CN101480800A - Punching machine and punching method thereof for printed circuit board - Google Patents

Punching machine and punching method thereof for printed circuit board Download PDF

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Publication number
CN101480800A
CN101480800A CNA2009100955670A CN200910095567A CN101480800A CN 101480800 A CN101480800 A CN 101480800A CN A2009100955670 A CNA2009100955670 A CN A2009100955670A CN 200910095567 A CN200910095567 A CN 200910095567A CN 101480800 A CN101480800 A CN 101480800A
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China
Prior art keywords
printed circuit
circuit board
mentioned
slide
clamping
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Granted
Application number
CNA2009100955670A
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Chinese (zh)
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CN101480800B (en
Inventor
林永良
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NINGBO SANDUN ELECTRON TECHNOLOGY Co Ltd
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NINGBO SANDUN ELECTRON TECHNOLOGY Co Ltd
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Priority to CN2009100955670A priority Critical patent/CN101480800B/en
Publication of CN101480800A publication Critical patent/CN101480800A/en
Application granted granted Critical
Publication of CN101480800B publication Critical patent/CN101480800B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention relates to a punching machine for a printed circuit board, which comprises a punching mechanism, clamping devices and a camera device. The punching machine for a printed circuit board is characterized by further comprising two mobile manipulators which are respectively arranged at two sides of the punching mechanism; each mobile manipulator is provided with a longitudinal mobile mechanism, a transverse mobile mechanism and the clamping device for clamping a printed circuit board; and a control device is used for analyzing and processing the obtained data based on the images transmitted by the camera device, driving the punching mechanism and the camera device according to a program and driving the mobile manipulators to complete the handover of the printed circuit board at a reasonable position. The invention further discloses a punching method of the punching machine for a printed circuit board. Compared with the prior art, the invention has the advantages that the punching speed is improved; the moving inertia of the whole operation of completing the handover between the two mobile manipulators according to the reasonable position calculated by the control device is small, and the large-range high-precision movement needed by a single manipulator is not required; and the stability and reliability of the device and the precision of punching are improved.

Description

Printed circuit plate punching machine and drilling method thereof
Technical field
The present invention relates to a kind of printed circuit plate punching machine, the invention also discloses a kind of drilling method of printed circuit plate punching machine.
Background technology
Printed circuit plate punching machine (claiming punch or perforating press again), make requisite process equipment in the circuit boards, the height of its operating efficiency and processing precision direct influence are to the operation of whole manufacturing circuit board, common printed circuit plate punching machine comprises perforating mechanism, hold down gag, camera head, and computer controller, perforating mechanism is used for punching on printed circuit board; Hold down gag can compress printed circuit board; Camera head is used to take the image of printed circuit board, and computer controller is used to control every work that whole punching is.The document of this respect, but referenced patent number is the Chinese invention patent " perforating apparatus of printed circuit board and method " (Granted publication number be CN1088320C) of ZL96112343.5, and for example the patent No. is the Chinese invention patent " positional punch machine " (Granted publication number for CN1248836C) of ZL01117438.2, and similarly also having the patent No. is the Chinese utility model patent " punching apparatus of printed circuit board " (Granted publication number be CN2509817Y) of ZL01267210.6.
At present, the location perforating press that homemade printed circuit board industry is used has a lot, but they all are automanual, automatically after the searching target has been beaten a hole, next target is moved in the display indication range with the artificial quilt that moves towards thing, its could seek target automatically then, and rectification error, and then it is destroyed.Though punching punching precision is very high like this, but efficient is very low, although the location perforating press is very short to the time of finishing punching from finishing automatic searching target, rectification error, but because artificial moving by just long, so production efficiency is still very low towards the required time of thing.
