Cotton fabric self-inspection table

Abstract

The present application discloses a cotton fabric self-inspection platform, comprising a detection platform, a fixing mechanism, a driving mechanism, an adsorption mechanism, two CCD cameras, a voice announcer, and a controller. The detection platform comprises a first plate and two U-shaped frames, wherein the first plate is arranged on the two U-shaped frames; the fixing mechanism is arranged on the first plate, and the fixing mechanism is used to pull and fix the cotton fabric; the driving mechanism is arranged on the first plate, and the driving mechanism is fixedly connected to the adsorption mechanism, and the driving mechanism is used to drive the adsorption mechanism to move; the two CCD cameras are respectively arranged side by side on the driving mechanism; the voice announcer and the controller are respectively arranged on the first plate; the driving mechanism, the adsorption mechanism, the two CCD cameras, and the voice announcer are respectively connected to the controller. Thus, the platform can automatically detect and alarm for thread ends on the cotton fabric, with high detection efficiency and good detection effect, thereby ensuring the quality of the product before leaving the factory.

Description

Technical Field

[0001] The present application relates to the technical field of cotton fabrics, and in particular to a cotton fabric self-inspection station. Background Art

[0002] As people's quality of life gradually improves, the application of cotton fabrics has gradually covered all areas of people's lives. Cotton fabrics are items woven with cotton yarn and cotton thread, mostly referring to cloth and clothing. In order to ensure the quality before leaving the factory, manufacturers usually remove the remaining thread ends on the products after they are completed.

[0003] The relevant patent (CN111851037B) discloses a goods inspection platform for textile production and processing, including a textile goods inspection platform, wherein the bottom of the textile goods inspection platform is fixedly installed with support legs, the number of the support legs is two, and the two support legs are symmetrically distributed with the axis of the textile goods inspection platform as the center, and the interior of the two support legs is provided with an extension groove. By rotating the screw, the bottom end of the screw is spiraled out from the threaded groove inside the load-bearing plate, so that the connecting fixed plate can be stretched inside the load-bearing plate, and one end of the dovetail slider inside the load-bearing plate extends to the inside of the dovetail groove inside the connecting fixed plate, thereby preventing the connecting fixed plate from separating from the load-bearing plate, making it impossible to fix the placement plate, and the outer side surface of the placement plate is movably connected to a rotating cylinder, so that the textile can be placed from the bottom of the rotating cylinder for stretching, thereby preventing the textile from wrinkling when being inspected on the top of the textile goods inspection platform.

[0004] However, this device still has certain shortcomings: it requires manual use of bent light tubes to search for thread ends on cotton fabrics one by one through visual observation, resulting in low detection efficiency and poor detection results, and the quality of the products cannot be guaranteed when they leave the factory. Summary of the Invention

[0005] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, one purpose of this application is to propose a cotton fabric self-inspection station that can self-detect and alarm the thread ends on the cotton fabric, with high detection efficiency and good detection effect, thereby ensuring the quality of the product when it leaves the factory.

[0007] In order to achieve the above-mentioned purpose, the first embodiment of the present application proposes a cotton fabric self-inspection platform, including a detection platform, a fixing mechanism, a driving mechanism, an adsorption mechanism, two CCD (charge coupled device) camera, voice announcer and controller, wherein the detection platform includes a first plate and two U-shaped frames, wherein the first plate is arranged on the two U-shaped frames; the fixing mechanism is arranged on the first plate, and the fixing mechanism is used to pull and fix the cotton fabric; the driving mechanism is arranged on the first plate, and the driving mechanism is fixedly connected to the adsorption mechanism, and the driving mechanism is used to drive the adsorption mechanism to move; the adsorption mechanism is used to suck up the thread ends remaining in the cotton fabric; the two CCD cameras are respectively arranged in parallel on the driving mechanism, and the CCD cameras are used to photograph the thread ends sucked up in the cotton fabric to obtain a detection image; the voice announcer and the controller are respectively arranged on the first plate; the driving mechanism, the adsorption mechanism, the two CCD cameras and the voice announcer are respectively connected to the controller, wherein the controller is used to analyze the detection image to obtain a detection result of the cotton fabric, and control the voice announcer according to the detection result.

