CN215262366U - Two-dimensional force detection mechanism and robot - Google Patents
Two-dimensional force detection mechanism and robot Download PDFInfo
- Publication number
- CN215262366U CN215262366U CN202121094372.7U CN202121094372U CN215262366U CN 215262366 U CN215262366 U CN 215262366U CN 202121094372 U CN202121094372 U CN 202121094372U CN 215262366 U CN215262366 U CN 215262366U
- Authority
- CN
- China
- Prior art keywords
- push
- pull
- assembly
- dimensional force
- force sensing
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a two-dimensional power detection mechanism and robot, two-dimensional power detection mechanism includes: the device comprises a clamping jaw assembly, a rotating assembly, a suction assembly, a push-pull assembly and a two-dimensional force detection assembly, wherein the clamping jaw assembly can be opened or clamped; the utility model provides a two-dimentional force detection mechanism both can detect the torsion of the rotating part of product, also can detect the push-and-pull power of the push-and-pull portion of product, can use same two-dimentional force detection mechanism, accomplishes the detection of torsion and push-and-pull power, and the loaded down with trivial details operation of changing check out test set in the middle of avoiding has simplified the flow that product two-dimentional force detected.
Description
Technical Field
The utility model relates to a product quality check out test set technical field, more specifically says, relates to a two-dimensional power detection mechanism. Furthermore, the utility model discloses still relate to a robot including above-mentioned two-dimentional force detection mechanism.
Background
In the prior art, when the torsion and the push-pull force of a product such as an anti-theft door are detected, the functions of the detection clamping jaws are single, the detection of the single torsion or the push-pull force can only be realized, and the integration degree is low; in the detection process, manual participation is needed, and complete automation cannot be realized; in addition, in the detection process, the support of a database is not provided, the standard for judging the qualification is not clear enough, and the judgment process is complicated.
In summary, how to simplify the flow of two-dimensional force detection of products is a problem that needs to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a two-dimensional power detection mechanism can detect the required push-and-pull power in the required torsion of the rotating part rotation in-process of product and the push-and-pull portion motion process of product, and the testing process is full automatic, does not need the manpower to participate in, and same two-dimensional power detection mechanism can all detect push-and-pull power and torsion, has avoided the loaded down with trivial details operation of changing check out test set, has simplified the flow that the product two-dimensional power detected.
Another object of the present invention is to provide a robot including the above two-dimensional force detecting mechanism.
In order to achieve the above object, the present invention provides the following technical solutions:
a two-dimensional force sensing mechanism comprising:
a jaw assembly which is deployable or clampable to release or clamp the rotating portion of the product;
the clamping jaw assembly is connected to the output end of the rotating assembly;
the sucking component is used for sucking the push-pull part of the product;
the suction assembly is connected to the output end of the push-pull assembly;
the rotating assembly and the push-pull assembly are connected with the two-dimensional force detection assembly and are used for detecting the torque force of the output end of the rotating assembly and the push-pull force of the output end of the push-pull assembly in real time.
Preferably, the clamping jaw assembly comprises a clamping jaw power piece and at least two clamping blocks which can be opened or clamped relatively, and the clamping blocks are connected to the output end of the clamping jaw power piece; the clamping jaw power piece is connected with the output end of the rotating assembly.
Preferably, an electrical slip ring is arranged between the clamping jaw power piece and the rotating assembly.
Preferably, the sucking component comprises a sucking disc for sucking a push-pull part of the product, the push-pull component comprises a push-pull power piece, and an output end of the push-pull power piece is connected with the sucking disc.
Preferably, the push-pull power part comprises two push-pull air cylinders, the two push-pull air cylinders are symmetrically arranged on two sides of the clamping jaw assembly, and the output ends of the two push-pull air cylinders are respectively provided with the sucking discs.
Preferably, the two-dimensional force detection assembly comprises a torsion detection mechanism connected with the rotation assembly and a push-pull force detection mechanism connected with the push-pull assembly.
Preferably, the two-dimensional force detection assembly comprises a two-dimensional force detection sensor for detecting the torsion of the rotating assembly and the push-pull force of the push-pull assembly, and the rotating assembly and the push-pull assembly are both connected with the two-dimensional force detection sensor.
