CN214234586U - Coating production line monitoring and recognizing system based on machine vision - Google Patents
Coating production line monitoring and recognizing system based on machine vision Download PDFInfo
- Publication number
- CN214234586U CN214234586U CN202022314990.XU CN202022314990U CN214234586U CN 214234586 U CN214234586 U CN 214234586U CN 202022314990 U CN202022314990 U CN 202022314990U CN 214234586 U CN214234586 U CN 214234586U
- Authority
- CN
- China
- Prior art keywords
- branch
- lifting
- adjusting
- roller bed
- synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000576 coating method Methods 0.000 title claims abstract description 58
- 239000011248 coating agent Substances 0.000 title claims abstract description 52
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000004519 manufacturing process Methods 0.000 title abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000001360 synchronised effect Effects 0.000 claims description 81
- 238000010422 painting Methods 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000032258 transport Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 13
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000007723 transport mechanism Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model provides a coating line monitoring identification system based on machine vision, carry the roller bed including main roller bed, image recognition mechanism, work piece transport mechanism and each branch. The coating production line monitoring and recognizing system based on machine vision utilizes the image recognition mechanism to perform image recognition on the coating workpieces transported on the main transport roller bed and determine the next procedure to be processed for each coating workpiece, so that the workpiece transport mechanism transports the coating workpieces to the corresponding branch transport roller bed and transports the coating workpieces to the corresponding process treatment equipment, automatic recognition and transport of the coating process are realized, and coating efficiency is improved; whether the coating workpiece reaches the workpiece transfer mechanism or not can be detected in real time by utilizing the blanking side position sensor, so that the workpiece transfer mechanism is quickly started to transfer the workpiece, the workpiece transfer mechanism is prevented from running in a no-load mode for a long time, and the energy consumption of the system is reduced.
Description
Technical Field
The utility model relates to a coating line monitoring and recognition system, especially a coating line monitoring and recognition system based on machine vision.
Background
The existing coating production line mainly comprises a plurality of working procedures such as cleaning, drying, paint spraying, paint baking and the like, the flow is long, when the automatic production is carried out, part of working procedures on the coating production line are kept idle waiting when no workpiece exists, energy is wasted, and the loss of coating equipment is increased. When different products are coated, the path planning is needed to be carried out again according to the shape of the workpiece product and the spraying requirement, and the corresponding coating program is replaced, so that the coating efficiency is seriously influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the coating production line monitoring and recognizing system based on machine vision can recognize a coated workpiece, so that a subsequent coating process is determined, the subsequent coating process is automatically transferred to corresponding coating equipment, and the coating efficiency is improved.
In order to realize the aim of the utility model, the utility model provides a coating production line monitoring and identifying system based on machine vision, which comprises a main conveying roller bed, an image identifying mechanism, a workpiece transferring mechanism and each branch conveying roller bed;
the image recognition mechanism comprises a control box body, a feeding side position sensor, a recognition mounting bracket and an image recognition camera; the control box body is arranged above the feeding side of the main conveying roller bed through the identification mounting bracket; a controller and a memory are arranged in the control box body; the image recognition camera is arranged at the center of the lower side surface of the control box body; the feeding side position sensor is fixedly arranged in the middle of the edge of the feeding side of the control box body and used for detecting the position of a coating workpiece on the feeding side;
each branch conveying roller bed is positioned on the discharging side of the main conveying roller bed, and the workpiece transfer mechanism is arranged between the discharging side of the main conveying roller bed and the feeding side of each branch conveying roller bed and used for transferring the coating workpiece on the main conveying roller bed to the corresponding branch conveying roller bed according to the identification result of the image identification mechanism; a blanking side position sensor is arranged on the blanking side of the main conveying roller bed and used for detecting the position of a coating workpiece on the blanking side; the controller is respectively and electrically connected with the memory, the image recognition camera, the feeding side position sensor, the discharging side position sensor, the workpiece transfer mechanism and each branch conveying roller bed.
Further, the main conveying roller bed comprises two strip-shaped side plates, a roller bed bottom plate, a main conveying motor and two side strip-shaped baffle plates; two strip-shaped side plates are respectively arranged on the length edges of the left side and the right side of the roller bed bottom plate; each main conveying supporting roller is rotatably arranged between the two strip-shaped side plates and is arranged in parallel at equal intervals; the end part of one of the main conveying supporting rollers extends out of the strip-shaped side edge plate, and a main driving gear is fixedly arranged on the extending end part; the main conveying motor drives the main driving gear to rotate through the main driving chain; the end part of each main conveying supporting roller is also fixedly provided with a synchronous gear, and a synchronous chain is arranged on the synchronous gear of the adjacent main conveying supporting roller for synchronous transmission; supporting feet are arranged on the side edges of the bottom of the roller bed bottom plate; two side strip baffles are respectively arranged above the two strip side plates through each side adjusting frame.
Further, the side adjusting frame comprises a vertical supporting rod, a vertical adjusting bolt and a vertical adjusting seat; the vertical supporting rod is vertically arranged on the outer side surface of the side strip-shaped baffle through the side fixing seat; the vertical adjusting seat is fixedly arranged on the outer side surface of the strip-shaped side plate and is positioned below the side fixing seat, and a vertical adjusting hole is vertically arranged on the vertical adjusting seat; the vertical adjusting bolt is vertically and rotatably arranged on the vertical adjusting seat and extends into the vertical adjusting hole; the lower end of the vertical supporting rod is vertically inserted into the vertical adjusting hole, and the vertical adjusting bolt is screwed in the adjusting threaded hole at the lower end of the vertical supporting rod.
Furthermore, the identification mounting bracket comprises two side height adjusting frames, and each side height adjusting frame consists of a sleeve mounting bottom plate, a height adjusting sleeve, a vertical adjusting support rod and a height adjusting nut; the height adjusting sleeve is vertically arranged on the sleeve mounting base plate, and a C-shaped adjusting plate is arranged at the pipe orifice at the upper end of the height adjusting sleeve; the lower end of the vertical adjusting stay bar vertically penetrates through the C-shaped adjusting plate and then is inserted into the upper end pipe orifice of the height adjusting sleeve; an adjusting external thread is arranged on the lower end rod wall of the vertical adjusting support rod, a height adjusting nut is screwed on the adjusting external thread, and the height adjusting nut is positioned between the upper side edge and the lower side edge of the C-shaped adjusting plate; the bottom of the control box body is provided with the top ends of the vertical adjusting support rods of the two side height adjusting frames.