[0008] In the cotton fabric self-inspection station of the embodiment of the present application, relevant personnel pull and fix the cotton fabric through a fixing mechanism according to the size of the cotton fabric, and then drive the adsorption mechanism to move back and forth through the driving mechanism. The adsorption mechanism sucks up the residual thread ends in the cotton fabric, and can also suck away the broken thread ends adsorbed on the cotton fabric. During the adsorption process, the CCD camera takes real-time pictures and feeds the captured image back to the controller. The controller recognizes the received image. If upright thread ends are detected in the image, the driving mechanism is controlled to stop running, and the voice announcer is controlled to emit a preset voice to remind relevant personnel that thread ends have been found, thereby enabling self-detection and alarm prompts for thread ends on cotton fabrics. The detection efficiency is high and the detection effect is good, thereby ensuring the quality of the product when it leaves the factory.

[0009] In addition, the cotton fabric self-inspection station proposed in the present application may also have the following additional technical features:

[0010] In one embodiment of the present application, the fixing mechanism includes a first fixing component and a second fixing component, wherein the first fixing component and the second fixing component are respectively arranged on the first plate;

[0011] The first fixing component includes a cross slide module and two first clamping mechanisms arranged side by side, wherein the cross slide module is arranged on the first plate body, and the two first clamping mechanisms arranged side by side are respectively arranged on the cross slide module, and the cross slide module is used to drive the position of the first clamping mechanism to move along the X-axis direction or the Y-axis direction; the first clamping mechanism is used to clamp and fix the cotton fabric; the second fixing component includes a second linear module and two second clamping mechanisms arranged side by side, wherein the second linear module is arranged on the first plate body, and the second linear module is used to drive the second clamping mechanism to move along the Y-axis direction; the two second clamping mechanisms arranged side by side are respectively arranged on the second linear module.

[0012] In one embodiment of the present application, the cross slide module is composed of a single slide linear module and a double slide linear module; the double slide linear module is fixedly set on the slide of the single slide linear module, and the double slide linear module and the single slide linear module are arranged in a cross shape; the second linear module is a double slide linear module.

[0013] In one embodiment of the present application, the first clamping mechanism includes a first fixed block and a first clamp, wherein the first fixed block is arranged on the slide of the cross slide module; the first clamp is arranged on the first fixed block; the second clamping mechanism includes a second fixed block and a second clamp, wherein the second fixed block is arranged on the slide of the second linear module; the second clamp is arranged on the second fixed block, and the height of the second clamp relative to the first plate body is the same as the height of the first clamp relative to the first plate body.

[0014] In one embodiment of the present application, the driving mechanism includes a first linear module and a fixed plate, wherein the first linear module is arranged on the first plate body, and the first linear module is a single linear module; the fixed plate is arranged on the slide of the first linear module.

[0015] In one embodiment of the present application, the adsorption mechanism includes a vacuum cleaner, a tee, two first tube bodies, a second tube body and two dust hoods, wherein a second plate body is fixedly connected between the two U-shaped frames; the vacuum cleaner is arranged on the second plate body, and the suction pipe of the vacuum cleaner is connected to the tee; the two pipe openings of the tee away from the suction pipe of the vacuum cleaner are respectively connected to the two first tube bodies, and the first tube body is connected to the dust hood through the second tube body; the air intakes of the two dust hoods are arranged opposite to each other, and the two dust hoods are respectively arranged on the fixed plate; the two CCD cameras are arranged on the fixed plate, and the two CCD cameras are located between the two dust hoods.