Preferably, the device further comprises a shooting device and a light source for providing illumination for shooting of the shooting device.
Preferably, the light source is a laser emitter, the photographing apparatus includes two line-scan cameras symmetrically disposed about the laser emitter, and central axes of the two line-scan cameras intersect with the laser emitted by the laser emitter at the same point.
A robot comprising a manipulator and the two-dimensional force detection mechanism of any one of the above, the two-dimensional force detection mechanism being mounted to the manipulator.
Use the utility model provides an in-process of two-dimentional power detection mechanism is provided with rotating part and push-and-pull portion in waiting to detect the product, when detecting, can detect the torsion of the rotating part of product earlier, also can detect the push-and-pull power of the push-and-pull portion of product earlier, perhaps rotating part and push-and-pull portion detect simultaneously, specifically confirm according to actual conditions.
When detecting, the rotating part that control clamping jaw assembly will produce presss from both sides tightly, then control rotating assembly drives clamping jaw assembly rotatory, and two-dimentional power detection subassembly detects the torsion of the rotatory in-process output of rotating assembly in real time.
The two-dimensional force detection assembly detects the push-pull force of the output end of the push-pull assembly in real time.
Compared with the prior art, the utility model provides a two-dimentional power detection mechanism both can detect the torsion of the rotating part of product, also can detect the push-and-pull power of the push-and-pull portion of product, can use same two-dimentional power detection mechanism, accomplishes the detection of torsion and push-and-pull power, avoids the loaded down with trivial details operation of middle change check out test set, has simplified the flow that product two-dimentional power detected.
Furthermore, the utility model also provides a robot including above-mentioned two-dimentional force detection mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a specific embodiment of a two-dimensional force detection mechanism provided by the present invention;
FIG. 2 is a top view of the two-dimensional force sensing mechanism of FIG. 1;
fig. 3 is a rear view of the two-dimensional force sensing mechanism of fig. 1.
In fig. 1 to 3:
the device comprises a clamping block 1, a clamping jaw cylinder 2, a motor 3, an electric slip ring 4, a sucker 5, a push-pull cylinder 6, a line scanning camera 7, a laser transmitter 8, an installation frame 9, a connecting part 10 and a two-dimensional force detection sensor 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
The core of the utility model is to provide a two-dimensional power detection mechanism can detect the required push-pull power in the required torsion of the rotating part rotation process of product and the push-and-pull portion motion process of product, and the testing process is full automatic, does not need the manpower to participate in, and same two-dimensional power detection mechanism can all detect push-pull power and torsion, has avoided changing the loaded down with trivial details operation of check out test set, has simplified the flow that product two-dimensional power detected. Another core of the present invention is to provide a robot including the above two-dimensional force detection mechanism.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a two-dimensional force detection mechanism according to an embodiment of the present invention; FIG. 2 is a top view of the two-dimensional force sensing mechanism of FIG. 1; fig. 3 is a rear view of the two-dimensional force sensing mechanism of fig. 1.
The application document discloses a two-dimensional force detection mechanism, can detect the torsion of the rotatory in-process of rotating part of product, the push-and-pull power of the push-and-pull portion of product and the gap size of product to realize complete automation at the in-process that detects, avoid the manpower to participate in.
And related control equipment can be further arranged, and the control equipment judges whether the size of the rotating part, or the push-pull part, or the gap of the product is qualified or not by comparing the data detected by the two-dimensional force detection assembly with the corresponding preset value.
The detected product mentioned in the application document can be a safety door provided with a door frame, the rotating part is a key screwing part, and the torque force is the torque force required by screwing the key; the push-pull part is a safety door body, and the push-pull force is the push-pull force required in the opening and closing process of the safety door; the gap is a gap between the safety door body and the door frame; of course, the product may also be a window sash, a cabinet body, or other structures, which is determined according to actual conditions and is not described herein.
In the using process, the two-dimensional force detection mechanism provided by the application document can detect the rotating part, the push-pull part and the gap of the same product at the same time, and also can detect one or more structures of the same product only, and is determined according to actual conditions, so that the repeated description is omitted.