Automanual Automatic position punching pin hole machine, punch out step is specific as follows: be placed on the movable panel towards thing, by the target circle in the thing when the punch die near axis, target circle is delivered to video camera by reflective mirror with image, after video camera is the hole that will beat by this hole of computer real-time judge, computer sends the order that presser feet is pressed, and presser feet will firmly be pushed down towards thing and movable panel like this, and making it to have slip with movable panel.Then video camera will take the photograph once more image give computer, target circle error information after computer will be handled is passed to about the control movable panel, two stepper motors that move up and down, about work, up-down error is corrected and is moved, after treating that two motor movements finish, for guaranteeing precision, video camera is made a video recording for the last time, and will take the photograph image pass to computer once more, about target circle error information after computer will be handled is once more passed to, two stepper motors that move up and down, about motor is done once more, up-down error correct to move, and computer is sent out punch die and issued orders then, after the time-delay, computer is sent out on the punch die, order such punching end cycle on the presser feet.
For improving perforating efficiency, there is many manufacturers active research automatically to locate perforating press abroad.Especially breathing out with the refined fiber crops of Japan is the series of products of representative, this product process velocity is fast, be 0.4 second/hole, the production efficiency height, working (finishing) area is big, but owing to adopt by motionless towards thing, whole head is done significantly all around to move up and down and is realized seeking automatically the purpose of target and punching, so exist whole motion inertia very big, energy consumption is big, and manufacturing is expensive, the shortcoming that maintenance cost is high.So domestic seldom have producer to use, even use also is large scale business enterprise, a large amount of middle and small scale enterprise ability does not substantially use this equipment.
The full-automatic location perforating press of Taiwan optical fiber has then adopted head motionless, single mobile manipulator clamping is done the working method of high precision movement significantly towards thing, but the moving frame area is bigger, poor rigidity, motion process is shaken, and can only underspeed in order to improve the punching precision.Though descend so the equipment price of Taiwan optical fiber is breathed out to some extent than refined fiber crops, speed is also slow, be 0.62 second/hole, and clamping is very inconvenient.
Summary of the invention
Technical problem to be solved by this invention is that a kind of printed circuit plate punching machine that speed is fast, cost is lower that punches is provided at the above-mentioned state of the art.
Another technical problem that the present invention solves provides a kind of drilling method of the fireballing printed circuit plate punching machine that punches.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: a kind of printed circuit plate punching machine comprises
Perforating mechanism is used for punching on printed circuit board;
Hold down gag is used to compress printed circuit board;
Camera head is used to take the image of printed circuit board,
It is characterized in that also comprising
Two mobile manipulators are divided into above-mentioned perforating mechanism two sides, and each mobile manipulator has longitudinal moving mechanism, transverse moving mechanism and is used for the clamping device of clamping printed circuit board, and
Control device, the image that is used for transmitting according to above-mentioned camera head carries out that analyzing and processing obtains data and according to above-mentioned perforating mechanism of driven by program and camera head, also is used for carrying out analyzing and processing according to the image that above-mentioned camera head transmits and obtains data and finish handing-over to printed circuit board in rational position according to above-mentioned two mobile manipulators of driven by program.
Further, this puncher also comprises the travelling carriage that is used for interior among a small circle fine setting printed circuit Board position, the corresponding described perforating mechanism setting of this travelling carriage, and have transversal driving mechanism and the vertical driving mechanism that is controlled by described control device.
Clamping device is preferably as follows design: described clamping device comprises
Clamp clip;
Rubber tip cooperates with the aforementioned clamped sheet to clamp printed circuit board; And
Clamp cylinder, be used to drive aforementioned rubber tip and move realizing and unclamp and clamp, be controlled by described control device.
Described clamping device is located at described mechanically moving on hand by a holder.
Longitudinal moving mechanism is preferably as follows design: described longitudinal moving mechanism comprises
Longitudinal rail,
Vertically be with synchronously, ringwise, two ends are surrounded with vertical drive pulley and vertical driven pulley;
Vertically motor is used to drive above-mentioned vertical drive pulley, and vertically the clutch end of motor is connected with the power intake of vertical drive pulley;
Longitudinal slide can vertically move by above-mentioned relatively longitudinal rail; And
Vertical geometrical clamp, be located on the above-mentioned longitudinal slide and clamping above-mentioned vertically synchronously band so that longitudinal slide with vertical moving of band synchronously.