[0016] In one embodiment of the present application, a battery is further included, which is installed on the second plate; the battery is respectively connected to the fixing mechanism, the driving mechanism, the adsorption mechanism, the two CCD cameras, the voice announcer and the controller.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 This is a structural diagram of a cotton fabric self-inspection station according to one embodiment of the present application;

[0020] Figure 2 This is a structural schematic diagram of a cotton fabric self-inspection station according to another embodiment of the present application;

[0021] Figure 3 This is a structural schematic diagram of a cotton fabric self-inspection station according to another embodiment of the present application.

[0022] As shown in the figure: 1. Detection platform; 2. Fixing mechanism; 3. Driving mechanism; 4. Adsorption mechanism; 5. CCD camera; 6. Voice announcer; 7. Controller; 8. Battery; 10. First plate; 11. U-shaped frame; 12. Second plate; 20. First fixing assembly; 21. Second fixing assembly; 30. First linear module; 31. Fixed plate; 40. Vacuum cleaner; 41. T-tube; 42. First tube; 43. Second tube; 44. Dust hood; 200. Cross slide module; 201. First clamping mechanism; 2001. First fixed block; 2002. First clamp; 210. Second linear module; 211. Second clamping mechanism; 2111. Second fixed block; 2112. Second clamp. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the present application include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0024] The cotton fabric self-inspection station according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0025] like Figure 1 and Figure 2 As shown, the cotton fabric self-inspection station of the embodiment of the present application may include a detection platform 1, a fixing mechanism 2, a driving mechanism 3, an adsorption mechanism 4, two CCD cameras 5, a voice announcer 6 and a controller 7.

[0026] In which, the detection platform 1 includes a first plate body 10 and two U-shaped frames 11, wherein the first plate body 10 is arranged on the two U-shaped frames 11, and the fixing mechanism 2 is arranged on the first plate body 10, and the fixing mechanism 2 is used to pull and fix the cotton fabric. The driving mechanism 3 is arranged on the first plate body 10, and the driving mechanism 3 is fixedly connected to the adsorption mechanism 4, and the driving mechanism 3 is used to drive the adsorption mechanism 4 to move, and the adsorption mechanism 4 is used to suck up the residual thread ends in the cotton fabric. Two CCD cameras 5 are respectively arranged in parallel on the driving mechanism 3, and the CCD cameras 5 are used to photograph the thread ends sucked up in the cotton fabric to obtain a detection image. The voice announcer 6 and the controller 7 are respectively arranged on the first plate body 10, and the driving mechanism 3, the adsorption mechanism 4, the two CCD cameras 5 and the voice announcer 6 are respectively connected to the controller 7, wherein the controller 7 is used to analyze the detection image to obtain the detection result of the cotton fabric and control the voice announcer 6 according to the detection result.

[0027] It should be noted that the voice announcer 6 described in this example can be Tmall Genie or Xiao Ai, wherein the broadcast words can be set in advance in the voice announcer 6 according to the actual situation. For example, the words can be "Thread ends found, please deal with them in time."

[0028] Specifically, during the actual operation, the relevant personnel pull and fix the cotton fabric (cotton fabric) through the fixing mechanism 2 according to the size of the cotton fabric, and then open the driving mechanism 3 and the adsorption mechanism 4. The driving mechanism 3 drives the adsorption mechanism 4 to move back and forth (the stroke of the driving mechanism 3 driving the adsorption mechanism 4 to move back and forth can be set according to actual conditions). The adsorption mechanism 4 sucks up the remaining thread ends in the cotton fabric (the thread ends stand upright at this time), and can also suck away the broken thread ends adsorbed on the cotton fabric. During the adsorption process, the CCD camera 5 takes real-time photos and feeds back the captured images to the controller 7, and the controller 7 recognizes the received images.

[0029] If the controller 7 detects that there are standing thread ends in the image, it controls the driving mechanism 3 to stop running, and at the same time controls the voice announcer 6 to issue a preset voice to remind relevant personnel that thread ends are found, and the relevant personnel use scissors to deal with the thread ends. If the controller 7 analyzes that the standing thread ends in the image have been removed, it controls the driving mechanism 3 to run again to drive the adsorption mechanism 4 to continue moving. It can automatically detect and alarm for thread ends on cotton fabrics, with high detection efficiency and good detection effect, thereby ensuring the quality of products when leaving the factory.