This embodiment discloses a two-dimensional force detection mechanism, includes:
a jaw assembly which is deployable or clampable to release or clamp the rotating portion of the product;
the clamping jaw assembly is connected to the output end of the rotating assembly;
the sucking component is used for sucking the push-pull part of the product;
the suction assembly is connected with the output end of the push-pull assembly;
and the rotating assembly and the push-pull assembly are connected with the two-dimensional force detection assembly and used for detecting the torque force of the output end of the rotating assembly and the push-pull force of the output end of the push-pull assembly in real time.
The control device is used for receiving the torsion and the push-pull force detected by the two-dimensional force detection assembly, comparing the received torsion with a preset torsion and comparing the received push-pull force with a preset push-pull force; when the received torque force is within a preset torque force range, judging that the rotating part of the product is qualified, and when the received torque force is outside the preset torque force range, judging that the rotating part of the product is unqualified; and when the received push-pull force is positioned outside the preset push-pull force range, judging that the push-pull part of the product is qualified.
The clamping jaw assembly, the rotating assembly, the sucking assembly, the push-pull assembly and the two-dimensional force detection assembly are all connected with control equipment, and the control equipment can control the clamping jaw assembly, the rotating assembly, the sucking assembly, the push-pull assembly and the two-dimensional force detection assembly to move.
In order to enable the clamping jaw assembly to smoothly clamp a rotating part of a product, the clamping jaw assembly comprises a clamping jaw power part and at least two clamping blocks 1 which can be relatively opened or clamped, wherein the clamping blocks 1 are connected to the output end of the clamping jaw power part; the clamping jaw power piece is connected with the output end of the rotating assembly. The clamping block 1 may be arranged to form fit with the outer shape of the rotating part to be clamped in order to clamp the rotating part of the product.
Preferably, the hardness of the clamp block 1 is less than the hardness of the rotating part of the product, so as to avoid the clamp block 1 from damaging the product during clamping.
The clamping jaw power part can be a clamping jaw air cylinder 2, and can also be a structure which can provide power, such as a motor 3 and the like, and is determined according to actual conditions.
In the process of using the two-dimensional force detection mechanism provided in this embodiment, the product to be detected is provided with the rotating portion and the push-pull portion, and during detection, the torsion of the rotating portion of the product may be detected first, or the push-pull force of the push-pull portion of the product may be detected first, or the rotating portion and the push-pull portion may be detected simultaneously, which is specifically determined according to actual conditions.
During detection, the clamping jaw assembly is controlled to clamp a rotating part of a product, then the rotating assembly is controlled to drive the clamping jaw assembly to rotate, and the two-dimensional force detection assembly detects torsion of an output end of the rotating assembly in the rotating process in real time and transmits the torsion to related control equipment in real time; the control equipment compares the received torque force with a preset torque force, when the received torque force is within a preset torque force range, the rotating part of the product is judged to be qualified, and when the received torque force is outside the preset torque force range, the maximum value of the received torque force can be larger than the maximum value of the received torque force, or the minimum value of the received torque force is smaller than the minimum value of the received torque force, the rotating part of the product is judged to be unqualified.
The control absorption assembly is used for absorbing the push-pull part of the product, then the push-pull assembly is controlled to act, the push-pull part is pushed to another position, or the push-pull part is pulled to another position, the two-dimensional force detection assembly detects the push-pull force of the output end of the push-pull assembly in real time and transmits the push-pull force to the control device, the control device compares the received push-pull force with the preset push-pull force, when the received push-pull force is within the range of the preset push-pull force, the push-pull part of the product is judged to be qualified, and when the received push-pull force is outside the range of the preset push-pull force, the received push-pull force can be larger than the maximum value of the preset push-pull force or smaller than the minimum value of the preset push-pull force, the push-pull part of the product is judged to be unqualified.
