision-guided material taking and placing device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a feeding unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a shooting unit according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a discharging unit according to an embodiment of the present invention;
fig. 6 is a schematic interface diagram of a display module according to an embodiment of the present invention;
fig. 7 is an interface schematic diagram of another display module according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a vision-guided emptying system according to an embodiment of the present invention.
Icon: 110-a machine table; 120-feeding component; 130-a visual guide assembly; 140-electrical measurement jig; 150-a discharge assembly; 121-a feeding unit; 122-a feeding manipulator; 151-a discharge unit; 152-a blanking module; 1211 — a first tray; 1212-feeding shaft; 1213-first jacking axis; 1311-a light source; 1312-a camera; 1313-lens; 1511-second tray; 1512-a discharge shaft; 1513-second jacking axis; 100-a vision guide material taking and placing device; 200-machine table shell.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
At present, the traditional material taking and placing method at least has the following problems: (1) the labor cost is high; (2) for projects requiring high-precision material discharging, manual material discharging is difficult to complete or the material discharging operation cannot be efficiently completed for a long time; (3) for projects with higher productivity requirements, manual discharging cannot quickly complete material taking and placing operations; (4) the precise material taking and placing can not be realized well, and the high-requirement project can not be met. Based on this, the embodiment of the utility model provides a vision guide is got and is put material device and system can effectively reduce the cost of labor who gets the material process of putting, can also effectively improve the efficiency and the accurate degree of getting the blowing.
In order to understand the present embodiment, firstly, the vision-guided material taking and placing device disclosed in the embodiments of the present invention is described in detail, referring to the schematic structural diagram of the vision-guided material taking and placing device shown in fig. 1, the device includes a machine table 110, a feeding assembly 120, a vision-guided assembly 130, an electrical measurement fixture 140 and a discharging assembly 150, wherein the feeding assembly 120, the vision-guided assembly 130, the electrical measurement fixture 140 and the discharging assembly 150 are fixed at the designated positions of the machine table 110.
The feeding assembly 120 moves the material to be thrown to a first designated area of the visual guide assembly, wherein the first designated area may be directly above the visual guide assembly. In one embodiment, the feeding assembly may include a device for placing the material to be placed (also referred to as a product), a shaft for moving the device, a manipulator for gripping the material to be placed from the device, and the like, the material to be placed is placed in the device, the device is moved by the shaft to park the material to be placed in the device to a certain position, and the material to be placed is gripped from the position by the manipulator and the like into the first designated area of the visual guidance assembly.
The vision guiding assembly 130 identifies the posture information of the material to be put in the first designated area, and outputs the posture deviation value between the material to be put in and the electrical measuring jig to the feeding assembly. The attitude deviation value is related to attitude information, the attitude information comprises coordinate information and angle information, and the attitude deviation value comprises a coordinate deviation value and an angle deviation value. In an implementation mode, the vision guide assembly can internally comprise a shooting unit used for shooting a material image of the material to be put in, attitude information of the material to be put in can be obtained by carrying out image processing on the material image, and then an attitude deviation value between the material to be put in and the electric measuring jig can be obtained by calculation according to the attitude information.
The feeding assembly 120 can also move the material to be put to the electrical measuring jig based on the attitude deviation value. In an embodiment, the manipulator in the feeding assembly can be corrected according to the attitude deviation value, so that the manipulator can more accurately move the material to be put to the electrical measuring jig.
The electrical measurement tool 140 performs electrical measurement processing on the material to be put.
The discharging component 150 withdraws the material to be put after the electrical measurement in the electrical measurement jig. In one embodiment, the discharging assembly may also include a device for placing the material to be placed (also referred to as a product), a shaft for moving the device, a manipulator for gripping the material to be placed from the device, and the like, where the manipulator may grip the electrically measured material to be placed from the electrically measuring jig and place the electrically measured material in the device, and then move the device by the shaft to withdraw the electrically measured material to be placed.
The embodiment of the utility model provides a blowing device is got to above-mentioned vision guide guides getting through the vision guide subassembly and puts the material process and guide, need not manual operation, compares in the artifical mode of getting the blowing among the prior art, the embodiment of the utility model provides a can effectively reduce the cost of labor who gets the material process of putting, can also effectively improve the efficiency and the accurate degree of getting the blowing.
In order to facilitate understanding of the vision-guided material taking and placing device provided in the above embodiment, the embodiment of the present invention provides another vision-guided material taking and placing device, see the schematic structural diagram of another vision-guided material taking and placing device shown in fig. 2, and is illustrated in fig. 2, the above feeding assembly 120 includes a feeding unit 121 and a feeding manipulator 122, the above discharging assembly 150 includes a discharging unit 151 and an unloading and placing module 152, and the feeding manipulator can adopt a 4-axis manipulator.
In one embodiment, the feeding unit moves the material to be placed to a second designated area in the feeding assembly, and the feeding manipulator clamps the material to be placed from the second designated area and places the material to be placed in the first designated area of the visual guide assembly. Further, the embodiment of the present invention further provides a feeding unit 121, referring to the schematic structural diagram of a feeding unit shown in fig. 3, the feeding unit 121 includes a first tray 1211, a feeding shaft 1212, and a first jacking shaft 1213 (not shown in the figure). The material to be put in is placed in the first material tray, the material inlet shaft moves the first material tray to a third designated area in the material inlet assembly, and the first jacking shaft jacks the first material tray in the third designated area to the second designated area in the material inlet assembly.
In one embodiment, the visual guidance assembly 130 includes a camera unit 131 (not shown) and a processor 132 (not shown). The embodiment of the present invention further provides a shooting unit 131, referring to the schematic structural diagram of the shooting unit shown in fig. 4, where the shooting unit 131 includes a light source 1311, a camera 1312, and a lens 1313; the processor carries out image processing on the material image so as to identify the attitude information of the material to be put in the first designated area, and calculates the attitude deviation value between the material to be put in and the electric measuring jig according to the attitude information. In a specific embodiment, when the material to be put in is placed right above the visual guidance assembly, the light source may be triggered to turn on, at this time, the light source may provide light required for photographing, the camera may photograph the material to be put in through the lens to obtain a material image, the processor may perform image processing on the material image by using, for example, a template matching algorithm, identify an area where the material to be put in is located in the material image, and further obtain posture information of the material to be put in through a straight edge finding algorithm or a circle center finding algorithm, where the posture information of the material to be put in may include a coordinate position and a placement angle (i.e., the above angle information) of the material to be put in, and the coordinate position is a coordinate value in a camera coordinate system. After that, the processor can convert the posture information of the material to be put into the coordinate system of the feeding manipulator from the coordinate system of the camera according to the mapping relation between the coordinate system of the camera and the coordinate system of the feeding manipulator which is configured in advance, and the posture information of the material to be put into the coordinate system of the feeding manipulator is obtained. Based on this, the processor can calculate and obtain a first offset (including an angle offset and a position offset) between the material to be put and the standard position according to a preset standard position and attitude information under the feeding manipulator coordinate system, and in addition, a second offset (including an angle offset and a position offset) between the standard position and an electric measuring jig position (which can be called as a fixed placing position), so that the manipulator coordinate of the current product placing position can be obtained, and then the feeding manipulator can be guided to automatically place the material to be put in the electric measuring jig for electric measurement. Wherein, above-mentioned first offset and second offset can be collectively referred to as the gesture offset, and above-mentioned standard position can set up based on actual conditions, the embodiment of the utility model provides a do not restrict here.
In one embodiment, the discharging module 152 takes out the material to be discharged after the electrical measurement process from the electrical measurement fixture, and the discharging unit 151 returns the material to be discharged after the electrical measurement process. Further, the embodiment of the present invention further provides an ejection of compact unit 151, refer to the schematic structural diagram of an ejection of compact unit shown in fig. 5, and fig. 5 illustrates that the ejection of compact unit 151 includes second charging tray 1511, ejection of compact axle 1512 and second jacking axle 1513. The second material tray is placed in the second material tray, materials to be placed are placed after electric measurement, the second lifting shaft enables the second material tray to descend to a fourth designated area in the discharging assembly, and the discharging shaft enables the second material tray in the fourth designated area to return.
