CN108858026A - A kind of full-automatic plug-in device of wheel hub valve port based on machine vision - Google Patents
A kind of full-automatic plug-in device of wheel hub valve port based on machine vision Download PDFInfo
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- CN108858026A CN108858026A CN201810235416.XA CN201810235416A CN108858026A CN 108858026 A CN108858026 A CN 108858026A CN 201810235416 A CN201810235416 A CN 201810235416A CN 108858026 A CN108858026 A CN 108858026A
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- wheel hub
- valve port
- plug
- manipulator
- transmission line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full-automatic plug-in device of wheel hub valve port based on machine vision, including transmission line, image collecting device, rotating device, the manipulator that transmission line side is arranged in, lifting platform, control system；Rotating device is located at transmission line lower end, and rotating device lower end is equipped with lifting platform, and wheel hub is transmitted to rotating device upper end by transmission line；Position data of the image collecting device to acquire wheel hub, the height and tilt angle of diameter, height and valve port including wheel hub；After control system is handled to the data to image acquisition device, and control the lifting of lifting platform, rotating device rotation angle, manipulator and transmission line movement；After wheel hub is transmitted to rotating device upper end by transmission line, wheel hub is lifted by lifting platform rising, and rotating device is rotated valve port face manipulator, and is controlled manipulator crawl valve inside sealing-plug and carried out plug to valve port；Solve the problems, such as that existing plug-in device can not carry out plug to the valve port for having tilt angle.
Description
Technical field
The invention belongs to automobile production equipment technical field, especially a kind of wheel hub valve port based on machine vision is complete certainly
Dynamic plug-in device.
Background technique
Wheel hub plays a part of supporting car body weight, energy conservation, ring to automobile as one important component of automobile
Guarantor, safety, operability suffer from important influence.Currently, automotive hub mostly uses aluminium alloy to manufacture.Manufacturer is for right
In running car the considerations of security performance, there are very strict requirements to the detection of wheel hub air-tightness, it can before each wheel hub factory
Air-leakage test is carried out to wheel hub.When automotive hub carries out air-leakage test, need to carry out after sealing-plug is inserted into valve port
Air-leakage test, detection, which is over, again extracts sealing-plug.Slotting sealing-plug is generally divided into manual operation and mechanically actuated, the former speed
Slow, efficiency is relatively low；Then there is limitation in the latter.
As disclosed a kind of automotive hub plug-in and pull-off device in China Patent No. CN201520146232.8, which fails to examine
The tilt angle for considering the valve port of wheel hub may result in failure when clamper is inserted into sealing-plug, and manipulator is mobile
Mode is limited, does not consider the variation of wheel hub size on production line, is only suitable for a kind of production of wheel hub, is not suitable for the mixed of present factory
Symphysis produces.
For another example a kind of full-automatic wheel hub plug plug device, the device are disclosed in China Patent No. CN201520114672.5
It is middle that sealing-plug is transported in manipulator by the way of turnover mechanism, the complexity of mechanism is increased using turnover mechanism, is dropped
The accuracy of low manipulator clamping sealing-plug, when manipulator height change, turnover mechanism cannot then be successfully delivered manipulator
In.
Summary of the invention
Technical problem solved by the invention is to provide a kind of full-automatic plug of wheel hub valve port based on machine vision
Device, with solve existing plug-in device do not consider wheel hub valve port tilt angle and be unable to satisfy asking for Flexible production
Topic.
The technical solution for realizing the aim of the invention is as follows：
A kind of full-automatic plug-in device of wheel hub valve port based on machine vision, including transmission line, image collecting device, rotation
Rotary device, the manipulator that transmission line side is set, lifting platform, control system；
The rotating device is located at transmission line lower end, and the rotating device lower end is equipped with lifting platform, and transmission line passes wheel hub
Transport to rotating device upper end；Position data of the described image acquisition device to acquire wheel hub, diameter, width including wheel hub with
And the height and tilt angle of valve port；After the control system is handled to the data to image acquisition device,
And control the lifting of lifting platform, rotating device rotation angle, manipulator and transmission line movement；Wheel hub is transmitted to by transmission line
Behind rotating device upper end, wheel hub is lifted by lifting platform rising, and rotating device is rotated valve port face manipulator, and controls machinery
Hand grabs sealing-plug face valve port and axially carries out plug.