The corresponding display screen can be arranged on the control equipment, and the detected torque force and the detected push-pull force are displayed in the display screen in real time in a curve or other chart mode, so that a user can conveniently observe the torque force information. When the detected torsion is larger than the maximum value of the preset torsion range, a safe torsion value can be set to avoid damage to the rotating assembly due to overlarge torsion, and when the detected torsion is larger than or equal to the safe torsion value, the control equipment controls the rotating assembly to stop rotating; the safe torque value is larger than or equal to the maximum value of the preset torque.
Compared with the prior art, the two-dimensional force detection mechanism provided by the embodiment can detect the torsion of the rotating part of the product and the push-pull force of the push-pull part of the product, can use the same two-dimensional force detection mechanism to complete the detection of the torsion and the push-pull force, avoids the complex operation of replacing detection equipment in the middle, and simplifies the two-dimensional force detection process of the product.
In order to avoid the influence on the connection of an electric circuit caused by the rotating assembly driving the clamping jaw assembly in the rotating process, an electric slip ring 4 can be arranged between the jaw power piece and the rotating assembly, so that a circuit and an air circuit of the two-dimensional force detection mechanism can freely rotate at the rotating position and cannot wind a pipeline.
It should be noted that the two-dimensional force detection assembly may be a combination of two detection mechanisms, including a torque detection mechanism connected to the rotation assembly and a push-pull force detection mechanism connected to the push-pull assembly; the torsion detection mechanism and the push-pull force detection mechanism are both connected with the control equipment.
Of course, the two-dimensional force detection assembly may also be a separately arranged two-dimensional force detection sensor 11 capable of detecting the torque force and the push-pull force at the same time, the rotation assembly and the push-pull assembly are both connected with the two-dimensional force detection sensor 11, and the two-dimensional force detection sensor 11 is connected with the control device.
In order to apply force to the push-pull part of the product, the suction assembly can comprise a sucker 5 for sucking the push-pull part of the product, the push-pull assembly comprises a push-pull power piece, and the output end of the push-pull power piece is connected with the sucker 5.
As shown in fig. 1, the push-pull power member includes two push-pull air cylinders 6, the two push-pull air cylinders 6 are symmetrically disposed on two sides of the clamping jaw assembly, and the output ends of the two push-pull air cylinders 6 are both provided with suction cups 5. The rotating assembly comprises a motor 3 and a speed reducing mechanism connected with the motor 3, and the output end of the speed reducing mechanism is connected with the clamping jaw air cylinder 2; the motor 3 is installed in the motor 3 mounting panel, and the equal both sides of motor 3 are provided with mounting bracket 9, and push-and-pull cylinder 6 installs in mounting bracket 9.
On the basis of the above-described embodiment, in order to realize detection of a gap of a product, a photographing apparatus and a light source that provides illumination for photographing by the photographing apparatus may be provided.
As shown in fig. 1, the light source is a laser emitter 8, the photographing apparatus includes two line-scan cameras 7 symmetrically disposed about the laser emitter 8, and central axes of the two line-scan cameras 7 intersect the laser light emitted from the laser emitter 8 at the same point.
In use, using the combination of the line scan camera 7 and the laser emitter 8, the interior of the slit can be photographed to determine the width dimension of the slit and its uniformity of width.
Of course, the line scan camera 7 can also be replaced by other shooting devices meeting the requirements, which is not described herein.
Except above-mentioned two-dimentional power detection mechanism, the utility model discloses still provide a robot including the two-dimentional power detection mechanism that manipulator and above-mentioned embodiment are disclosed, two-dimentional power detection mechanism installs in the manipulator, and prior art is referred to the structure of other each parts of this robot, and this text is no longer repeated.
The manipulator mentioned here can be a multi-axis robot, and can also be a module structure, and is determined according to the actual situation.
The two-dimensional force detection mechanism is provided with a connecting part 10 used for being connected with the manipulator, and the connecting part 10 is detachably connected with the end part or the non-end part of the manipulator through a bolt; preferably, the two-dimensional force detection unit may be attached to the connection portion 10.
In another embodiment, the product to be detected is a safety door, which comprises a door frame, a door body rotatably arranged relative to the door frame, a door lock arranged on the door body, and a key which can be inserted into the door lock and can rotate in the door lock; the two-dimensional force sensing mechanism is the one in the particular embodiment shown in fig. 1-3.