Get blowing device and understand for the vision guide who provides to above-mentioned embodiment for being convenient for, the embodiment of the utility model provides an exemplary process that a vision guide was got and is put material device and get and put and treat the input material that puts is put after putting and treat the input material and put into the material unit, at first will put by the income material axle of pan feeding unit and treat that the input material moves to the rising position (also, above-mentioned third appointed area), will put by first jacking axle again and treat that the input material jacking is to the second appointed area, realizes the function of automatic blowing. Then, the feeding manipulator moves to the position above the to-be-put material to be put and takes the material, the to-be-put material is taken and taken right above the visual system, a light source of the visual system is triggered to be turned on, material images are shot through a camera, after a processing area determines the posture position of the to-be-put material, the processor can calculate the manipulator coordinate of the current to-be-put material putting position, the manipulator is guided to automatically put the material into an electrical measuring jig for electrical measurement, after the electrical measurement of the electrical measuring jig is finished, the to-be-put material after the electrical measurement is taken by the discharging module, and the to-be-put material is put into a discharging unit. And after the second material tray on the discharging unit is fully placed with the materials to be put, the second jacking shaft of the discharging unit descends, and the discharging shaft of the discharging unit withdraws from the material to be put, so that the whole set of material taking and putting actions with visual guidance are completed.
In one embodiment, the feeding assembly further comprises a linear motor disposed below the feeding robot, the linear motor providing a driving force for the feeding robot. A group of linear motors is arranged below the feeding mechanical arm base, so that a larger space for taking and placing materials can be obtained.
In an implementation manner, the utility model provides a blowing device is got in vision guide still includes the display module. The embodiment of the utility model provides a display module includes two interfaces, and every interface all includes operating portion and display portion. Referring to fig. 6, an interface of a display module is schematically shown, and the interface includes an operation portion 1 and a display portion 1. A compensation value for guiding the discharging position of the manipulator can be set in the operation part 1, and the storage compensation is clicked to finish the storage. The display part 1 displays the running state of the machine in real time, the photographed picture, the current position coordinate information of the product, the position coordinate of the product to be discharged and the running log of the machine.
Referring to fig. 7, another interface of a display assembly is shown, which includes an operation part 2 and a display part 2, in the operation part 2, creation of a template can be manually realized by sequentially clicking "manual photo" - "creation template" - "saving template", and the position of visually acquiring a product can be sequentially realized. The operation part 2 can finish the calibration of the manipulator from the step one to the step four according to the prompt in the operation part, and is used for guiding the manipulator to accurately discharge materials, wherein the step one is to establish coordinate correlation (namely, to establish the correlation between a coordinate system of the feeding manipulator and a coordinate system of a camera), the step two is to calibrate camera parameters, the step three is to calibrate positions (namely, to determine the attitude information of materials to be discharged), and the step four is to manually test.
To sum up, the embodiment of the utility model provides a vision guide is got and is put material device has following characteristics at least:
(1) the aspect of hardware provides 4-axis manipulator (that is, above-mentioned pan feeding manipulator), can realize the material loading of different products. In the whole process, automatic feeding is completed in a full-automatic mode, products are placed in a visual guide manipulator in an accurate and efficient mode, and finally automatic discharging is performed, so that manual material taking and discharging are completely replaced.
(2) A group of linear motors is additionally arranged under a base of the 4-axis manipulator, so that a larger space for taking and placing materials is achieved.
(3) The embodiment of the utility model provides a through vision guide subassembly, the assigned position can be accurately put to the product that makes putting at random in the charging tray, and is concrete, and 5 um's precision can be realized to this system.
(4) The embodiment of the utility model provides a both can compensate the settlement to product blowing position, can establish the template of product again and the demarcation of manipulator guide, can further improve the accurate degree of getting the blowing.
To the vision guide get material device that aforesaid embodiment provided, the embodiment of the utility model provides a vision guide is got material system of putting still provides, refer to the structural schematic diagram that the blowing system was got to a vision guide shown in fig. 8, this vision guide blowing system includes the vision guide that aforesaid embodiment provided gets material device 100 to and set up and get the board casing 200 outside the material device in vision guide.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing embodiments, and is not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A vision-guided material taking and placing device is characterized by comprising: the device comprises a machine table, a feeding assembly, a visual guide assembly, an electrical measurement jig and a discharging assembly, wherein the feeding assembly, the visual guide assembly, the electrical measurement jig and the discharging assembly are fixed at the designated positions of the machine table; wherein,
the feeding assembly moves the material to be put to a first designated area of the visual guide assembly;
the visual guide assembly identifies the attitude information of the material to be put in the first designated area and outputs an attitude deviation value between the material to be put in and the electrical measuring jig to the feeding assembly; the attitude deviation value is related to the attitude information, the attitude information comprises coordinate information and angle information, and the attitude deviation value comprises a coordinate deviation value and an angle deviation value;
the feeding assembly moves the material to be put to the electrical measuring jig based on the attitude deviation value;
the electrical measurement jig is used for carrying out electrical measurement processing on the material to be put;
and the discharging assembly retreats the material to be put after the electrical measurement in the electrical measurement jig.
2. The apparatus of claim 1, wherein the feeding assembly comprises a feeding unit and a feeding robot; wherein,
the feeding unit moves the material to be put to a second designated area in the feeding assembly;
and the feeding manipulator clamps the material to be put from the second designated area and places the material to be put in the first designated area of the visual guide assembly.
3. The apparatus of claim 2, wherein the feeding unit comprises a first tray, a feeding shaft, and a first lift shaft; wherein,
materials to be put in are placed in the first material plate;
the feeding shaft moves the first material tray to a third designated area in the feeding assembly;
and the first lifting shaft lifts the first material tray in the third designated area to a second designated area in the material feeding assembly.
4. The apparatus of claim 1, wherein the visual guidance assembly comprises a camera unit and a processor; wherein,
the shooting unit shoots a material image of the material to be put in the first designated area;
the processor carries out image processing on the material image so as to identify the attitude information of the material to be put in the first designated area, and calculates the attitude deviation value between the material to be put in and the electric measuring jig according to the attitude information.
5. The apparatus of claim 4, wherein the camera unit comprises a light source, a camera, and a lens.
6. The apparatus of claim 1, wherein the outfeed assembly comprises an outfeed unit and an outfeed discharge module; wherein,
the blanking discharging module takes out the materials to be discharged after the electrical measurement treatment from the electrical measurement jig;
and the discharging unit withdraws the materials to be put after the electrical measurement processing.
7. The apparatus of claim 6, wherein the discharging unit comprises a second tray, a discharging shaft and a second lifting shaft; wherein,
the second material tray is internally provided with the material to be put after the electrical measurement processing;
the second lifting shaft lowers the second material tray to a fourth designated area in the discharging assembly;
and the discharging shaft retreats the second tray in the fourth designated area.
8. The apparatus of claim 2, wherein the feed assembly further comprises a linear motor disposed below the feed robot; wherein,
the linear motor provides driving force for the feeding mechanical arm.
9. The device of claim 1, further comprising a display component.
10. A vision-guided access material system, comprising: the vision-guided material taking and placing device of any one of claims 1 to 9, and a machine housing disposed outside the vision-guided material taking and placing device.
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| CN202021462216.7U CN212749627U (en) | 2020-07-22 | 2020-07-22 | Vision-guided material taking and placing device and system |
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| CN202021462216.7U CN212749627U (en) | 2020-07-22 | 2020-07-22 | Vision-guided material taking and placing device and system |
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| CN212749627U true CN212749627U (en) | 2021-03-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111722633A (en) * | 2020-07-22 | 2020-09-29 | 上海金东唐科技有限公司 | Vision-guided material taking and placing device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111722633A (en) * | 2020-07-22 | 2020-09-29 | 上海金东唐科技有限公司 | Vision-guided material taking and placing device and system |
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