Transverse moving mechanism is preferably as follows design: described transverse moving mechanism comprises
Cross slide way,
Laterally be with synchronously, ringwise, two ends are surrounded with horizontal drive pulley and horizontal driven pulley;
Cross motor is used to drive above-mentioned horizontal drive pulley, and the clutch end of cross motor is connected with the power intake of horizontal drive pulley;
Cross slide can vertically move by above-mentioned relatively cross slide way; And
Crosswise fixed folder, be located on the above-mentioned cross slide and clamping above-mentioned laterally synchronously band so that cross slide with horizontal moving of band synchronously.
Further, described transverse moving mechanism is located on the crosswise fixed plate and is fixed on the puncher, and described longitudinal moving mechanism is located on the described cross slide, and described clamping device is located on the described longitudinal slide by described holder.
Described longitudinal slide bottom has the longitudinal sliding block that cooperates with described vertical slide rail.Described cross slide bottom has the transverse slider that cooperates with described horizontal slide rail.Reasonable in design, stable and reliable operation.
A kind of drilling method of printed circuit plate punching machine is characterized in that this puncher comprises
Perforating mechanism is used for punching on printed circuit board;
Travelling carriage is used for interior among a small circle fine setting printed circuit Board position, has transversal driving mechanism and vertical driving mechanism;
Hold down gag can be pressed in above-mentioned travelling carriage so that printed circuit board moves with travelling carriage with printed circuit board;
Camera head is used to take the image of printed circuit board;
Two mobile manipulators are divided into above-mentioned travelling carriage two sides, and each mobile manipulator has longitudinal moving mechanism, transverse moving mechanism and is used for clamping printed circuit board clamping device, and
Control device, the image that is used for transmitting according to above-mentioned camera head carries out that analyzing and processing obtains data and according to the above-mentioned travelling carriage of driven by program, perforating mechanism and camera head, also is used for carrying out analyzing and processing according to the image that above-mentioned camera head transmits and obtains data and finish handing-over to printed circuit board in rational position according to above-mentioned two mobile manipulators of driven by program;
Comprise the steps: in control device, to import the data (as length, width) of printed circuit board to be punched, one of them mobile manipulator of used for printed circuit board to be punched is clamped and carries out drilling process, detect rational position up to control device, printed circuit board to be punched is transferred to another mobile manipulator, continues to carry out drilling process.
Compared with prior art, the invention has the advantages that: because the mode that adopts two mobile manipulators rationally to join is come the clamping printed circuit board and finished mobile, realized full-automation, improved the speed of punching, and, calculate rational position according to control device, finish two handing-over between the mobile manipulator, the overall operation movement inertia is little, and need not as single mobile manipulator, to move, improved the stability of equipment; large scale and high accuracy the accuracy of reliability and punching, simultaneously, with respect to single mobile manipulator need be reserved clip position on printed circuit board for, the present invention need not to reserve clip position, and the printed circuit board utilization rate improves greatly, in addition, the mobile manipulator cost is relatively low, and maintenance cost is also low.After two two mobile manipulators reached the limit of the position, equipment still can be operated with semi-automatic, combined existing semi-automatic function well, had expanded the application scenario.
Description of drawings
Fig. 1 is the example structure schematic diagram.
Fig. 2 is an A portion enlarged drawing among Fig. 1.
Fig. 3 is a B portion enlarged drawing among Fig. 1.
Fig. 4 is the inner structural representation that amplifies of head.
Fig. 5 is another visual angle structural representation of embodiment.
Fig. 6 is the thin cloth pore structure schematic diagram of copper.
State diagram when Fig. 7 works for moving left manipulator.
The specific embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
Embodiment: as shown in Figures 1 to 4, printed circuit plate punching machine in the present embodiment comprises head 101, workbench 100, travelling carriage 1, control device (not shown) and mobile manipulator 2, head 101 is provided with perforating mechanism, hold down gag, display floater 103 and load button 104, perforating mechanism is used for punching on printed circuit board 102, adopts punch 9 and die structure in the present embodiment.Hold down gag can be pressed in travelling carriage 1 so that printed circuit board 102 moves with travelling carriage 1 with printed circuit board 102, adopts presser feet 4 in the present embodiment.
Fine setting printed circuit board 102 positions were positioned at workbench 100 middle positions in travelling carriage 1 was used among a small circle, had transversal driving mechanism and vertical driving mechanism (belong to prior art, nothing shows among the figure).
Camera head 8 is used to take the image of printed circuit board, and camera head is equipped with reflective mirror 6.
The image that control device is used for transmitting according to camera head 8 carries out analyzing and processing acquisition data and according to driven by program travelling carriage 1, perforating mechanism and camera head 8, the image that also is used for transmitting according to camera head 8 carries out the handing-over that analyzing and processing obtains data and finishes printed circuit board according to driven by program mobile manipulator 2 in rational position.
Mobile manipulator 2 is two, be divided into travelling carriage 1 two sides, be called and move right manipulator and move left manipulator, each mobile manipulator 2 has longitudinal moving mechanism, transverse moving mechanism and two clamping devices that are used for the clamping printed circuit board 3 that are arranged in juxtaposition, two clamping devices 3 connect by a fixed bar 34, and are synchronized with the movement.
As depicted in figs. 1 and 2, clamping device 3 is located on the longitudinal slide 4b of mobile manipulator 2 by a holder 33, clamping device 3 comprises clamp clip 32, rubber tip 31 and clamps the cylinder (not shown), rubber tip 31 cooperates with clamp clip 32 and clamps printed circuit board 102, clamp cylinder and be controlled by control device, be used to drive rubber tip 31 and move realizing and unclamp and clamp.
As depicted in figs. 1 and 2, longitudinal moving mechanism comprises longitudinal rail 2b, vertically be with 7b synchronously, vertical motor 1b, longitudinal slide 4b and vertical geometrical clamp 9b, vertically be with 7b ringwise synchronously, two ends are surrounded with vertical drive pulley 6b and vertical driven pulley 8b, vertically motor 1b is used to drive vertical drive pulley 6b, vertically the clutch end of motor 1b is connected with the power intake of vertical drive pulley 6b, vertically motor 1b is located on the cross slide 4a by an angle bar 10b, longitudinal slide 4b bottom has the longitudinal sliding block 5b that cooperates with vertical slide rail 2b, relatively longitudinal rail 2b vertically moves, vertically geometrical clamp 9b be located at that longitudinal slide 4b goes up and clamping vertically synchronously band 7b so that longitudinal slide 4b with vertical moving of band 7b synchronously.
As shown in Figure 5, transverse moving mechanism comprises cross slide way 2a, laterally be with 7a synchronously, cross motor 1a, cross slide 4a and crosswise fixed folder 9a, laterally be with 7a ringwise synchronously, two ends are surrounded with horizontal drive pulley 6a and horizontal driven pulley 8a, cross motor 1a is used to drive horizontal drive pulley 6a, the clutch end of cross motor 1a is connected with the power intake of horizontal drive pulley 6a, cross slide 4a bottom has the transverse slider 5a that cooperates with horizontal slide rail 2a, relatively cross slide way 2a vertically moves, crosswise fixed folder 9a be located at that cross slide 4a goes up and clamping laterally synchronously band 7a so that cross slide 4a with horizontal moving of band 7a synchronously.
Transverse moving mechanism is located on the crosswise fixed plate 3a and is fixed on the puncher, and head 101 is provided with a fixed head 10a, and crosswise fixed plate 3a and this fixed head 10a are connected and fixed.Longitudinal moving mechanism is located at by a vertical fixed head 3b and is arranged on the cross slide 4a.
At first on copper thin 110, print figure in the printed wiring board process, see Fig. 6, certainly the position, hole in Fig. 6 example forms according to design software, be very accurate, but the unnecessary copper in back is thin not to have been had by corroding, at this moment entire plate can produce the effect of expanding with heat and contract with cold, and originally the Kong Weihui of design produces small variation, carries out punching and will produce certain error if walk according to design software purely.So in process of production, except walking, also to discern error is revised target circle 112 according to design software, and then punching.Precision has just improved greatly like this.