[0030] As a possible situation, in order to facilitate the promotion of this cotton fabric self-inspection station, see Figure 1 Two symmetrical universal wheels can be installed on the lower surface of the U-shaped frame 11.

[0031] In one embodiment of the present application, Figure 1 and Figure 3 As shown, the fixing mechanism 2 may include a first fixing component 20 and a second fixing component 21, wherein the first fixing component 20 and the second fixing component 21 are respectively arranged on the first plate body 10, and the first fixing component 20 may include a cross slide module 200 and two first clamping mechanisms 201 arranged side by side, wherein the cross slide module 200 is arranged on the first plate body 10, and the two first clamping mechanisms 201 arranged side by side are respectively arranged on the cross slide module 200, the cross slide module 200 is used to drive the position of the first clamping mechanism 201 to move along the X-axis direction or the Y-axis direction, the first clamping mechanism 201 is used to clamp and fix the cotton fabric, the second fixing component 21 may include a second linear module 210 and two second clamping mechanisms 211 arranged side by side, wherein the second linear module 210 is arranged on the first plate body 10, the second linear module 210 is used to drive the second clamping mechanism 211 to move along the Y-axis direction, and the two second clamping mechanisms 211 arranged side by side are respectively arranged on the second linear module 210.

[0032] Specifically, in the process of fixing the cotton fabric, the relevant personnel first control the second linear module 210 to adjust the relative distance between the two second clamping mechanisms 211 according to the width of the cotton fabric, and then clamp and fix the cotton fabric through the second clamping mechanism 211, and then clamp and fix the cotton fabric away from the two ends of the second clamping mechanism 211 through the first clamping mechanism 201, and finally pull and fix the cotton fabric through the cross slide module 200 (at this time, the cotton fabric is in a flat state).

[0033] Specifically, if Figure 1 As shown, the cross slide module 200 is composed of a single slide linear module and a double slide linear module. The double slide linear module is fixedly set on the slide of the single slide linear module, and the double slide linear module and the single slide linear module are arranged in a cross shape. The second linear module 210 is a double slide linear module.

[0034] It should be noted that the lead screw in the double-slide linear module described in this example uses a positive and negative thread lead screw, which can ensure that when the lead screw rotates, the two slides can be driven to move in opposite directions at the same time, thereby ensuring the synchronization of the two slides when moving.

[0035] In one embodiment of the present application, Figure 1As shown, the first clamping mechanism 201 may include a first fixed block 2001 and a first clamp 2002, wherein the first fixed block 2001 is arranged on the slide of the cross slide module 200, and the first clamp 2002 is arranged on the first fixed block 2001, and the second clamping mechanism 211 includes a second fixed block 2111 and a second clamp 2112, wherein the second fixed block 2111 is arranged on the slide of the second linear module 210, and the second clamp 2112 is arranged on the second fixed block 2111, and the height of the second clamp 2112 relative to the first plate body 10 is the same as the height of the first clamp 2002 relative to the first plate body 10.

[0036] It should be noted that the second clip 2112 and the first clip 2002 described in this example may be clothespins or book clips.

[0037] Specifically, in the process of clamping and fixing the cotton fabric, it is necessary to press down the second clip 2112 and the first clip 2002 respectively, and place a corner of the cotton fabric into the clamping opening of the first clip 2002 or the second clip 2112 respectively. Release the first clip 2002 or the second clip 2112 to quickly fix the cotton fabric. The operation is simple and the fixing is convenient.