Compared with prior art, the present invention its remarkable advantage：
(1) present invention can position the wheel hub of different-diameter by positioning device, can be 13-24 inches to diameter,
Wheel 4-12 inches of aluminium alloy wheel hubs of width are sealed the plug movement of plug；It is suitble to workshop mixture manufacturing, the wheel hub of all size can
To enter workbench at random, work is completed.
(2) diameter of wheel hub, the height and tilt angle of width and valve port are had detected, keeps plug more precise and stable；
Solve the problems, such as that existing plug-in device can not carry out plug to the valve port for being equipped with tilt angle；Side carries out plug simultaneously,
Ensure not damaged to wheel hub.
(3) have automatically for plug function；Sealing-plug is inserted using pneumatic control, controllable insertion pressure ensures wheel hub air-tightness
The Stability and veracity of detection.
(4) present invention carries out centralized positioning to wheel hub by positioning device, while centered on chuck, being convenient for manipulator root
According to the height of the outer diameter of wheel hub, valve port, travel distance directly can be controlled along perpendicular to transmission line direction and short transverse,
The adjustment along transmission line direction distance is avoided, is resolved convenient for control system position.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention.
Fig. 2 is a kind of schematic top plan view of embodiment of transmission line.
Fig. 3 is the general structure schematic diagram of rotating device.
Fig. 4 is a kind of general structure schematic diagram of embodiment of manipulator
Fig. 5 is the general structure schematic diagram of three shaft transmissions.
Fig. 6 is a kind of general structure schematic diagram of embodiment of manipulator equipped with conveyer.
Fig. 7 is the partial enlarged view of slewing equipment and clamping device in Fig. 6.
Fig. 8 is the control principle drawing of control system of the invention.
Specific embodiment
In order to illustrate technical solution of the present invention and technical purpose, with reference to the accompanying drawing and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 1, a kind of full-automatic plug-in device of wheel hub valve port based on machine vision of the invention, including transmission line
1, image collecting device 2, lifting platform 3, rotating device 4, the manipulator 5 that 1 side of transmission line is set, conveyer 6, control system
System；
The rotating device 4 is located at 1 lower end of transmission line, and 4 lower end of rotating device is equipped with lifting platform 6, and transmission line 1 will take turns
Hub 7 is transmitted to plug station, i.e. 4 upper end of rotating device；Position data of the described image acquisition device 2 to acquire wheel hub 7, packet
Include the diameter of wheel hub 7, the height and tilt angle of width and valve port 7-1；The control system is to image collector
Set 2 acquisitions data handled after, and control the lifting of lifting platform 6, the rotation angle of rotating device 4, manipulator 5 and transmission
The movement of line 1；After wheel hub 7 is transmitted to 4 upper end of rotating device by transmission line 1, wheel hub 7 is lifted by the rising of lifting platform 6, rotating device
4 rotations lock wheel hub 7 by valve port 7-1 face manipulator 5 and with positioning sliding block 4-32, then control manipulator 5 and grab sealing-plug 8
Face valve port axial direction 7-1 carries out plug；Complete plug after, lifting platform 6 declines wheel hub 7, transmission line 1 by wheel hub 7 continue to
Next station transmission.
In some embodiments, the transmission line 1 is equipped with sensor, and sensor detects that wheel hub 7 is located at rotating dress
When setting 4 upper end, control system controls 1 stop motion of transmission line.
In other embodiment, when image collecting device detects that wheel hub 7 is located at 4 upper end of rotating device, control
System processed controls 1 stop motion of transmission line.
