3 results about "Stepper" patented technology

The invention discloses a spherical fruit and vegetable posture automatic adjustment method and device based on computer vision. The device comprise a camera, three avoidance stepper motors, a single-chip microcomputer controller and a computer, wherein angles among rotating wheels of the three stepper motors are 120 degrees; the camera is arranged directly above center shafts of the three steppermotors and is connected to the computer; one end of the single-chip microcomputer controller is connected to the computer; and the other of the single-chip microcomputer controller is connected to the three stepper motors. The method comprises the following steps of: imaging spherical fruit and vegetables through the camera; judging the position coordinates of horizontal planes where the fruit and vegetable heads are positioned by the computer through images; respectively working out the radiuses of the fruit and vegetables and needed rotating angles; controlling the three stepper motors to rotate through the single-chip microcomputer controller so as to cause the center shafts of the spherical fruit and vegetable to be upward and vertical to the horizontal plane, thus realizing the automatic adjustment of the spherical fruit and vegetable. Particularly, a green onion or the stem of an apple is adjusted through rotation so as to provide good postures for the automatic hilum cutting ofthe green onion and the automatic bagging of the apple in the next step.

A plane grating measurement based vector circular arc stage change method and device of a moving-coil magnetic suspension dual-workpiece stage belongs to the technology of a semiconductor fabrication device. The device comprises a support frame, a balance mass block, magnetic suspension workpiece stages, a workpiece stage measurement device and a workpiece stage driving device, wherein the two workpiece stages work between a measurement position and an exposure position, a plane grating is used for measuring the positions of the workpiece stages, a passive compensation structure composed of a planar leaf spring and an electromagnetic damper is used for carrying out motion compensation on the balance mass block, the workpiece stages are driven by a magnetic suspension planar motor, and in the dual-workpiece stage exchange process, the workpiece stages are driven by the planar motor to achieve rapid stage change in a single-beat arc manner. By the device, the problems of many beats, long track, many start-stop links, long stable time, large cable winding force and the like of the traditional stage change scheme are solved, the stage change link is reduced, the stage change time is shortened, and the yield of an photoetching machine is improved.