[0038] In one embodiment of the present application, Figure 1 As shown, the driving mechanism 3 includes a first linear module 30 and a fixed plate 31, wherein the first linear module 30 is arranged on the first plate body 10, and the first linear module 30 is a single linear module, and the fixed plate 31 is arranged on the slide of the first linear module 30; by controlling the first linear module 30, the fixed plate 31 can be driven to move, wherein the first linear module 30 can drive the fixed plate 31 to move back and forth, and the default distance of the back and forth movement can be set according to actual conditions. For example, if the slide of the first linear module 30 moves to the right and reaches the default set distance on the right, the motor of the first linear module 30 reverses to control the slide to move to the left, thereby performing reciprocating motion.

[0039] In one embodiment of the present application, Figure 1 As shown, the adsorption mechanism 4 includes a vacuum cleaner 40, a three-way pipe 41, two first tube bodies 42, a second tube body 43 and two dust hoods 44, wherein a second plate body 12 is fixedly connected between the two U-shaped frames 11, the vacuum cleaner 40 is arranged on the second plate body 12, and the suction pipe of the vacuum cleaner 40 is connected to the three-way pipe 41, and the two pipe openings of the three-way pipe 41 away from the suction pipe of the vacuum cleaner 40 are respectively connected to the two first tube bodies 42, and the first tube body 42 is connected to the dust hood 44 through the second tube body 43, the air intake ports of the two dust hoods 44 are arranged opposite to each other, and the two dust hoods 44 are respectively arranged on the fixed plate 31, the two CCD cameras 5 are arranged on the fixed plate 31, and the two CCD cameras 5 are located between the two dust hoods 44.

[0040] It should be noted that in order to improve the adsorption effect, see Figure 1 The second tube 43 described in this example can be multiple, so that the adsorption points can be expanded.

[0041] In the example of the present application, when cotton fabric is inspected, the cotton fabric is passed through between the two dust hoods 44. By providing two dust hoods 44, both sides of the cotton fabric can be inspected simultaneously, thereby improving the efficiency of cotton fabric inspection.

[0042] Specifically, the vacuum cleaner 40 is used to cooperate with the first tube body 42 and the second tube body 43 through the three-way pipe 41 to generate adsorption force in the dust cover 44, which can not only suck up the residual thread ends in the cotton fabric, but also suck away the broken thread ends adsorbed on the cotton fabric, thereby playing a cleaning role. At the same time, one CCD camera 5 is responsible for photographing the thread ends on the upper surface of the cotton fabric, and the other CCD camera 5 is responsible for photographing the thread ends on the lower surface of the cotton fabric.

[0043] As a possible situation, in order to improve the stability of the first linear module 30 when driving the two dust hoods 44 to move through the fixed plate 31, a limiting mechanism can be provided on the side of the dust hood 44 away from the first linear module 30, wherein, see Figure 1 The limiting mechanism can be composed of a slide rail, a slider and two vertical blocks. The slide rail is set on the detection platform 1, and the slider is slidably set on the slide rail. The slider is fixedly connected to the dust hood 44 through the two vertical blocks, which not only supports the dust hood 44, but also limits the dust hood 44.

[0044] Furthermore, if Figure 1 As shown, the cotton fabric self-inspection station further includes a battery 8, which is mounted on the second plate 12 and is connected to the fixing mechanism 2, the driving mechanism 3, the adsorption mechanism 4, the two CCD cameras 5, the voice announcer 6 and the controller 7 respectively.

[0045] In the embodiment of the present application, by providing a battery 8, it is not only convenient to power the equipment installed on the detection platform 1 and the second plate 12, but also avoids the trouble of pulling the wire board back and forth compared to connecting to the mains power.

[0046] In summary, the cotton fabric self-inspection station of the embodiment of the present application can self-detect and alarm the thread ends on the cotton fabric, with high detection efficiency and good detection effect, thereby ensuring the quality of the product before leaving the factory.

[0047] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0049] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present application.