In the detection process, the specific detection steps are as follows:
step S2a, the control equipment controls the clamping jaw cylinder 2 to act to drive the clamping block 1 to open relatively, the two-dimensional force detection mechanism is moved to a proper clamping position through the manipulator, the clamping jaw cylinder 2 is controlled to act, and the clamping block 1 clamps a key inserted in the door lock;
step S2b, the control device controls the motor 3 to rotate, the key is driven to rotate in the forward direction in the rotating process until the key rotates to the state that the door lock is opened, the two-dimensional force detection assembly detects the torque force of the output end of the motor 3 in the key rotating process in real time and transmits the torque force to the control device;
step S2c, the control device judges whether the received torque is in the range of the preset forward torque, if not, the output door lock is unqualified; if yes, go to step S2 d;
s2d, the control device controls the output end of the push-pull air cylinder 6 to extend out, so that the sucker 5 is pushed forwards to a position where the sucker is sucked with the door body;
step S2e, the control device controls the output end of the push-pull air cylinder 6 to retract so that the suction cup 5 drives the door body to rotate to an open position relative to the door frame; the two-dimensional force detection assembly detects the tension of the push-pull air cylinder 6 in the opening process of the door body in real time and transmits the detected tension to the control equipment;
step S2f, the control equipment judges whether the received pulling force is within a preset pulling force range, if not, the hinge joint of the output door body is unqualified; if yes, go to step S2 g;
step S2g, the control device controls the output end of the push-pull air cylinder 6 to extend out, so that the sucker 5 is pushed out forwards until the door body rotates to a closed position relative to the door frame, the two-dimensional force detection assembly detects the thrust of the push-pull air cylinder 6 in the closing process of the door body in real time, and transmits the detected thrust to the control device;
step S2h, the control device judges whether the received thrust is within a preset thrust range, if not, the hinge of the output door body is unqualified; if yes, the output door body hinge is qualified, and step S2i is executed;
step S2i, the control equipment controls the motor 3 to rotate, drives the key to reversely rotate in the rotating process until the key rotates to the state that the door lock is closed, and the two-dimensional force detection assembly detects the torque force at the output end of the motor 3 in the key rotating process in real time and transmits the torque force to the control equipment;
step S2j, the control device judges whether the received torque is in the preset reverse torque range, if not, the output door lock is unqualified; if yes, outputting that the door lock is qualified, and executing the step S2 k;
step S2k, the control device controls the laser emitter 8 to open, and controls the line scanning camera 7 to shoot the gap between the door body and the door frame, and the line scanning camera 7 transmits the shooting information to the control device;
step S2m, the control device obtains the size of the gap according to the received shooting information;
and S2n, judging whether the size of the gap is within a preset gap range by the control equipment, if so, determining that the gap of the output product is qualified, and if not, determining that the gap of the output product is unqualified.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The utility model provides an arbitrary compound mode of all embodiments all is in this utility model's a protection scope, does not do here and gives unnecessary details.
It is right above the utility model provides a two-dimentional force detection mechanism and robot have carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. A two-dimensional force sensing mechanism, comprising:
a jaw assembly which is deployable or clampable to release or clamp the rotating portion of the product;
the clamping jaw assembly is connected to the output end of the rotating assembly;
the sucking component is used for sucking the push-pull part of the product;
the suction assembly is connected to the output end of the push-pull assembly;
the rotating assembly and the push-pull assembly are connected with the two-dimensional force detection assembly and are used for detecting the torque force of the output end of the rotating assembly and the push-pull force of the output end of the push-pull assembly in real time.
2. The two-dimensional force sensing mechanism of claim 1, wherein the jaw assembly comprises a jaw power member and at least two relatively expandable or clampable clamping blocks (1), the clamping blocks (1) being connected to an output end of the jaw power member; the clamping jaw power piece is connected with the output end of the rotating assembly.
3. A two-dimensional force sensing mechanism according to claim 2, wherein an electrical slip ring (4) is provided between the jaw power member and the rotating assembly.