Further, the workpiece transfer mechanism comprises a top supporting disc, a steering driving motor, a lifting supporting disc, a bottom supporting plate and a lifting driving mechanism; each transfer support roller is rotatably arranged on the upper side surface of the top support disc and is parallel to each other; the middle part of each transfer support roller is provided with an installation ring groove, and a transfer synchronous gear is fixedly arranged in each installation ring groove; each transfer synchronous gear is driven by each transfer synchronous chain to rotate synchronously; a transfer driving motor is fixedly arranged on the upper side surface of the top supporting disc, a transfer driving gear is fixedly arranged on an output shaft of the transfer driving motor, and the transfer driving gear is meshed with one transfer synchronous chain; a rotating main shaft is fixedly arranged at the center of the lower side surface of the top supporting disk and is rotatably arranged on the lifting supporting disk; a rotary driving worm wheel is fixedly arranged on the rotary main shaft, and a rotary driving worm meshed with the rotary driving worm wheel is installed on an output shaft of the steering driving motor in a butt joint mode; each bottom support roller is rotatably arranged on the edge of the upper side surface of the lifting support disc through each bottom roller support, and the bottom support rollers are supported and run on the lower side surface of the top support disc; a steering driving circuit electrically connected with the controller is installed in the control box body, and the steering driving circuit is electrically connected with a steering driving motor; the lifting driving mechanism is arranged between the lifting supporting disk and the bottom supporting plate and is used for driving the height of the lifting supporting disk to rise and fall; the controller is used for controlling the lifting of the lifting driving mechanism.
Furthermore, the lifting driving mechanism comprises a lifting driving motor, a synchronous lifting driving chain and four lifting driving units; the lifting driving unit comprises a lifting supporting tube, a columnar lifting supporting seat and a lifting driving screw rod; the columnar lifting supporting seats of the four lifting driving units are vertically arranged at the edge of the upper side face of the bottom supporting plate and are positioned at the quartering points of the same circumference; a columnar cavity is vertically arranged in the columnar lifting support seat, the lower end of the lifting support tube is vertically inserted into the columnar cavity, and a lifting driving internal thread is arranged on the inner tube wall of the lifting support tube; the lower end of the lifting driving screw is vertically and rotatably arranged on the bottom of the columnar cavity, and the upper end of the lifting driving screw is in threaded fit with the lifting driving internal thread; a synchronous lifting driving gear is fixedly arranged on the lower end of the lifting driving screw rod; the upper end of the lifting support tube is vertically fixed on the lower side surface of the lifting support disc; the synchronous lifting driving chain penetrates through each columnar lifting supporting seat and is simultaneously meshed with the four synchronous lifting driving gears; the lifting driving motor is arranged on the bottom supporting plate through the C-shaped mounting plate, an output shaft of the lifting driving motor extends into a position between two side plates of the C-shaped mounting plate, and a lifting main driving gear is arranged at the extending end of the output shaft; the lifting main driving gear is meshed with the synchronous lifting driving chain; and a lifting driving circuit electrically connected with the controller is installed in the control box body, and the lifting driving circuit is electrically connected with a lifting driving motor.
Furthermore, a tensioning guide sliding groove is arranged on the upper side surface of the bottom supporting plate, and a tensioning guide sliding block is slidably mounted on the tensioning guide sliding groove; two tensioning pull rods are symmetrically arranged on the tensioning guide sliding block, and a synchronous tensioning gear is rotatably arranged at the end parts of the two tensioning pull rods; the two synchronous tensioning gears are mounted on the synchronous lifting driving chain and meshed with the synchronous lifting driving chain; a synchronous tension spring is fixedly arranged on the side edge of the tension guide sliding block; an end disc is arranged at the end part of the synchronous tension spring; an adjusting fixed block is arranged on the bottom supporting plate and close to the end part of the tensioning guide sliding chute, and a tensioning adjusting bolt is screwed on the adjusting fixed block; the end of the screw of the tension adjusting bolt is rotatably installed at the center of the end disc.
Furthermore, a tensioning positioning nut is screwed on the tensioning adjusting bolt, and the tensioning positioning nut is tightly attached to the adjusting fixing block.
Further, the branch conveying roller bed comprises an end part height adjusting mechanism and an upper branch roller bed and a lower branch roller bed; the end part height adjusting mechanism comprises two vertical rectangular frame brackets, two height adjusting screw rods, a height adjusting motor and a height adjusting synchronous chain; the branch roller bed comprises a branch bottom plate, two branch side plates and a branch roller bed driving motor; the two branch side plates are arranged on two length sides of the branch bottom plate in parallel, each branch conveying roller is rotatably arranged between the two branch side plates, the end part of one branch conveying roller extends out of the branch side plate, and a branch driven gear is fixedly arranged on the extending end; each branch conveying roller synchronously rotates through a conveying roller synchronous chain, a branch roller bed driving motor is arranged on a branch side edge plate, and a branch driving gear is fixedly arranged on an output shaft of the branch roller bed driving motor; the branch driving gear drives the branch driven gear to rotate through the branch driving chain; a branch position sensor is arranged on the feeding side of each of the two branch roller beds; the two branch roller beds are arranged up and down correspondingly, and are supported and installed between the feeding sides of the two branch roller beds through the supporting columns at the discharging side; a lower side support column is arranged below the blanking side of a branch bottom plate of the lower side branch roller bed, and a lower end support roller is rotatably arranged at the lower end of the lower side support column; the two vertical rectangular frame supports are vertically arranged at the side edges of the feeding sides of the two branch side plates, and a support bottom plate is arranged at the lower ends of the two vertical rectangular frame supports; the two height adjusting screws are respectively vertically and rotatably arranged in the two vertical rectangular frame brackets; two height adjusting blocks are screwed on the two height adjusting screw rods, and the side surfaces of the two height adjusting blocks on the same side are rotatably hinged on the outer side surfaces of the two branch side plates on the corresponding side; the height adjusting motor is arranged at the top end of a vertical rectangular frame bracket and is used for driving the height adjusting screw rod to rotate; the lower ends of the two height adjusting screw rods are fixedly provided with a height synchronous gear, and the two height synchronous gears synchronously rotate through a height adjusting synchronous chain; a height driving circuit and each branch driving circuit which are electrically connected with the controller are arranged in the control box body, the height driving circuit is electrically connected with the height adjusting motor, and each branch driving circuit is electrically connected with each branch roller bed driving motor respectively; the controller is respectively and electrically connected with each branch position sensor and is used for detecting the position of the coating workpiece on the feeding side of the branch roller bed.
Furthermore, the branch roller bed also comprises a bottom strip-shaped supporting plate; a walking limiting groove is formed in the bottom strip-shaped supporting plate, and the lower supporting roller supports and walks in the walking limiting groove; a triangular rib plate is arranged at the mounting position of the support bottom plate and the vertical rectangular frame support.
The beneficial effects of the utility model reside in that: the image recognition mechanism is used for recognizing the images of the coating workpieces conveyed on the main conveying roller bed, and the next procedure to be processed of each coating workpiece is determined, so that the coating workpieces are conveyed to the corresponding branch conveying roller bed by the workpiece conveying mechanism and conveyed to the corresponding process treatment equipment, the automatic recognition and the conveying of the coating process are realized, and the coating efficiency is improved; whether the coated workpiece reaches the image recognition camera or not can be monitored in real time by utilizing the feeding side position sensor, so that the image acquisition reliability of the image recognition camera is enhanced, and the single success rate of image recognition of the coated workpiece is improved; whether the coating workpiece reaches the workpiece transfer mechanism or not can be detected in real time by utilizing the blanking side position sensor, so that the workpiece transfer mechanism is quickly started to transfer the workpiece, the workpiece transfer mechanism is prevented from running in a no-load mode for a long time, and the energy consumption of the system is reduced.
Drawings
FIG. 1 is a schematic diagram of a partial top view of the system of the present invention;
FIG. 2 is a schematic view of the right side structure of the main conveying roller bed of the present invention;
FIG. 3 is a schematic side view of the workpiece transfer mechanism of the present invention;
FIG. 4 is a schematic side view of the branched conveying roller bed of the present invention;
fig. 5 is a schematic diagram of the circuit structure of the present invention.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1-5, the utility model discloses a coating line monitoring and recognizing system based on machine vision includes: the device comprises a main conveying roller bed, an image recognition mechanism, a workpiece transfer mechanism and each branch conveying roller bed;
the image recognition mechanism comprises a control box body 10, a feeding side position sensor 20, a recognition mounting bracket and an image recognition camera 12; the control box body 10 is arranged above the feeding side of the main conveying roller bed through an identification mounting bracket; a controller and a memory are installed in the control box body 10; the image recognition camera 12 is installed at the center of the lower side of the control cabinet 10; the feeding side position sensor 20 is fixedly arranged in the middle of the edge of the feeding side of the control box body 10 and is used for detecting the position of the coating workpiece 107 on the feeding side;
each branch conveying roller bed is positioned on the discharging side of the main conveying roller bed, and the workpiece transfer mechanism is arranged between the discharging side of the main conveying roller bed and the feeding side of each branch conveying roller bed and used for transferring the coating workpiece 107 on the main conveying roller bed to the corresponding branch conveying roller bed according to the identification result of the image identification mechanism; a blanking side position sensor 102 is arranged on the blanking side of the main conveying roller bed and used for detecting the position of a coating workpiece 107 on the blanking side; the controller is electrically connected to the memory, the image recognition camera 12, the feeding-side position sensor 20, the discharging-side position sensor 102, the work transfer mechanism, and each branch conveying roller bed, respectively.
The image recognition mechanism is used for recognizing the images of the coating workpieces 107 transported on the main transport roller bed, and the next procedure to be processed of each coating workpiece 107 is determined, so that the workpiece transport mechanism transports the coating workpieces 107 to the corresponding branch transport roller bed and transports the coating workpieces to the corresponding process equipment, the automatic recognition and transport of the coating process are realized, and the coating efficiency is improved; whether the painting workpiece 107 reaches the image recognition camera 12 or not can be monitored in real time by using the feeding side position sensor 20, so that the reliability of image acquisition of the image recognition camera 12 is enhanced, and the single success rate of image recognition of the painting workpiece 107 is improved; whether the coating workpiece 107 reaches the workpiece transfer mechanism or not can be detected in real time by using the blanking side position sensor 102, so that the workpiece transfer mechanism is quickly started to transfer the workpiece, the workpiece transfer mechanism is prevented from running for a long time in a no-load mode, and the energy consumption of the system is reduced.
Further, the main conveying roller bed comprises two strip-shaped side plates 1, a roller bed bottom plate 2, a main conveying motor 18 and two side strip-shaped baffle plates 3; two strip-shaped side plates 1 are respectively arranged on the length edges of the left side and the right side of the roller bed bottom plate 2; each main conveying support roller 201 is rotatably arranged between the two strip-shaped side plates 1, and the main conveying support rollers 201 are arranged in parallel at equal intervals; one end of one main conveying supporting roller 201 extends out of the strip-shaped side plate 1, and a main driving gear 17 is fixedly mounted on the extending end; the main conveying motor 18 drives the main driving gear 17 to rotate through the main driving chain 19; the end part of each main conveying support roller 201 is also fixedly provided with a synchronous gear, and a synchronous chain is arranged on the synchronous gear of the adjacent main conveying support roller 201 to carry out synchronous transmission; a supporting foot 9 is arranged on the side edge of the bottom of the roller bed bottom plate 2; two side strip baffles 3 are respectively arranged above the two strip side plates 1 through each side adjusting frame.
Further, the side adjusting bracket comprises a vertical supporting rod 16, a vertical adjusting bolt 14 and a vertical adjusting seat 13; the vertical supporting rod 16 is vertically arranged on the outer side surface of the side strip-shaped baffle 3 through the side fixing seat 15; the vertical adjusting seat 13 is fixedly arranged on the outer side surface of the strip-shaped side plate 1 and is positioned below the side fixing seat 15, and a vertical adjusting hole is vertically arranged on the vertical adjusting seat 13; the vertical adjusting bolt 14 is vertically and rotatably arranged on the vertical adjusting seat 13, and the vertical adjusting bolt 14 extends into the vertical adjusting hole; the lower end of the vertical supporting rod 16 is vertically inserted into the vertical adjusting hole, and the vertical adjusting bolt 14 is screwed in the adjusting threaded hole at the lower end of the vertical supporting rod 16.
The height of the strip-shaped side plate 1 can be adjusted by utilizing the height adjustable structure arranged on the side adjusting frame, so that the limitation of side blocking of coating workpieces 107 of various sizes is met.
Further, the identification mounting bracket comprises two side height adjusting frames, and each side height adjusting frame is composed of a sleeve mounting bottom plate 8, a height adjusting sleeve 5, a vertical adjusting support rod 4 and a height adjusting nut 6; the height adjusting sleeve 5 is vertically arranged on the sleeve mounting bottom plate 8, and a C-shaped adjusting plate 11 is arranged at the upper end pipe orifice of the height adjusting sleeve 5; the lower end of the vertical adjusting stay bar 4 vertically penetrates through the C-shaped adjusting plate 11 and then is inserted into the upper end pipe orifice of the height adjusting sleeve 5; an adjusting external thread 7 is arranged on the lower end rod wall of the vertical adjusting support rod 4, a height adjusting nut 6 is screwed on the adjusting external thread 7, and the height adjusting nut 6 is positioned between the upper side edge and the lower side edge of the C-shaped adjusting plate 11; the bottom of the control box body 10 is provided with the top ends of the vertical adjusting support rods 4 of the two side height adjusting frames.
The height of the control box body 10 can be adjusted by utilizing the two side height adjusting frames, so that the requirements of field installation and debugging are met, and the image recognition height requirements of coating workpieces 107 of various sizes are met; utilize C shape adjusting plate 11 can carry on spacingly to altitude mixture control nut 6 to the height of vertical regulation vaulting pole 4 of back adjustment.
Further, the workpiece transfer mechanism comprises a top support disc 21, a steering drive motor 29, a lifting support disc 30, a bottom support plate 108 and a lifting drive mechanism; each transfer support roller 22 is rotatably mounted on the upper side surface of the top support disc 21, and the transfer support rollers 22 are parallel to each other; the middle part of each transfer support roller 22 is provided with an installation ring groove 104, and a transfer synchronous gear 23 is fixedly arranged in each installation ring groove 104; each transfer synchronous gear 23 is synchronously driven to rotate by each transfer synchronous chain 24; a transfer driving motor 25 is fixedly arranged on the upper side surface of the top supporting disc 21, a transfer driving gear is fixedly arranged on an output shaft of the transfer driving motor 25, and the transfer driving gear is meshed with one transfer synchronous chain 24; a rotating main shaft 26 is fixedly arranged at the center of the lower side surface of the top supporting disk 21, and the rotating main shaft 26 is rotatably arranged on the lifting supporting disk 30; a rotary driving worm wheel 27 is fixedly arranged on the rotary main shaft 26, and a rotary driving worm 28 meshed with the rotary driving worm wheel 27 is butt-jointed and arranged on an output shaft of a steering driving motor 29; each bottom support roller 32 is rotatably mounted on the edge of the upper side surface of the lifting support disc 30 through each bottom roller support 31, and the bottom support rollers 32 are supported and run on the lower side surface of the top support disc 21; a steering driving circuit electrically connected with the controller is installed in the control box body 10, and the steering driving circuit is electrically connected with a steering driving motor 29; the lifting driving mechanism is arranged between the lifting support disc 30 and the bottom support plate 108 and is used for driving the height of the lifting support disc 30 to rise and fall; the controller is used for controlling the lifting of the lifting driving mechanism.
The top supporting disc 21 is driven to rotate by the cooperation of the rotary driving worm wheel 27 and the rotary driving worm 28, and a good angle positioning effect can be achieved, so that the conveying direction of the workpiece 107 coated on the workpiece transfer mechanism is changed as required; the bottom edge of the top support disk 21 can be supported by the bottom support roller 32, ensuring stability of the top support disk 21 during rotation.
Further, the lifting driving mechanism comprises a lifting driving motor 38, a synchronous lifting driving chain 41 and four lifting driving units; the lifting driving unit comprises a lifting supporting pipe 33, a columnar lifting supporting seat 34 and a lifting driving screw 36; the columnar lifting support seats 34 of the four lifting drive units are vertically arranged at the edge of the upper side face of the bottom support plate 108 and are positioned at the quartering points of the same circumference; a columnar cavity 35 is vertically arranged in the columnar lifting support seat 34, the lower end of the lifting support tube 33 is vertically inserted into the columnar cavity 35, and a lifting driving internal thread is arranged on the inner tube wall of the lifting support tube 33; the lower end of the lifting driving screw rod 36 is vertically and rotatably arranged on the bottom of the columnar cavity 35, and the upper end of the lifting driving screw rod 36 is in threaded fit with the lifting driving internal thread; a synchronous lifting driving gear 37 is fixedly arranged on the lower end of the lifting driving screw rod 36; the upper end of the lifting support tube 33 is vertically fixed on the lower side surface of the lifting support disc 30; the synchronous lifting driving chain 41 penetrates through each columnar lifting supporting seat 34 and then is meshed with the four synchronous lifting driving gears 37 simultaneously; the lifting driving motor 38 is installed on the bottom supporting plate 108 through the C-shaped mounting plate 40, an output shaft of the lifting driving motor 38 extends into a position between two side plates of the C-shaped mounting plate 40, and a lifting main driving gear 39 is installed on the extending end of the output shaft; the lifting main driving gear 39 is meshed with the synchronous lifting driving chain 41; a lift driving circuit electrically connected to the controller is installed in the control box 10, and the lift driving circuit is electrically connected to the lift driving motor 38.