Claims

1. A cotton fabric self-inspection station, characterized in that: It includes a detection platform, a fixing mechanism, a driving mechanism, an adsorption mechanism, two CCD cameras, a voice announcer and a controller, among which: The detection platform includes a first plate and two U-shaped frames, wherein: The first plate is arranged on the two U-shaped frames; The fixing mechanism is provided on the first plate, and is used to pull and fix the cotton fabric; The driving mechanism is provided on the first plate body and is fixedly connected to the adsorption mechanism, and the driving mechanism is used to drive the adsorption mechanism to move; The adsorption mechanism is used to absorb the remaining thread ends in the cotton fabric; The two CCD cameras are respectively arranged in parallel on the driving mechanism, and the CCD cameras are used to photograph the thread ends sucked up from the cotton fabric to obtain a detection image; The voice announcer and the controller are respectively arranged on the first plate; The driving mechanism, the adsorption mechanism, the two CCD cameras, and the voice announcer are respectively connected to the controller, wherein the controller is used to analyze the detection image to obtain a detection result of the cotton fabric, and control the voice announcer according to the detection result. The adsorption mechanism sucks up the remaining thread ends in the cotton fabric and simultaneously sucks away the broken thread ends adsorbed on the cotton fabric. During the adsorption process, the CCD camera takes real-time photos and feeds the captured images back to the controller, and the controller recognizes the received images. The driving mechanism includes a first linear module and a fixed plate, wherein: The first linear module is arranged on the first plate, and the first linear module is a single linear module; The fixed plate is arranged on the slide of the first linear module; The adsorption mechanism includes a dust collector, a three-way pipe, two first pipe bodies, a second pipe body and two dust hoods, wherein: A second plate is fixedly connected between the two U-shaped frames; The vacuum cleaner is arranged on the second plate, and the suction pipe of the vacuum cleaner is connected to the three-way pipe; The two pipe openings of the three-way pipe away from the vacuum cleaner suction pipe are respectively connected to the two first pipe bodies, and the first pipe body is connected to the dust cover through the second pipe body; The air inlets of the two dust hoods are arranged opposite to each other, and the two dust hoods are respectively arranged on the fixing plate; The two CCD cameras are arranged on the fixing plate, and the two CCD cameras are located between the two dust collection covers.

2. The cotton fabric self-inspection station according to claim 1, characterized in that: The fixing mechanism includes a first fixing component and a second fixing component, wherein: The first fixing assembly and the second fixing assembly are respectively arranged on the first plate; The first fixing assembly includes a cross slide module and two first clamping mechanisms arranged side by side, wherein: The cross slide module is arranged on the first plate, and the two first clamping mechanisms arranged side by side are respectively arranged on the cross slide module, and the cross slide module is used to drive the position of the first clamping mechanism to move along the X-axis direction or the Y-axis direction; The first clamping mechanism is used to clamp and fix the cotton fabric; The second fixing assembly includes a second linear module and two second clamping mechanisms arranged side by side, wherein: The second linear module is arranged on the first plate, and the second linear module is used to drive the second clamping mechanism to move along the Y-axis direction; The two second clamping mechanisms arranged side by side are respectively provided on the second linear modules.

3. The cotton fabric self-inspection station according to claim 2, characterized in that: The cross slide module consists of a single slide linear module and a double slide linear module; The double-slide linear module is fixedly arranged on the slide of the single-slide linear module, and the double-slide linear module and the single-slide linear module are arranged in a cross shape; The second linear module is a double-slide linear module.

4. The cotton fabric self-inspection station according to claim 3, characterized in that: The first clamping mechanism includes a first fixing block and a first clamp, wherein: The first fixed block is arranged on the slide of the cross slide module; The first clip is provided on the first fixing block; The second clamping mechanism includes a second fixing block and a second clamp, wherein: The second fixed block is arranged on the slide of the second linear module; The second clip is disposed on the second fixing block, and a height of the second clip relative to the first plate is the same as a height of the first clip relative to the first plate.

5. The cotton fabric self-inspection station according to claim 1, characterized in that: Also includes a battery, the battery is installed on the second plate; The storage battery is respectively connected with the fixing mechanism, the driving mechanism, the adsorption mechanism, the two CCD cameras, the voice announcer and the controller.

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