As an implementation, in conjunction with Fig. 1, described image acquisition device include the first video camera 2-1, scanner 2-2,
Second video camera 2-3；The first video camera 2-1, scanner 2-2 are arranged at 7 upper end of wheel hub of plug station, the first camera shooting
Diameter, position of valve port data of the machine 2-1 to acquire wheel hub 7；Inclination angle of the scanning 2-2 to acquire valve port 7-1
Degree；The side of wheel hub 7 is arranged in the second video camera 2-2, for detecting the height of postrotational 7 valve port 7-1 of wheel hub, with
The travel distance for controlling manipulator 5, completes accurate plug.The valve port 7-1 position data of wheel hub 7 is acquired to control rotating device
Wheel hub 7 is turned to valve port 7-1 face manipulator 5 by 4 rotation；Acquire the width data and hub diameter number of valve port 7-1
The movement position of manipulator 5 is controlled accordingly；The tilt angle and height of valve port 7-1 is acquired, to control the posture of manipulator 5,
Control the angle and height of plug.
Further, the scanner 2-2 is laser profile scanner or binocular camera photo taking type spatial digitizer.
As an implementation, the first camera shooting 2-1, scanner 2-2 pass through mounting rack and are fixed on transmission line 1
End.
In some embodiments, the transmission line 1 is roller transmission line or conveyer belt；Corresponding plug station, transmission line 1
Centre is equipped with mounting hole 1-21, and the rotating device 4 is located in mounting hole 1-21.
In conjunction with Fig. 2, for roller transmission line, one end roller 1-2 of interruption is connected with wire body support frame 1-1, and the other end is logical
Bearing block is crossed to be supported.
As an implementation, in conjunction with Fig. 3, the rotating device 4 includes the servo motor for being fixed on 3 upper end of lifting platform
4-1, chuck 4-2, the positioning device 4-3 being connected with servo motor 4-1 output shaft upper end；The positioning device 4-3 includes installation
Frame 4-31, four positioning sliding block 4-32, sliding rail or sliding slot 4-33, driving mechanism 4-34；Four positioning sliding block 4-32 are located at
Four centered on chuck 4-2 are diagonal, and the upper end the mounting rack 4-31 is symmetrically arranged with four sliding rail 4-33, four positioning
Sliding block 4-32 is slided along four sliding rail 4-33 respectively under driving mechanism 4-34 drive；The glide direction of four positioning sliding block 4-32
It is each perpendicular to the transmission direction of transmission line 1；When wheel hub 7 is located at 4 upper end of rotating device, four positioning sliding block 4-32 are from wheel hub 7
Wheel hub is pushed to the center chuck 4-2 by outer circle, further be convenient for hub positions resolving, 7 centre bore of chuck 4-2 clamping wheel hub,
Servo motor 4-1 drives chuck 4-2 rotation, by the rotation of wheel hub 7 to valve port 7-1 face manipulator 5.Positioning device 4-3 is to wheel
Hub 7 is clamped, and also can avoid sliding of the wheel hub 7 of some lighter weights during plug, after completing plug, positioning device
4-4 unclamps, and lifting platform 6 declines.
In some embodiments, the upper end the servo motor 4-1 may also set up turntable replace chuck 4-2 to wheel hub 7 into
Row rotation.
Further, the driving mechanism 4-34 is electric cylinder, hydraulic cylinder, cylinder or motor-driven ball-screw machine
Structure.
Further, the upper end the positioning sliding block 4-32 is equipped with idler wheel 4-35, and idler wheel 4-35 can 7 outer circle of relativeatoeterahub turn
It is dynamic, when positioning sliding block 4-32 pushes wheel hub 7 to carry out centralized positioning, it can avoid the scuffing to 7 outer circle of wheel hub.
In some embodiments, the positioning sliding block 4-32 is directly anchored to the line of transmission line 1 by mounting rack 4-31
On body or on ground, positioning sliding block 4-32 is higher than transmission line 1, and is lower than hub width.
In other embodiment, the positioning sliding block 4-32 is fixed on lifting platform 3 by mounting rack 4-31, non-
Working condition positioning sliding block 4-42 is located at 1 lower end of transmission line, and when lifting platform 3 rises, positioning sliding block 4-32 is higher by transmission line 1, right
Wheel hub 7 is positioned.
As one embodiment, the manipulator 5 is six axis robot.
As one embodiment, in conjunction with Fig. 4, the manipulator 5 includes mounting base 5-1, three shaft transmissions, slewing equipment
5-5, clamping device 5-6；Three shaft transmission is connected with mounting base 5-1, and three shaft transmissions can be with respect to the edge mounting base 5-1
X (horizontal direction and be parallel to 1 transmission direction of transmission line), Y (horizontal direction and vertically with 1 transmission direction of transmission line), Z are (vertical
Direction and perpendicular to 1 transmission direction direction of transmission line) three direction movements, the one end the slewing equipment 5-5 and three axis drivers
Structure is connected, and the other end is connected with clamping device 5-6, and three shaft transmission, slewing equipment are according to image acquisition device
7 size of wheel hub and the position valve port 7-1, under control of the control system drive clamping device 5-6 adjust posture, complete sealing
The clamping of plug 8 and plug movement.
Further, in conjunction with Fig. 5, Fig. 6, three shaft transmission includes X-axis transmission mechanism 5-2, Y-axis transmission mechanism 5-
3, Z-axis transmission mechanism 5-4；The X-axis transmission mechanism 5-2, Y-axis transmission mechanism 5-3, Z-axis transmission mechanism 5-4 include passing through electricity
The ball-screw of machine driving, the movable plate being connected with ball-screw；X-axis transmission mechanism 5-2, Y-axis transmission mechanism 5-3, Z-axis transmission
Mechanism 5-4 is connected with each other, and clamping device 5-6 is driven to run respectively with respect to mounting base 5-1 along tri- directions X, Y, Z.
As an implementation, the X-axis transmission mechanism 5-2 is first connected with mounting base 5-1, and ball-screw passes through bearing
Seat is fixed on the upper end mounting base 5-1, and the Y-axis transmission mechanism 5-3 is mounted on the movable plate of X-axis transmission mechanism 5-2, the Z
Shaft transmission 5-4 is mounted on the movable plate of Y-axis transmission mechanism.
In other embodiment, the X-axis transmission mechanism 5-2 is first connected with mounting base 5-1, the Z-axis transmission
Mechanism 5-4 is mounted on X-axis transmission mechanism；The Y-axis transmission mechanism 5-3 is mounted on the movable plate of Z-axis transmission mechanism 5-4.
Similarly, three transmission mechanism order of connection can combination of two, complete three shaft transmissions along tri- directions X, Y, Z
Operation.
It further, include rotating servo motor 5-51 and rotating servo motor 5- in conjunction with Fig. 7, the slewing equipment 5-5
51 connected turntable 5-52；The rotating servo motor 5-51 and three shaft transmissions are connected, the clamping device 5-6 and turntable
5-52 is connected.In use, slewing equipment 5-5 can control clamping by rotating servo motor 5-51 by control rotational angle
The angle of device 5-6 can make clamping device 5-6 Open Side Down the crawl for completing sealing-plug 8, and also adjustable angle makes to seal
8 alignment valve port 7-1 of plug.
Further, the clamping device 5-6 includes guide rod cylinder 5-61, connecting plate 5-62, clamper 5-63；It is described to lead
Bar cylinder 5-61 is fixed on turntable 5-52, and the clamper 5-63 is connected by connecting plate 5-62 with guide rod cylinder 5-61, institute
It is flexible to drive the clamper 5-63 on connecting plate 5-62 to be opened and closed to state guide rod cylinder 5-61, to complete grabbing to sealing-plug 8
It takes.
Preferably, the clamper 5-63 can be selected gas it is vertical can the Y type machinery of (CHELIC) company press from both sides ARSY32 pneumatic clamps
Holder.
Further, the full-automatic plug-in device of the present invention further includes the conveyer 6 being connected with control system, will seal
Plug 8 is transmitted to plug station automatically, convenient for the crawl of manipulator 5.
As an implementation, the sequence material that the conveyer 6 includes vibrating bunker 6-1, is connected with vibrating bunker 6-1
Road 6-2, the exit of the sequence material path 6-2 is close to the crawl position of manipulator 5.
By the way that conveyer 6 is arranged, the outlet of sequence material path 6-2 is located at the lower end clamper 5-6, can save X-axis transmission mechanism
5-2, slewing equipment 5-5 swing holder 5-6 are open vertically downward, and Z-axis transmission mechanism 5-4 directly movement goes down to grab sealing-plug
8, after movement comes up, Y-axis transmission mechanism 5-3 drives slewing equipment 5-5 mobile to wheel hub 7, and slewing equipment 5-5 adjusts the angle insertion
Sealing-plug 8.
In conjunction with Fig. 8, full-automatic plug-in device of the invention of the invention, control system is equipped with corresponding control unit, this hair
Bright to be based on machine vision, wheel hub 7 is transported to right above rotating device 4 by transmission line 1 first, by positioning sliding block 4-32 by wheel hub
7 are pushed to the center expansion chuck 4-2.Pass through the diameter of the acquisition wheel hub 7 of image collecting device 2, width and valve port 7-1 again
Tilt angle.With chuck 4-2 center reference, control system more convenient can be resolved and control manipulator 5 is accurately inserted
Plug.Wheel hub 7 is lifted by the then rising of lifting platform 6, and rotating device 4 is rotated valve port 7-1 face manipulator 5, and controls machinery
Hand 5 grabs sealing-plug 8 and carries out plug to valve port 7-1；After completing plug, lifting platform 6 declines wheel hub 7, and transmission line 1 is by wheel hub
7 continue to transmit or carry out offline to next station.By collecting the diameter of wheel hub 7, width accurately control the row of manipulator 5
Into distance and height, by collecting the tilt angle and height of valve port 7-1, convenient for accurately controlling the posture of manipulator 5, adjust
Whole clamper 5-6 face valve port axial direction 7-1 carries out plug.It can be 13-24 inches to diameter, take turns 4-12 inches of aluminum alloy wheels of width
Hub is sealed the plug movement of plug；It is suitble to workshop mixture manufacturing, the wheel hub of all size can enter workbench at random, complete
Work.
Claims (10)
1. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision, which is characterized in that including transmission line (1), figure
Manipulator (5), lifting platform (3), control system as acquisition device (2), rotating device (4), setting in transmission line (1) side；
The rotating device (4) is located at transmission line (1) lower end, and rotating device (4) lower end is equipped with lifting platform (3), transmission line
(1) wheel hub is transmitted to rotating device (4) upper end；Position data of the described image acquisition device (2) to acquire wheel hub, including
The height and tilt angle of the diameter of wheel hub, width and valve port；The control system is to adopt image collecting device (2)
After the data of collection are handled, and controls the lifting of lifting platform (3), the rotation angle of rotating device (4), manipulator (5) and pass
The movement of defeated line (1)；After wheel hub is transmitted to rotating device (4) upper end by transmission line (1), wheel hub is lifted by lifting platform (6) rising,
Rotating device (4) is rotated valve port face manipulator (5), and controls manipulator (5) crawl sealing-plug (8) face valve hole axle
To progress plug.
2. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 1, feature exist
In described image acquisition device includes the first video camera (2-1), scanner (2-2), the second video camera (2-3)；Described first takes the photograph
Camera (2-1), scanner (2-2) are arranged at the wheel hub upper end of plug station, and the first video camera (2-1) is to acquire wheel hub
Diameter, position of valve port data；Tilt angle of the scanner (2-2) to acquire valve port；Second video camera (the 2-
3) side of wheel hub is set, for detecting the height of postrotational wheel hub valve port, with control the conduct of manipulator (5) away from
From.
3. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 2, the scanning
Instrument (2-2) is laser profile scanner or binocular camera photo taking type spatial digitizer.
4. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 1, feature exist
In the rotating device (4) includes that the servo motor (4-1) for being fixed on lifting platform (3) upper end and servo motor (4-1) are exported
The connected chuck (4-2) in axis upper end；Chuck (4-2) the clamping wheel hub centre bore, servo motor (4-1) drive chuck (4-2)
Rotation, wheel hub is rotated to valve port face manipulator (5).
5. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 1, feature exist
In the rotating device (4) further includes positioning device (4-3)；The positioning device (4-3) includes mounting rack (4-31), four
Positioning sliding block (4-32), sliding rail or sliding slot (4-33), driving mechanism (4-34)；Four positioning sliding blocks (4-32) are located at card
Four centered on disk (4-3) are diagonal, and mounting rack (4-31) upper end is symmetrically arranged with four sliding rails (4-33), and described four fixed
Position sliding block (4-32) is slided along four sliding rails (4-33) respectively under driving mechanism (4-34) drive；Four positioning sliding blocks (4-32)
Glide direction be each perpendicular to the transmission direction of transmission line (1)；Four positioning sliding blocks (4-32) push wheel hub from wheel hub outer circle
To the center chuck (4-2).
6. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 5, feature exist
In the positioning sliding block upper end (4-32) is equipped with idler wheel (4-35), and idler wheel (4-35) can the rotation of relativeatoeterahub outer circle.
7. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 1, feature exist
In the manipulator (5) is six axis robot.
8. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 1, feature exist
In the manipulator (5) includes mounting base (5-1), three shaft transmissions, slewing equipment (5-5), clamping device (5-6)；It is described
Three shaft transmissions are connected with mounting base (5-1), and three shaft transmissions can be transported with respect to mounting base (5-1) along tri- directions X, Y, Z
Dynamic, described slewing equipment one end (5-5) is connected with three shaft transmissions, and the other end is connected with clamping device (5-6), three axis
Transmission mechanism, slewing equipment are according to the hub size and position of valve port of image acquisition device, in the control of control system
Lower drive clamping device (5-6) adjusts posture, completes the clamping and plug movement of sealing-plug (8).
9. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 8, feature exist
In, the slewing equipment (5-5) include rotating servo motor (5-51), the turntable (5- that is connected with rotating servo motor (5-51)
52)；The rotating servo motor (5-51) and three shaft transmissions are connected, the clamping device (5-6) and turntable (5-52) phase
Even.
10. a kind of full-automatic plug-in device of wheel hub valve port based on machine vision according to claim 8, feature exist
In the clamping device (5-6) includes guide rod cylinder (5-61), connecting plate (5-62), clamper (5-63)；The guide rod cylinder
(5-61) is fixed on turntable (5-52), and the clamper (5-63) passes through connecting plate (5-62) and guide rod cylinder (5-61) phase
Even, the guide rod cylinder (5-61) is flexible to drive the clamper (5-63) on connecting plate 5-62 to be opened and closed, to complete to close
The crawl of blocking (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235416.XA CN108858026A (en) | 2018-03-21 | 2018-03-21 | A kind of full-automatic plug-in device of wheel hub valve port based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810235416.XA CN108858026A (en) | 2018-03-21 | 2018-03-21 | A kind of full-automatic plug-in device of wheel hub valve port based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858026A true CN108858026A (en) | 2018-11-23 |
Family
ID=64326092
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810235416.XA Pending CN108858026A (en) | 2018-03-21 | 2018-03-21 | A kind of full-automatic plug-in device of wheel hub valve port based on machine vision |
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| CN (1) | CN108858026A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587362A (en) * | 2019-07-31 | 2019-12-20 | 重庆机电职业技术学院 | Automatic valve balance device based on visual system |
| CN114160521A (en) * | 2021-11-29 | 2022-03-11 | 上上德盛集团股份有限公司 | Intelligent production equipment for stainless steel seamless steel pipe based on wireless sensor linkage |
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| CN202994381U (en) * | 2012-12-19 | 2013-06-12 | 滨州盟威戴卡轮毂有限公司 | Extract apparatus of wheel hub airtightness test sealing plug |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110587362A (en) * | 2019-07-31 | 2019-12-20 | 重庆机电职业技术学院 | Automatic valve balance device based on visual system |
| CN114160521A (en) * | 2021-11-29 | 2022-03-11 | 上上德盛集团股份有限公司 | Intelligent production equipment for stainless steel seamless steel pipe based on wireless sensor linkage |
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Application publication date: 20181123 |