The synchronous lifting driving chain 41 is simultaneously meshed with the four synchronous lifting driving gears 37, so that the four lifting driving screws 36 can be synchronously driven in a rotating manner, and the stable supporting requirement of the lifting supporting disk 30 is met.
Further, a tensioning guide chute 43 is arranged on the upper side surface of the bottom support plate 108, and a tensioning guide slide block 44 is slidably mounted on the tensioning guide chute 43; two tensioning pull rods 45 are symmetrically arranged on the tensioning guide slide block 44, and a synchronous tensioning gear 46 is rotatably arranged at the end parts of the two tensioning pull rods 45; the two synchronous tensioning gears 46 are mounted on the synchronous lifting driving chain 41 and meshed with the synchronous lifting driving chain 41; a synchronous tension spring 50 is fixedly arranged on the side edge of the tension guide slide block 44; an end disc 49 is arranged at the end of the synchronous tension spring 50; an adjusting fixed block 42 is arranged on the bottom supporting plate 108 and close to the end part of the tensioning guide sliding chute 43, and a tensioning adjusting bolt 47 is screwed on the adjusting fixed block 42; the screw end of the tension adjusting bolt 47 is rotatably installed at the center of the end disc 49.
The synchronous elevation drive chain 41 can be tensioned by a tensioning mechanism composed of the tensioning adjusting bolt 47, the end disc 49, the synchronous tensioning tension spring 50, the tensioning guide slider 44, the tensioning pull rod 45 and the synchronous tensioning gear 46, thereby ensuring tightness at each meshing point of the synchronous elevation drive chain 41.
Further, a tensioning positioning nut 48 is screwed on the tensioning adjusting bolt 47, and the tensioning positioning nut 48 is tightly attached to the adjusting fixing block 42. The tension adjusting bolt 47 can be locked and positioned when tensioned by the tension positioning nut 48.
Further, the branch conveying roller bed comprises an end part height adjusting mechanism and an upper branch roller bed and a lower branch roller bed; the end part height adjusting mechanism comprises two vertical rectangular frame brackets 90, two height adjusting screw rods 91, a height adjusting motor 89 and a height adjusting synchronous chain 94; the branch roller bed comprises a branch bottom plate 84, two branch side plates 85 and a branch roller bed driving motor 86; the two branch side plates 85 are arranged on two length sides of the branch bottom plate 84 in parallel, each branch conveying roller 105 is rotatably arranged between the two branch side plates 85, the end part of one branch conveying roller 105 extends out of the branch side plate 85, and a branch driven gear 88 is fixedly arranged on the extending end; each branch conveying roller 105 rotates synchronously through a conveying roller synchronous chain 106, the branch roller bed driving motor 86 is installed on the branch side edge plate 85, and a branch driving gear is fixedly installed on an output shaft of the branch roller bed driving motor 86; the branch driving gear drives the branch driven gear 88 to rotate through the branch driving chain 87; a branch position sensor 103 is arranged on the feeding side of each of the two branch roller beds; the two branch roller beds are arranged up and down correspondingly, and are supported and installed between the feeding sides of the two branch roller beds through the discharging side supporting columns 97; a lower side support column 98 is arranged below the blanking side of the branch bottom plate 84 of the lower side branch roller bed, and a lower end support roller 99 is rotatably arranged at the lower end of the lower side support column 98; the two vertical rectangular frame brackets 90 are vertically arranged at the side edges of the feeding sides of the two branch side plates 85, and a bracket bottom plate 95 is arranged at the lower ends of the two vertical rectangular frame brackets 90; the two height adjusting screws 91 are vertically and rotatably mounted in the two vertical rectangular frame brackets 90 respectively; two height adjusting blocks 92 are screwed on the two height adjusting screws 91, and the side surfaces of the two height adjusting blocks 92 on the same side are rotatably hinged on the outer side surfaces of the two branch side plates 85 on the corresponding side; the height adjusting motor 89 is installed at the top end of a vertical rectangular frame bracket 90 and is used for driving the height adjusting screw 91 to rotate; the lower ends of the two height adjusting screws 91 are fixedly provided with a height synchronous gear 93, and the two height synchronous gears 93 synchronously rotate through a height adjusting synchronous chain 94; a height driving circuit and each branch driving circuit which are electrically connected with the controller are installed in the control box body 10, the height driving circuit is electrically connected with the height adjusting motor 89, and each branch driving circuit is electrically connected with each branch roller bed driving motor 86 respectively; the controller is electrically connected to each branch position sensor 103, and is used for detecting the position of the coating workpiece 107 on the feeding side of the branch roller bed.
The supporting height of the feeding side of the upper and lower branch roller beds can be adjusted by the end part height adjusting mechanism, so that the supporting height is adjusted and matched with the workpiece transfer mechanism, and the multi-path conveying requirement is met; the position of the coating workpiece 107 can be detected by using the branch position sensor 103, and the corresponding branch roller bed is started to transport when the coating workpiece 107 is transported to the feeding side position of the branch roller bed, so that no-load operation of other branch roller beds is avoided, and the energy consumption of the system is reduced; the synchronous rotation driving of the two height adjusting screws 91 can be realized by utilizing the height synchronous gear 93 and the height adjusting synchronous chain 94, and the lifting synchronism of the two sides of the feeding side of the branch roller bed is ensured.
Further, the branch roller bed also comprises a bottom strip-shaped supporting plate 100; a walking limiting groove 101 is formed in the bottom strip-shaped supporting plate 100, and the lower supporting roller 99 is supported to walk in the walking limiting groove 101; a triangular rib plate 96 is arranged at the mounting position of the support bottom plate 95 and the vertical rectangular frame support 90.
By matching the walking limiting groove 101 with the lower end supporting roller 99, the dragging requirement of the discharging side can be met when the height of the feeding side of the branch roller bed is adjusted.
In the coating production line monitoring and recognizing system based on machine vision, the controller adopts the existing FPGA controller module, and can realize image recognition processing, signal receiving and processing of each sensor and sending of motor driving signals; the memory is composed of the existing memory chip and the peripheral circuit thereof; the main conveying motor 18, the steering driving motor 29, the transferring driving motor 25, the lifting driving motor 38, the height adjusting motor 89 and the branch roller bed driving motor 86 are all existing stepping motors with speed reducers, and corresponding motor driving circuits adopt corresponding classified stepping motor driving circuits; the feeding side position sensor 20, the discharging side position sensor 102 and the branch position sensor 103 all adopt the existing infrared position sensors; the image recognition camera 12 is an existing depth-of-field camera and is used for collecting images of the painting workpiece 107 transported on the main transport roller bed, so that the controller can recognize the painting workpiece 107 according to the collected images and transport the painting workpiece 107 to a corresponding branch transport roller bed through the workpiece transfer mechanism according to a preset process flow, and an existing image recognition method is adopted when the controller performs image recognition.
The utility model discloses a coating production line monitoring and recognizing system based on machine vision, when in use, firstly, the characteristic images of various coating workpieces 107 are acquired and stored in a memory for comparison and recognition during image recognition; then the supporting height of the recognition mounting bracket and the height of the side strip-shaped baffle 3 are adjusted according to the field mounting requirement; when the painting workpiece 107 is transported on the main conveying support roller 201, after the loading side position sensor 20 detects the painting workpiece 107, the controller starts the image recognition camera 12 to collect images of the painting workpiece 107 below, the controller carries out real-time processing recognition on the collected images, and then the subsequent process of the current painting workpiece 107 is determined according to the preset process routes of various painting workpieces 107; when the blanking side position sensor 102 detects the coated workpiece 107, the controller drives the workpiece transfer mechanism to adjust the supporting height and the rotating angle of the top supporting disc 21 and the feeding side height of the branch roller bed according to the subsequent process requirements, and when the corresponding branch position sensor 103 detects the coated workpiece 107, the controller starts to start transportation and conveys the coated workpiece 107 to the corresponding coating process equipment for processing.
As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a coating line monitoring identification system based on machine vision which characterized in that: the device comprises a main conveying roller bed, an image recognition mechanism, a workpiece transfer mechanism and each branch conveying roller bed;
the image recognition mechanism comprises a control box body (10), a feeding side position sensor (20), a recognition mounting bracket and an image recognition camera (12); the control box body (10) is arranged above the feeding side of the main conveying roller bed through an identification mounting bracket; a controller and a memory are arranged in the control box body (10); the image recognition camera (12) is arranged at the center of the lower side surface of the control box body (10); the feeding side position sensor (20) is fixedly arranged in the middle of the edge of the feeding side of the control box body (10) and is used for detecting the position of a coating workpiece (107) on the feeding side;
each branch conveying roller bed is positioned on the discharging side of the main conveying roller bed, and the workpiece transfer mechanism is arranged between the discharging side of the main conveying roller bed and the feeding side of each branch conveying roller bed and used for transferring a coating workpiece (107) on the main conveying roller bed to the corresponding branch conveying roller bed according to the identification result of the image identification mechanism; a blanking side position sensor (102) is arranged on the blanking side of the main conveying roller bed and used for detecting the position of a coating workpiece (107) on the blanking side; the controller is respectively and electrically connected with the memory, the image recognition camera (12), the feeding side position sensor (20), the discharging side position sensor (102), the workpiece transfer mechanism and each branch conveying roller bed.
2. The machine-vision-based painting line monitoring and recognition system of claim 1, wherein: the main conveying roller bed comprises two strip-shaped side plates (1), a roller bed bottom plate (2), a main conveying motor (18) and two side strip-shaped baffle plates (3); two strip-shaped side plates (1) are respectively arranged on the length edges of the left side and the right side of the roller bed bottom plate (2); each main conveying support roller (201) is rotatably arranged between the two strip-shaped side plates (1), and the main conveying support rollers (201) are arranged in parallel at equal intervals; the end part of one main conveying supporting roller (201) extends out of the strip-shaped side plate (1), and a main driving gear (17) is fixedly arranged on the extending end part; the main conveying motor (18) drives the main driving gear (17) to rotate through a main driving chain (19); the end part of each main conveying support roller (201) is also fixedly provided with a synchronous gear, and a synchronous chain is arranged on the synchronous gear of the adjacent main conveying support roller (201) for synchronous transmission; a supporting bottom foot (9) is arranged on the side edge of the bottom of the roller bed bottom plate (2); two side strip baffles (3) are respectively arranged above the two strip side plates (1) through each side adjusting frame.
3. The machine-vision-based painting line monitoring and recognition system of claim 2, wherein: the side edge adjusting frame comprises a vertical supporting rod (16), a vertical adjusting bolt (14) and a vertical adjusting seat (13); the vertical supporting rod (16) is vertically arranged on the outer side surface of the side strip-shaped baffle (3) through the side fixing seat (15); the vertical adjusting seat (13) is fixedly arranged on the outer side surface of the strip-shaped side plate (1) and is positioned below the side fixing seat (15), and a vertical adjusting hole is vertically arranged on the vertical adjusting seat (13); the vertical adjusting bolt (14) is vertically and rotatably arranged on the vertical adjusting seat (13), and the vertical adjusting bolt (14) extends into the vertical adjusting hole; the lower end of the vertical supporting rod (16) is vertically inserted into the vertical adjusting hole, and the vertical adjusting bolt (14) is screwed in the adjusting threaded hole at the lower end of the vertical supporting rod (16).
4. The machine-vision-based painting line monitoring and recognition system of claim 1, wherein: the recognition mounting bracket comprises two side edge height adjusting brackets, and each side edge height adjusting bracket consists of a sleeve mounting bottom plate (8), a height adjusting sleeve (5), a vertical adjusting support rod (4) and a height adjusting nut (6); the height adjusting sleeve (5) is vertically arranged on the sleeve mounting bottom plate (8), and a C-shaped adjusting plate (11) is arranged at the upper end pipe orifice of the height adjusting sleeve (5); the lower end of the vertical adjusting stay bar (4) vertically penetrates through the C-shaped adjusting plate (11) and then is inserted into the upper end pipe orifice of the height adjusting sleeve (5); an adjusting external thread (7) is arranged on the lower end rod wall of the vertical adjusting support rod (4), a height adjusting nut (6) is screwed on the adjusting external thread (7), and the height adjusting nut (6) is positioned between the upper side edge and the lower side edge of the C-shaped adjusting plate (11); the bottom of the control box body (10) is provided with the top ends of the vertical adjusting support rods (4) of the two side height adjusting frames.
5. The machine-vision-based painting line monitoring and recognition system of claim 1, wherein: the workpiece transfer mechanism comprises a top supporting disc (21), a steering driving motor (29), a lifting supporting disc (30), a bottom supporting plate (108) and a lifting driving mechanism; each transfer support roller (22) is rotatably arranged on the upper side surface of the top support disc (21), and the transfer support rollers (22) are parallel to each other; the middle part of each transfer support roller (22) is provided with an installation ring groove (104), and a transfer synchronous gear (23) is fixedly arranged in each installation ring groove (104); each transfer synchronous gear (23) is synchronously driven to rotate by each transfer synchronous chain (24); a transfer driving motor (25) is fixedly arranged on the upper side surface of the top supporting disc (21), a transfer driving gear is fixedly arranged on an output shaft of the transfer driving motor (25), and the transfer driving gear is meshed with one transfer synchronous chain (24); a rotating main shaft (26) is fixedly arranged at the center of the lower side surface of the top supporting disc (21), and the rotating main shaft (26) is rotatably arranged on the lifting supporting disc (30); a rotary driving worm wheel (27) is fixedly arranged on the rotary main shaft (26), and a rotary driving worm (28) meshed with the rotary driving worm wheel (27) is arranged on an output shaft of the steering driving motor (29) in a butt joint mode; each bottom support roller (32) is rotatably arranged on the edge of the upper side surface of the lifting support disc (30) through each bottom roller support (31), and the bottom support rollers (32) are supported and run on the lower side surface of the top support disc (21); a steering driving circuit electrically connected with the controller is installed in the control box body (10), and the steering driving circuit is electrically connected with a steering driving motor (29); the lifting driving mechanism is arranged between the lifting supporting disk (30) and the bottom supporting plate (108) and is used for driving the height of the lifting supporting disk (30) to rise and fall; the controller is used for controlling the lifting of the lifting driving mechanism.
6. The machine-vision-based painting line monitoring and recognition system of claim 5, wherein: the lifting driving mechanism comprises a lifting driving motor (38), a synchronous lifting driving chain (41) and four lifting driving units; the lifting driving unit comprises a lifting supporting pipe (33), a columnar lifting supporting seat (34) and a lifting driving screw rod (36); the columnar lifting supporting seats (34) of the four lifting driving units are vertically arranged at the edge of the upper side face of the bottom supporting plate (108) and are positioned at the quartering points of the same circumference; a columnar cavity (35) is vertically arranged in the columnar lifting support seat (34), the lower end of the lifting support tube (33) is vertically inserted into the columnar cavity (35), and a lifting driving internal thread is arranged on the inner tube wall of the lifting support tube (33); the lower end of the lifting driving screw rod (36) is vertically and rotatably arranged on the bottom of the columnar cavity (35), and the upper end of the lifting driving screw rod (36) is in threaded fit with the lifting driving internal thread; a synchronous lifting driving gear (37) is fixedly arranged on the lower end of the lifting driving screw rod (36); the upper end of the lifting support tube (33) is vertically fixed on the lower side surface of the lifting support disc (30); the synchronous lifting driving chain (41) penetrates through each columnar lifting supporting seat (34) and then is meshed with the four synchronous lifting driving gears (37) simultaneously; the lifting driving motor (38) is arranged on the bottom supporting plate (108) through the C-shaped mounting plate (40), an output shaft of the lifting driving motor (38) extends into a position between two side plates of the C-shaped mounting plate (40), and a lifting main driving gear (39) is arranged at the extending end of the output shaft; the lifting main driving gear (39) is meshed with the synchronous lifting driving chain (41); a lifting driving circuit electrically connected with the controller is installed in the control box body (10), and the lifting driving circuit is electrically connected with a lifting driving motor (38).
7. The machine-vision-based painting line monitoring and recognition system of claim 6, wherein: a tensioning guide sliding chute (43) is arranged on the upper side surface of the bottom support plate (108), and a tensioning guide sliding block (44) is arranged on the tensioning guide sliding chute (43) in a sliding manner; two tensioning pull rods (45) are symmetrically arranged on the tensioning guide sliding block (44), and a synchronous tensioning gear (46) is rotatably arranged at the end parts of the two tensioning pull rods (45); the two synchronous tensioning gears (46) are both mounted on the synchronous lifting driving chain (41) and meshed with the synchronous lifting driving chain (41); a synchronous tension spring (50) is fixedly arranged on the side edge of the tension guide slide block (44); an end disc (49) is arranged at the end part of the synchronous tension spring (50); an adjusting fixed block (42) is arranged on the bottom supporting plate (108) and close to the end part of the tensioning guide sliding chute (43), and a tensioning adjusting bolt (47) is screwed on the adjusting fixed block (42); the end of the screw of the tensioning adjusting screw (47) is rotatably mounted in the center of the end disc (49).
8. The machine-vision-based painting line monitoring and recognition system of claim 7, wherein: a tensioning positioning nut (48) is screwed on the tensioning adjusting bolt (47) in a threaded manner, and the tensioning positioning nut (48) is tightly attached to the adjusting fixing block (42).
9. The machine-vision-based painting line monitoring and recognition system of claim 1, wherein: the branch conveying roller bed comprises an end part height adjusting mechanism and an upper branch roller bed and a lower branch roller bed; the end part height adjusting mechanism comprises two vertical rectangular frame brackets (90), two height adjusting screw rods (91), a height adjusting motor (89) and a height adjusting synchronous chain (94); the branch roller bed comprises a branch bottom plate (84), two branch side plates (85) and a branch roller bed driving motor (86); the two branch side plates (85) are arranged on two length sides of the branch bottom plate (84) in parallel, each branch conveying roller (105) is rotatably arranged between the two branch side plates (85), the end part of one branch conveying roller (105) extends out of the branch side plate (85), and a branch driven gear (88) is fixedly arranged on the extending end; each branch conveying roller (105) synchronously rotates through a conveying roller synchronous chain (106), a branch roller bed driving motor (86) is arranged on a branch side edge plate (85), and a branch driving gear is fixedly arranged on an output shaft of the branch roller bed driving motor (86); the branch driving gear drives a branch driven gear (88) to rotate through a branch driving chain (87); a branch position sensor (103) is arranged on the feeding side of each of the two branch roller beds; the two branch roller beds are arranged up and down correspondingly, and are supported and installed between the feeding sides of the two branch roller beds through a discharging side supporting column (97); a lower side support column (98) is arranged below the discharging side of a branch bottom plate (84) of the lower side branch roller bed, and a lower end support roller (99) is rotatably arranged at the lower end of the lower side support column (98); the two vertical rectangular frame supports (90) are vertically arranged at the side edges of the feeding sides of the two branch side plates (85), and the lower ends of the two vertical rectangular frame supports (90) are respectively provided with a support bottom plate (95); the two height adjusting screw rods (91) are respectively vertically and rotatably arranged in the two vertical rectangular frame brackets (90); two height adjusting blocks (92) are screwed on the two height adjusting screw rods (91) respectively, and the side surfaces of the two height adjusting blocks (92) on the same side are rotatably hinged on the outer side surfaces of the two branch side plates (85) on the corresponding side; the height adjusting motor (89) is arranged at the top end of a vertical rectangular frame bracket (90) and is used for driving the height adjusting screw rod (91) to rotate; the lower ends of the two height adjusting screw rods (91) are fixedly provided with a height synchronous gear (93), and the two height synchronous gears (93) synchronously rotate through a height adjusting synchronous chain (94); a height driving circuit and each branch driving circuit which are electrically connected with the controller are installed in the control box body (10), the height driving circuit is electrically connected with a height adjusting motor (89), and each branch driving circuit is electrically connected with each branch roller bed driving motor (86) respectively; the controller is respectively electrically connected with each branch position sensor (103) and is used for detecting the position of the coating workpiece (107) on the feeding side of the branch roller bed.
10. The machine-vision-based painting line monitoring and recognition system of claim 9, wherein: the branch roller bed also comprises a bottom strip-shaped supporting plate (100); a walking limiting groove (101) is formed in the bottom strip-shaped supporting plate (100), and the lower supporting roller (99) is supported and walks in the walking limiting groove (101); a triangular rib plate (96) is arranged at the mounting position of the support bottom plate (95) and the vertical rectangular frame support (90).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022314990.XU CN214234586U (en) | 2020-10-17 | 2020-10-17 | Coating production line monitoring and recognizing system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022314990.XU CN214234586U (en) | 2020-10-17 | 2020-10-17 | Coating production line monitoring and recognizing system based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214234586U true CN214234586U (en) | 2021-09-21 |
Family
ID=77729688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022314990.XU Expired - Fee Related CN214234586U (en) | 2020-10-17 | 2020-10-17 | Coating production line monitoring and recognizing system based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214234586U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114273137A (en) * | 2021-12-17 | 2022-04-05 | 江苏松源机械制造有限公司 | Multifunctional composite coating line and production operation method thereof |
| CN114324349A (en) * | 2021-12-02 | 2022-04-12 | 晋江海纳机械有限公司 | Device for counting yield of sanitary equipment based on big data |
-
2020
- 2020-10-17 CN CN202022314990.XU patent/CN214234586U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114324349A (en) * | 2021-12-02 | 2022-04-12 | 晋江海纳机械有限公司 | Device for counting yield of sanitary equipment based on big data |
| CN114273137A (en) * | 2021-12-17 | 2022-04-05 | 江苏松源机械制造有限公司 | Multifunctional composite coating line and production operation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214234586U (en) | Coating production line monitoring and recognizing system based on machine vision | |
| CN201615889U (en) | Medicine bottle package inspection device | |
| CN107024842B (en) | A kind of automatic contraposition device and exposure sources and its exposure method | |
| CN109526151B (en) | Integrated equipment for quick dispensing of PCB (printed circuit board) | |
| CN212953370U (en) | Rolling machine | |
| CN116197582B (en) | Cooling equipment for welding metal building materials | |
| CN214107556U (en) | Coating production line monitoring system based on machine vision | |
| AU2021105940A4 (en) | An Automatic Sorting And Transferring System Of Products Based On Machine Vision | |
| CN211109447U (en) | Transmission device | |
| CN112403723A (en) | Coating production line monitoring system based on machine vision | |
| CN212823316U (en) | External automatic welding device of sugar-making evaporating pot | |
| CN112407866A (en) | A work piece transfer device for automatic production line | |
| CN214113991U (en) | Coated workpiece recognition and transfer system based on machine vision | |
| CN214262426U (en) | Coating production line on-line detection recognition device based on machine vision | |
| CN210982247U (en) | Semiconductor silicon crystal column internal flaw image detection equipment | |
| CN209303236U (en) | Capacitor appearance detection structure | |
| CN116921141A (en) | Suspension type work piece dip coating assembly line | |
| CN218023572U (en) | Automatic scanning device for electronic code of electronic product | |
| CN109261548A (en) | Capacitor appearance detection structure | |
| CN212768748U (en) | Air suction device for conveying negative pressure belt | |
| CN205962332U (en) | Birds, beasts and eggs ink jet numbering machine | |
| CN112387609A (en) | Automatic intermediate device distribution system of industrial production line | |
| CN105501585B (en) | Modularization labeling station automatic butt adjusting apparatus | |
| CN219839131U (en) | Stone strip overturning machine | |
| CN112547552A (en) | Product sorting system based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210921 |