4. The two-dimensional force sensing mechanism according to claim 1, wherein the suction assembly comprises a suction cup (5) for sucking the push-pull portion of the product, the push-pull assembly comprises a push-pull power member, and an output end of the push-pull power member is connected with the suction cup (5).
5. The two-dimensional force detection mechanism according to claim 4, wherein the push-pull power member comprises two push-pull air cylinders (6), the two push-pull air cylinders (6) are symmetrically arranged on two sides of the clamping jaw assembly, and the output ends of the two push-pull air cylinders (6) are provided with the suckers (5).
6. The two-dimensional force sensing mechanism of claim 1, wherein the two-dimensional force sensing assembly comprises a torsion force sensing mechanism coupled to the rotating assembly and a push-pull force sensing mechanism coupled to the push-pull assembly.
7. The two-dimensional force sensing mechanism according to claim 1, wherein the two-dimensional force sensing assembly comprises a two-dimensional force sensing sensor (11) for sensing a torsion force of the rotating assembly and a push-pull force of the push-pull assembly, both the rotating assembly and the push-pull assembly being connected to the two-dimensional force sensing sensor (11).
8. A two-dimensional force sensing mechanism according to any of claims 1-7, further comprising a camera device and a light source providing illumination for the taking of the camera device.
9. The two-dimensional force sensing mechanism according to claim 8, wherein the light source is a laser emitter (8), the photographing apparatus includes two line-scan cameras (7) symmetrically disposed about the laser emitter (8), and central axes of the two line-scan cameras (7) intersect the laser light emitted from the laser emitter (8) at the same point.
10. A robot comprising a robot hand and the two-dimensional force detection mechanism according to any one of claims 1 to 9, wherein the two-dimensional force detection mechanism is attached to the robot hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121094372.7U CN215262366U (en) | 2021-05-20 | 2021-05-20 | Two-dimensional force detection mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121094372.7U CN215262366U (en) | 2021-05-20 | 2021-05-20 | Two-dimensional force detection mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215262366U true CN215262366U (en) | 2021-12-21 |
Family
ID=79457827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121094372.7U Active CN215262366U (en) | 2021-05-20 | 2021-05-20 | Two-dimensional force detection mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215262366U (en) |
-
2021
- 2021-05-20 CN CN202121094372.7U patent/CN215262366U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111687819B (en) | Work tool for gripping workpiece including connector and robot device provided with work tool | |
| JP5939556B2 (en) | Crescent bracket automatic mounting device | |
| CN109932650B (en) | Automatic online testing device for motor | |
| CN216543381U (en) | Mechanical arm composite robot | |
| CN215262366U (en) | Two-dimensional force detection mechanism and robot | |
| CN106773515A (en) | Veiling glare automatically snaps machine | |
| CN117108593B (en) | Hydraulic mechanical locking oil cylinder simulation test device | |
| CN115219347A (en) | Bending-resistant testing device for 5G cable capable of achieving detection through bending mechanism | |
| CN210572013U (en) | Metal surface detection device based on machine vision | |
| CN207096115U (en) | A kind of automobile gluing vision detection system | |
| CN113176087A (en) | Two-dimensional force detection mechanism, detection method and robot | |
| CN113352343A (en) | Grabbing device and grabbing manipulator | |
| CN111508098A (en) | Cable inspection device | |
| CN114252460A (en) | Overturning opening and closing device and foldable electronic product detection equipment | |
| CN216913588U (en) | Automatic backplate centre gripping equipment and backplate assembly line of adjustment counterpoint | |
| CN106629290B (en) | Portable intelligent elevator door plate opening force tester | |
| CN113070898B (en) | Three-dimensional visual sense sensing control device based on multi-sense organ fusion | |
| CN213632642U (en) | Mechanical property detection device | |
| JP2008126888A (en) | Device and method for fitting window glass | |
| CN213516318U (en) | Drawing frame torsion detection equipment | |
| CN214722404U (en) | Quick double-positioning flange mechanism with holes | |
| CN112811121A (en) | Visual inspection device | |
| CN219035972U (en) | Pipeline robot | |
| CN218746044U (en) | Automatic locking device of end cap | |
| CN217528303U (en) | Worm gear and worm transmission type multi-mirror opening and closing material detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |