CN104174148B - Intelligent Pluma Anseris domestica scalds engagement positions - Google Patents
Intelligent Pluma Anseris domestica scalds engagement positions Download PDFInfo
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- CN104174148B CN104174148B CN201410384039.8A CN201410384039A CN104174148B CN 104174148 B CN104174148 B CN 104174148B CN 201410384039 A CN201410384039 A CN 201410384039A CN 104174148 B CN104174148 B CN 104174148B
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- 235000019129 pluma Nutrition 0.000 title claims abstract description 137
- 244000291751 pluma del Caribe Species 0.000 title claims abstract description 137
- 235000019070 pluma del Caribe Nutrition 0.000 title claims abstract description 137
- 206010053615 Thermal burn Diseases 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000009835 boiling Methods 0.000 claims abstract description 19
- 230000002950 deficient Effects 0.000 claims abstract description 10
- 239000002516 radical scavenger Substances 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000012372 quality testing Methods 0.000 claims abstract description 7
- 238000005286 illumination Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 12
- 239000000945 filler Substances 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 210000003746 feather Anatomy 0.000 description 18
- 238000001514 detection method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 241000272814 Anser sp. Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 231100000241 scar Toxicity 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011888 foil Substances 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention discloses a kind of intelligent Pluma Anseris domestica and scald engagement positions, boiling hot imposite is set on pedestal, boiling hot imposite is provided above transmitting the transmission belt of Pluma Anseris domestica, and transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；Being provided for the video camera A of Pluma Anseris domestica sorting operation in Pluma Anseris domestica rod holder assembly front upper place, be provided in transmission belt side to scalding that the Pluma Anseris domestica after whole processing carries out the video camera B, video camera A of quality testing, video camera B with FPGA is connected, FPGA is connected with single-chip microcomputer；After Pluma Anseris domestica rod holder assembly, the scavenger system blown away by defective Pluma Anseris domestica is set；Video camera A nearside dress ensures the active light source that intensity of illumination is stable.Present configuration is compact and simple, automaticity is high, TT&C system is rational in infrastructure and intelligence degree is high.
Description
The application is application number " 201310060881.1 ", title " whole integral system is scalded in the sorting of full-automatic Pluma Anseris domestica ", the applying date: the divisional application of 2013.2.27 patent application.
Technical field
The present invention relates to a kind of full-automatic Pluma Anseris domestica sorting and scald whole integral system, belong to electromechanical integration, sensing and observation and control technology field.
Background technology
The Pluma Anseris domestica shuttlecock playing in the whole world 90% is by made in China, and a Pluma Anseris domestica game of shuttlecock is mainly in Europe.Stationarity and the resistance to degree of beating of flight are required the highest by Pluma Anseris domestica shuttlecock playing.The quality of Pluma Anseris domestica shuttlecock playing has the biggest relation with the sorting precision of Goose feather, boiling hot whole quality.Pluma Anseris domestica shuttlecock playing is labor-intensive product, from the sorting of Goose feather, scalds the whole detection to finished product Pluma Anseris domestica shuttlecock playing, and about ten carry out procedure.Wherein, the sorting of Goose feather is scalded and whole is directly affected the outward appearance of Pluma Anseris domestica shuttlecock playing, resistance to degree of beating and flight path.Therefore, can it be the key link that produce qualified even quality product.Pluma Anseris domestica shuttlecock playing sorts or uses and manually estimates sorting at present, manually scalds whole, there is labor intensity height, sorts and scald whole ropy problem.
The feather of goose is more abundant, and the silk of its fiber is abundanter, and floss comparision contents is high, the most intensive, picks out first-class Pluma Anseris domestica, it is made a Pluma Anseris domestica shuttlecock playing, and its flight can be the most stable, the most solid.And the outward appearance of Pluma Anseris domestica is the most attractive in appearance, milky Pluma Anseris domestica can also be launched beautiful glossy.The tip width of workprint and neat in square circular.Plumage face gloss is soft, and central siphon has cluster closeer and plumage silk clearly, and pinna rachis is thick and root is soft.The feather of high-quality Pluma Anseris domestica shuttlecock playing all must use high-quality Pluma Anseris domestica, and the intensity of Pluma Anseris domestica, toughness are all particularly suitable for the requirement of Pluma Anseris domestica shuttlecock playing.During making Pluma Anseris domestica shuttlecock playing, selecting and processing of feather is the most difficult.Form because feather is the most natural, have the most unavoidably thickness and thin, turn left curved or turn right curved, upwarp or have a downwarp.Through sorting with scald whole select Goose feather and want uniformly, quite volume is suitable for it important, and shape is suitable, and do so ball flight out is only stable.
Sort field at Pluma Anseris domestica, have more research, up-to-date research direction and achievement in research to concentrate in Pluma Anseris domestica image procossing based on machine vision and defect recognition both at home and abroad.Identify defect mainly have following some:Go mouldy, be mainly reflected in that white hair turns yellow, ash hair crow.In image procossing, it is embodied in the change of locally or globally feather color more.Worm-eaten, be mainly reflected in lousiness come off, workprint indentation.Local color or gray scale change, feather edges alteration of form it is mainly reflected in image procossing.Camber arch, is mainly reflected in feather overbending, tilting.Feather edges alteration of form it is presented as in image procossing.And camber arch classification can be realized by feature extraction and pattern recognition.Hair bar scar.Hair bar is the trunk of Pluma Anseris domestica, and the damage of hair bar affects maximum to feather intensity and quality.In image procossing, limb recognition can be carried out, then it is tracked hair bar after edge identification fitting the particular location determining mao bar, by the analysis fitting curve being obtained thickness and the camber of mao bar, in the range of hair bar, the image after limb recognition is analyzed, determines whether there is scar on mao bar.Make moist.It is mainly reflected in that hair is piled up.Image recognition is characterized as the change of color or gray value.Due to follow-up boiling hot whole operation, feather can be made moulding, therefore carry out boiling hot whole in the case of hair is piled up, eider down can be made to produce shape distortion.
In order to realize the smooth of feather, it is common method that curved Pluma Anseris domestica glue stretches, but the workprint of the Pluma Anseris domestica shuttlecock playing processed in this manner, mostly there is damage, affect Pluma Anseris domestica shuttlecock playing quality.Scalding whole is to realize the effective means that Pluma Anseris domestica is smooth, and whole machine study boiling the hottest for leather, dress material etc. is more both at home and abroad, but has no and Pluma Anseris domestica scalds engagement positions research automatically.
Summary of the invention
It is an object of the invention to provide the sorting of a kind of Pluma Anseris domestica and scald whole integration, compact conformation and the boiling hot whole integral system of full-automatic Pluma Anseris domestica sorting simple, automaticity is high.
The technical solution of the present invention is:
Whole integral system is scalded in a kind of full-automatic Pluma Anseris domestica sorting, it is characterized in that: include pedestal, boiling hot imposite is set on pedestal, boiling hot imposite is provided above transmitting the transmission belt of Pluma Anseris domestica, transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；Being provided for the video camera A of Pluma Anseris domestica sorting operation in Pluma Anseris domestica rod holder assembly front upper place, be provided in transmission belt side to scalding that the Pluma Anseris domestica after whole processing carries out the video camera B, video camera A of quality testing, video camera B with FPGA is connected, FPGA is connected with single-chip microcomputer；After Pluma Anseris domestica rod holder assembly, the scavenger system blown away by defective Pluma Anseris domestica is set；
Single-chip microcomputer starts FPGA image acquisition and processing flow process by I/O port line, FPGA is by the image acquisition of color video camera A and is stored as rgb format, extracted by Color Image Edge and limb recognition, respectively obtain eider down and the edge contour of hair bar, and the colour element in profile is analyzed；Two three-dimensional euclideans of colour element away from computing formula are:
(1)
D value represents two colour element degrees of closeness, R1, G1, B1 are represented as the RGB three-component value of first colour element, R2, G2, B2 are represented as the RGB three-component value of second colour element, in FPGA, built-in one with reference to color R, G, B, the threshold value of built-in d, calculate the Euclidean distance between each colour element and given colour element in eider down and hair bar profile, obtain Euclidean distance number of pixels n more than threshold value, n is more than certain set amount, as defective Pluma Anseris domestica, then single-chip microcomputer starts scavenger system, rejects this Pluma Anseris domestica；
After Pluma Anseris domestica is by sorting flow process, single-chip microcomputer starts Pluma Anseris domestica rod holder assembly clamping Pluma Anseris domestica bar；After having clamped, single-chip microcomputer starts pressing flattening device,
When pressing flattening device scald whole once after, automatically lift, FPGA starts boiling hot whole quality testing flow process, the image of acquisition camera B, owing to white Pluma Anseris domestica has bigger difference with background image, by coloured image gray processing, value, medium filtering, foreground image obtains, and use closed operation, minuscule hole in filler body, connect adjacent object and smooth boundary, use opening operation, eliminate small objects, and on very thin place separating objects and smooth larger object border, extract Pluma Anseris domestica edge, by continuous boundary point feature, identify whether Pluma Anseris domestica is scalding whole rear also tilting, tilt if also had, then rerun and once scald rectification journey, and detect tilting, scald the whole Pluma Anseris domestica still having tilting three times, as defective Pluma Anseris domestica, clamping device unclamps, scavenger system is used to be rejected by this Pluma Anseris domestica.
Scald the photoelectric detection switch that the perforate installation of imposite centre position is connected with single-chip microcomputer, during work, single-chip microcomputer cycle detection photoswitch state, when photoswitch state changes, after processed Pluma Anseris domestica arrives job position, Single-chip Controlling transmission belt drives motor to shut down, and Pluma Anseris domestica stops transmission, starts sorting and scalds whole operation.
The optical axis of video camera B is perpendicular to Z axis, and with transmission belt in a horizontal plane, by side shooting identify Pluma Anseris domestica scald whole after flatness.
Video camera A nearside dress ensures the active light source that intensity of illumination is stable.
Pluma Anseris domestica rod holder assembly includes the left and right fixed block being loaded on pedestal, automatic slider A, automatic slider B is filled respectively on left and right fixed block, automatic slider A, automatic slider B are driven by motor and gear spindle gear, along X-motion on fixed block, automatic slider A is in the same size with automatic slider B movement velocity, and the direction of motion is contrary；When Pluma Anseris domestica moves, automatic slider A, B separate, and move laterally, do not stop that Pluma Anseris domestica transmits；When Pluma Anseris domestica stops adding man-hour, and automatic slider A, B, to medial motion, close up and clamp the hair bar of Pluma Anseris domestica.
Being respectively mounted two panels spring leaf at automatic slider A, B clamping face, for clamping the hair bar of Pluma Anseris domestica, wherein foil gauge is all posted at the two panels spring leaf back side of automatic slider A, controls clamp pressure size by detection Spring deformation.
Described pressing flattening device includes smooth head bracket, and smooth head bracket is filled the smooth head being driven by Z axis motor, being moved up and down by screw mandrel；Smooth head bracket by synchronizing wheel, Timing Belt and track-type facilities, can move along Y direction under y-axis motor drives.
Smooth head displacement size on Y, Z axis is limited by travel switch.
Smooth head is pressed attached power to adjust spring by it and is adjusted, it is ensured that smooth head and by boiling hot thing Pluma Anseris domestica comprehensive engagement.
The temperature of smooth head is provided by heating rod, smooth head built-in thermoelectric idol thermometric, and smooth head operating temperature can sets itself, it is ensured that smooth head works in certain temperature range, and temperature does not reaches set point, scalds whole operation and suspends.
The present invention is that whole integral system is scalded in a kind of Pluma Anseris domestica sorting, makes up the present situation that there is no the boiling hot whole integral system of full-automatic Pluma Anseris domestica sorting.This system structure is compact and simple, automaticity is high, TT&C system is rational in infrastructure and intelligence degree is high.
Pluma Anseris domestica of the present invention is transported to job position by transmission belt, by colored CCD photographic head, Pluma Anseris domestica image is carried out edge extracting and color analysis, differentiate feather qualities, and rejected by inflatable body go mouldy, worm-eaten, camber arch excessively, hair bar scar, make moist the Pluma Anseris domestica causing hair to pile up.The qualified feather sorted out, by X, Y, Z three-axis moving control system, it is achieved clamp, position, scald whole.Scald whole after Pluma Anseris domestica detected its flatness by ccd sensor, and reject and repeatedly scald whole invalid Pluma Anseris domestica.Whole TT&C system has been worked in coordination with as main controller by FPGA and single-chip microcomputer, and control module is divided into image acquisition, image procossing, X-axis Pluma Anseris domestica clamping movement, Y-axis to scald whole mechanism kinematic, Z axis scalds the lifting of complete machine structure, temperature control, position control etc..It is reliable and stable that whole integral system simple in construction, automaticity height, crudy height, low cost, TT&C system are scalded in the Pluma Anseris domestica sorting of the present invention.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is that whole integral system frame for movement schematic diagram is scalded in the Pluma Anseris domestica sorting of the present invention.
Fig. 2 is that the Pluma Anseris domestica sorting of the present invention is scalded in whole integral system, and clamping device X axis moves driving and drive mechanism schematic diagram.
Fig. 3 is that the Pluma Anseris domestica sorting of the present invention is scalded in whole integral system, the clamping of automatic movable slider end face and pressure detection mechanism schematic diagram.
Fig. 4 is that the Pluma Anseris domestica sorting of the present invention is scalded in whole integral system, TT&C system structure chart.
Detailed description of the invention
Whole integral system is scalded in a kind of full-automatic Pluma Anseris domestica sorting, including pedestal 1, pedestal arranging boiling hot imposite 2, boiling hot imposite is provided above transmitting the transmission belt 4 of Pluma Anseris domestica 3, transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；The colourful CCD video camera A5 of Pluma Anseris domestica sorting operation it is provided in Pluma Anseris domestica rod holder assembly front upper place, it is provided for the Pluma Anseris domestica after scalding whole processing is carried out the colourful CCD video camera B6 of quality testing in transmission belt side, video camera A, video camera B with FPGA7 are connected, and FPGA is connected with single-chip microcomputer 8；After Pluma Anseris domestica rod holder assembly, the scavenger system 9 blown away by defective Pluma Anseris domestica is set；
Collaborative as controller by field programmable gate array (FPGA) and single-chip microcomputer.Field programmable gate array (FPGA) is responsible for image acquisition, image procossing.Single-chip microcomputer is responsible for each actuator and is driven control, each process variable, mechanical quantity parameter detecting and control.I/O port line transmission control command and related data is used between field programmable gate array (FPGA) and single-chip microcomputer.
Single-chip microcomputer starts FPGA image acquisition and processing flow process by I/O port line, FPGA is by the image acquisition of color video camera A and is stored as rgb format, extracted by Color Image Edge and limb recognition, respectively obtain eider down and the edge contour of hair bar, and the colour element in profile is analyzed；Two three-dimensional euclideans of colour element away from computing formula are:
(1)
D value represents two colour element degrees of closeness.R1, G1, B1 is represented as the RGB three-component value of first colour element, R2, G2, B2 is represented as the RGB three-component value of second colour element, in FPGA, built-in one with reference to color R, G, B, the threshold value of built-in d, calculate the Euclidean distance between each colour element and given colour element in eider down and hair bar profile, obtain Euclidean distance number of pixels n more than threshold value, n is more than certain set amount, can determine whether that this feather is owing to going mouldy, make moist accumulation, the color that the reasons such as worm-eaten cause changes more, as defective Pluma Anseris domestica, then single-chip microcomputer starts scavenger system, reject this Pluma Anseris domestica；
After Pluma Anseris domestica is by sorting flow process, single-chip microcomputer starts Pluma Anseris domestica rod holder assembly clamping Pluma Anseris domestica bar；After having clamped, single-chip microcomputer starts pressing flattening device,
When pressing flattening device scald whole once after, automatically lift, FPGA starts boiling hot whole quality testing flow process, the image of acquisition camera B, owing to white Pluma Anseris domestica has bigger difference with background image, by coloured image gray processing, value, medium filtering, foreground image obtains, and use closed operation, minuscule hole in filler body, connect adjacent object and smooth boundary, use opening operation, eliminate small objects, and on very thin place separating objects and smooth larger object border, extract Pluma Anseris domestica edge, by continuous boundary point feature, identify whether Pluma Anseris domestica is scalding whole rear also tilting, tilt if also had, then rerun and once scald rectification journey, and detect tilting, scald the whole Pluma Anseris domestica still having tilting three times, as defective Pluma Anseris domestica, clamping device unclamps, scavenger system is used to be rejected by this Pluma Anseris domestica.
Scald the photoelectric detection switch 10 that the perforate installation of imposite centre position is connected with single-chip microcomputer, during work, single-chip microcomputer cycle detection photoswitch state, when photoswitch state changes, after processed Pluma Anseris domestica arrives job position, Single-chip Controlling transmission belt drives motor to shut down, and Pluma Anseris domestica stops transmission, starts sorting and scalds whole operation.
The optical axis of video camera B is perpendicular to Z axis, and with transmission belt in a horizontal plane, by side shooting identify Pluma Anseris domestica scald whole after flatness.
Video camera A nearside dress ensures the active light source 11 that intensity of illumination is stable.
Pluma Anseris domestica rod holder assembly includes the left and right fixed block 12,13 being loaded on pedestal, automatic slider A14, automatic slider B15 is filled respectively on left and right fixed block, automatic slider A, automatic slider B are by motor 16 and gear 17 screw mandrel 18 actuator drives, along X-motion on fixed block, automatic slider A is in the same size with automatic slider B movement velocity, and the direction of motion is contrary；When Pluma Anseris domestica moves, automatic slider A, B separate, and move laterally, do not stop that Pluma Anseris domestica transmits；When Pluma Anseris domestica stops adding man-hour, and automatic slider A, B, to medial motion, close up and clamp the hair bar of Pluma Anseris domestica.
Being respectively mounted two panels spring leaf 19 at automatic slider A, B clamping face, for clamping the hair bar of Pluma Anseris domestica, wherein foil gauge 20 is all posted at the two panels spring leaf back side of automatic slider A, controls clamp pressure size by detection Spring deformation.
Described pressing flattening device includes smooth head bracket 21, smooth head bracket fills driven by Z axis motor 22, moved up and down by screw mandrel 23 smooth 24；Smooth head bracket by synchronizing wheel 26, Timing Belt 27 and track-type facilities 28, can move along Y direction under y-axis motor 25 drives.
Smooth head displacement size on Y, Z axis is limited by travel switch.
Smooth head press attached power by its adjust spring 29 be adjusted, it is ensured that smooth head with by boiling hot thing Pluma Anseris domestica comprehensive engagement.
The temperature of smooth head is provided by heating rod 30, smooth head built-in thermoelectric idol thermometric, and smooth head operating temperature can sets itself, it is ensured that smooth head works in certain temperature range, and temperature does not reaches set point, scalds whole operation and suspends.
Claims (1)
1. an intelligent Pluma Anseris domestica scalds engagement positions, it is characterized in that: include pedestal, pedestal arranges boiling hot imposite, boiling hot imposite is provided above transmitting the transmission belt of Pluma Anseris domestica, transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；Being provided for the video camera A of Pluma Anseris domestica sorting operation in Pluma Anseris domestica rod holder assembly front upper place, be provided in transmission belt side to scalding that the Pluma Anseris domestica after whole processing carries out the video camera B, video camera A of quality testing, video camera B with FPGA is connected, FPGA is connected with single-chip microcomputer；After Pluma Anseris domestica rod holder assembly, the scavenger system blown away by defective Pluma Anseris domestica is set；
Single-chip microcomputer starts FPGA image acquisition and processing flow process by I/O port line, FPGA is by the image acquisition of color video camera A and is stored as rgb format, extracted by Color Image Edge and limb recognition, respectively obtain eider down and the edge contour of hair bar, and the colour element in profile is analyzed；Two three-dimensional euclideans of colour element away from computing formula are:
D value represents two colour element degrees of closeness, R1, G1, B1 are represented as the RGB three-component value of first colour element, R2, G2, B2 are represented as the RGB three-component value of second colour element, in FPGA, built-in one with reference to color R, G, B, the threshold value of built-in d, calculate in eider down and hair bar profile euclidean between each colour element and given colour element away from, obtain euclidean away from number of pixels n more than threshold value, n is more than certain set amount, as defective Pluma Anseris domestica, then single-chip microcomputer starts scavenger system, rejects this Pluma Anseris domestica；
After Pluma Anseris domestica is by sorting flow process, single-chip microcomputer starts Pluma Anseris domestica rod holder assembly clamping Pluma Anseris domestica bar；After having clamped, single-chip microcomputer starts pressing flattening device,
When pressing flattening device scald whole once after, automatically lift, FPGA starts boiling hot whole quality testing flow process, the image of acquisition camera B, owing to white Pluma Anseris domestica has bigger difference with background image, by coloured image gray processing, value, medium filtering, foreground image obtains, and use closed operation, minuscule hole in filler body, connect adjacent object and smooth boundary, use opening operation, eliminate small objects, and on very thin place separating objects and smooth larger object border, extract Pluma Anseris domestica edge, by continuous boundary point feature, identify whether Pluma Anseris domestica is scalding whole rear also tilting, tilt if also had, then rerun and once scald rectification journey, and detect tilting, scald the whole Pluma Anseris domestica still having tilting three times, as defective Pluma Anseris domestica, clamping device unclamps, scavenger system is used to be rejected by this Pluma Anseris domestica；Video camera A nearside dress ensures the active light source that intensity of illumination is stable.
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| CN201410384039.8A CN104174148B (en) | 2013-02-27 | 2013-02-27 | Intelligent Pluma Anseris domestica scalds engagement positions |
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| CN201310060881.1A Division CN103111062B (en) | 2013-02-27 | 2013-02-27 | Full-automatic goose feather sorting and ironing integrated system |
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| CN106896628B (en) * | 2015-12-17 | 2019-12-24 | 研祥智能科技股份有限公司 | Adjustable device of camera and machine vision equipment |
| CN105855189B (en) * | 2016-05-27 | 2018-07-24 | 杭州钧工机器人科技有限公司 | Intelligent high-speed natural feather color selector |
| CN206735397U (en) * | 2016-10-21 | 2017-12-12 | 常熟市百联自动机械有限公司 | A kind of cloth suede case |
| CN107955977A (en) * | 2017-12-19 | 2018-04-24 | 马斌祥 | A kind of shuttlecock processing washes stoving process with front wing |
| EP3775826B1 (en) | 2018-03-28 | 2023-11-15 | Transitions Optical, Ltd. | Diagnostic station for production line |
| CN112190890A (en) * | 2020-10-12 | 2021-01-08 | 无为县海峰纸箱有限公司 | Feather correcting and ironing machine for badminton processing |
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| CN2597110Y (en) * | 2003-01-21 | 2004-01-07 | 汕头大学 | On-line measuring and sorting device for shuttle cock feather |
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| CN201579214U (en) * | 2009-12-17 | 2010-09-15 | 广州大桐利体育用品有限公司 | Automatic feather sorting device |
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| CN2436241Y (en) * | 2000-05-26 | 2001-06-27 | 方津生 | Hair measuring machine by video camera |
| CN2597110Y (en) * | 2003-01-21 | 2004-01-07 | 汕头大学 | On-line measuring and sorting device for shuttle cock feather |
| JP2006198538A (en) * | 2005-01-21 | 2006-08-03 | Seirei Ind Co Ltd | Partition device with cleaning function |
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