All just put position, hole in the design software, but printed circuit board can not be put so just when clamping in practical operation, constant slope is arranged certainly, it is just accurate inadequately to walk according to design software like this, might also can not find target circle 112 when gradient is big, after so we will printed circuit board be punched put clamping well, before punching, carry out one section special program earlier---look for two technology circle 111 (seeing shown in Figure 6), study by two technology circles 111, determine the placement angle of printed circuit board, control device is revised the coordinate position of design software automatically then, guarantees the accuracy that follow procedure walks like this, is unlikely to can not find target circle.This process all will automatically be carried out once before every printed circuit board punching.
Move left on the manipulator in order to realize the printed circuit board in the manipulator of moving right is handed off to automatically, the length of requirement elder generation's input printed circuit board before production and wide, so that control device can be judged best left and right sides delivery position automatically, carry out handover procedure, reduce on a large scale and move, guarantee the equipment traveling comfort.
The process explanation:
By load button 104, with printed circuit board to be punched 102 long and wide being input in the control device, access design document, enter duty.At this moment right feeding mechanical hand stretches out to be in puts Board position, printed circuit board to be punched 102 1 ends are placed in the clamping device 3 (see shown in Figure 1), press the START button of equipment, this timed unit at first sends and clamps order, and printed circuit board 102 is clipped on the clamping device 3 firmly.Then, control device is controlled the manipulator 2 that moves right and is carried out the program of looking for technology circle 111, calculates printed circuit board 102 angles after executing automatically, and the relative position coordinates of each target circle 112 in the finishing design software, certainly, the button in the present embodiment 104 also can replace with mouse.
As shown in Figure 1, then, the manipulator 2 that moves right is delivered to the position, hole that first will punch with printed circuit board 102.Control device sends the order that presser feet 4 is pressed, and presser feet 4 is firmly pushed down printed circuit board 102 and travelling carriage 1 like this, and making it to have slip with travelling carriage 1.Then camera head 8 will take the photograph image give control device, target circle error information after control device will be handled is passed to control travelling carriage 1, about travelling carriage 1, about two stepper motors that move up and down are done, up-down error is corrected and is moved, simultaneously, in order not make printed circuit board 102 tensions, at this moment the manipulator 2 that moves right also do respective synchronization about, move up and down, to guarantee precision, control device is sent out the order under the punch 9 then, after the time-delay, control device is sent out on the punch 9, order on the presser feet 4, such punching end cycle, the manipulator 2 that moves right of control device has been delivered to second position, hole that will punch with printed circuit board 102 then ..., analogize in proper order.When control device detects suitable delivery position, join.
Run into suitable delivery position, control device sends handover command, at first moving left manipulator 2 stretches out, move to suitable delivery position by control device control, left side clamping device 3 is tightly clamped printed circuit board 102, at this moment right clamping device 3 unclamp with the cross motor 1a of timed unit control and vertically the motor 1b manipulator 2 that will move right return to next printed circuit board 102 clamping positions.As shown in Figure 7, at this moment move left manipulator 2 beginning operate as normal, its course of work is just the same with the course of work of the manipulator 2 that moves right ... to the last a hole is accomplished fluently, left side clamping device 3 unclamps, with the cross motor 1a of timed unit control and vertically motor 1b will send and move left manipulator 2 and return to next standby position, whole punch process is finished.

Claims (10)

1, a kind of printed circuit plate punching machine comprises
Perforating mechanism is used for punching on printed circuit board;
Hold down gag is used to compress printed circuit board;
Camera head is used to take the image of printed circuit board,
It is characterized in that also comprising
Two mobile manipulators are divided into above-mentioned perforating mechanism two sides, and each mobile manipulator has longitudinal moving mechanism, transverse moving mechanism and is used for the clamping device of clamping printed circuit board, and
Control device, the image that is used for transmitting according to above-mentioned camera head carries out that analyzing and processing obtains data and according to above-mentioned perforating mechanism of driven by program and camera head, also is used for carrying out analyzing and processing according to the image that above-mentioned camera head transmits and obtains data and finish handing-over to printed circuit board in rational position according to above-mentioned two mobile manipulators of driven by program.
2, printed circuit plate punching machine according to claim 1, it is characterized in that this puncher also comprises the travelling carriage that is used for interior among a small circle fine setting printed circuit Board position, the corresponding described perforating mechanism setting of this travelling carriage, and have transversal driving mechanism and the vertical driving mechanism that is controlled by described control device.
3, printed circuit plate punching machine according to claim 1 is characterized in that described clamping device comprises
Clamp clip;
Rubber tip cooperates with the aforementioned clamped sheet to clamp printed circuit board; And
Clamp cylinder, be used to drive aforementioned rubber tip and move realizing and unclamp and clamp, be controlled by described control device.
4, printed circuit plate punching machine according to claim 3 is characterized in that described clamping device is located at described mechanically moving on hand by a holder.
5, printed circuit plate punching machine according to claim 1 is characterized in that described longitudinal moving mechanism comprises
Longitudinal rail,
Vertically be with synchronously, ringwise, two ends are surrounded with vertical drive pulley and vertical driven pulley;
Vertically motor is used to drive above-mentioned vertical drive pulley, and vertically the clutch end of motor is connected with the power intake of vertical drive pulley;
Longitudinal slide can vertically move by above-mentioned relatively longitudinal rail; And
Vertical geometrical clamp, be located on the above-mentioned longitudinal slide and clamping above-mentioned vertically synchronously band so that longitudinal slide with vertical moving of band synchronously.
6,, it is characterized in that described transverse moving mechanism comprises according to the described printed circuit plate punching machine of arbitrary claim in the claim 1~5
Cross slide way,
Laterally be with synchronously, ringwise, two ends are surrounded with horizontal drive pulley and horizontal driven pulley;
Cross motor is used to drive above-mentioned horizontal drive pulley, and the clutch end of cross motor is connected with the power intake of horizontal drive pulley;
Cross slide can vertically move by above-mentioned relatively cross slide way; And
Crosswise fixed folder, be located on the above-mentioned cross slide and clamping above-mentioned laterally synchronously band so that cross slide with horizontal moving of band synchronously.
7, printed circuit plate punching machine according to claim 6, it is characterized in that described transverse moving mechanism is located on the crosswise fixed plate and is fixed on the puncher, described longitudinal moving mechanism is located on the described cross slide, and described clamping device is located on the described longitudinal slide by described holder.
8, printed circuit plate punching machine according to claim 5 is characterized in that described longitudinal slide bottom has the longitudinal sliding block that cooperates with described vertical slide rail.
9, printed circuit plate punching machine according to claim 6 is characterized in that described cross slide bottom has the transverse slider that cooperates with described horizontal slide rail.
10, a kind of drilling method of printed circuit plate punching machine is characterized in that this puncher comprises
Perforating mechanism is used for punching on printed circuit board;
Travelling carriage is used for interior among a small circle fine setting printed circuit Board position, has transversal driving mechanism and vertical driving mechanism;
Hold down gag can be pressed in above-mentioned travelling carriage so that printed circuit board moves with travelling carriage with printed circuit board;
Camera head is used to take the image of printed circuit board;
Two mobile manipulators are divided into above-mentioned travelling carriage two sides, and each mobile manipulator has longitudinal moving mechanism, transverse moving mechanism and is used for clamping printed circuit board clamping device, and
Control device, the image that is used for transmitting according to above-mentioned camera head carries out that analyzing and processing obtains data and according to the above-mentioned travelling carriage of driven by program, perforating mechanism and camera head, also is used for carrying out analyzing and processing according to the image that above-mentioned camera head transmits and obtains data and finish handing-over to printed circuit board in rational position according to above-mentioned two mobile manipulators of driven by program;
Comprise the steps: in control device, to import the data of printed circuit board to be punched, one of them mobile manipulator of used for printed circuit board to be punched is clamped and carries out drilling process, detect rational position up to control device, printed circuit board to be punched is transferred to another mobile manipulator, continues to carry out drilling process.
CN2009100955670A 2009-01-20 2009-01-20 Punching machine and punching method thereof for printed circuit board Expired - Fee Related CN101480800B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100955670A CN101480800B (en) 2009-01-20 2009-01-20 Punching machine and punching method thereof for printed circuit board

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100955670A CN101480800B (en) 2009-01-20 2009-01-20 Punching machine and punching method thereof for printed circuit board

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Publication Number Publication Date
CN101480800A true CN101480800A (en) 2009-07-15
CN101480800B CN101480800B (en) 2011-01-05

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102070040A (en) * 2010-12-29 2011-05-25 宁波东钱湖旅游度假区润群机械有限公司 Automatic manipulator device for punching machine
CN101733438B (en) * 2009-11-10 2011-09-28 重庆理工大学 Robot for punching positioning holes on circuit board
CN102284881A (en) * 2010-05-12 2011-12-21 佳能株式会社 Work conveying system
CN102944947A (en) * 2012-11-13 2013-02-27 深圳市华星光电技术有限公司 Liquid crystal panel and manufacture method of liquid crystal panel
WO2013063847A1 (en) * 2011-10-31 2013-05-10 深圳市麦肯机电有限公司 Fully automated punching mechanical hand
CN106182118A (en) * 2016-07-08 2016-12-07 东阿阿胶股份有限公司 A kind of automatic cutting device using Pneumatic manipulator feeding
CN107567190A (en) * 2017-09-19 2018-01-09 赣州明高科技股份有限公司 A kind of FPC flexible PCBs automatic drilling machine
CN110328699A (en) * 2019-06-28 2019-10-15 沛县大屯电石厂 A kind of alumina silicate gets rid of silk fiber blanket production positioning device
CN111469207A (en) * 2020-04-13 2020-07-31 深圳市强华科技发展有限公司 Intelligent control method for PCB numerical control drilling and drilling process

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101733438B (en) * 2009-11-10 2011-09-28 重庆理工大学 Robot for punching positioning holes on circuit board
CN102284881B (en) * 2010-05-12 2014-03-12 佳能株式会社 Work conveying system
CN102284881A (en) * 2010-05-12 2011-12-21 佳能株式会社 Work conveying system
US9022716B2 (en) 2010-05-12 2015-05-05 Canon Kabushiki Kaisha Work conveying system
CN102070040B (en) * 2010-12-29 2012-12-12 宁波东钱湖旅游度假区润群机械有限公司 Automatic manipulator device for punching machine
CN102070040A (en) * 2010-12-29 2011-05-25 宁波东钱湖旅游度假区润群机械有限公司 Automatic manipulator device for punching machine
WO2013063847A1 (en) * 2011-10-31 2013-05-10 深圳市麦肯机电有限公司 Fully automated punching mechanical hand
CN102944947A (en) * 2012-11-13 2013-02-27 深圳市华星光电技术有限公司 Liquid crystal panel and manufacture method of liquid crystal panel
CN106182118A (en) * 2016-07-08 2016-12-07 东阿阿胶股份有限公司 A kind of automatic cutting device using Pneumatic manipulator feeding
CN107567190A (en) * 2017-09-19 2018-01-09 赣州明高科技股份有限公司 A kind of FPC flexible PCBs automatic drilling machine
CN107567190B (en) * 2017-09-19 2019-06-28 赣州明高科技股份有限公司 A kind of FPC flexible circuit board automatic drilling machine
CN110328699A (en) * 2019-06-28 2019-10-15 沛县大屯电石厂 A kind of alumina silicate gets rid of silk fiber blanket production positioning device
CN111469207A (en) * 2020-04-13 2020-07-31 深圳市强华科技发展有限公司 Intelligent control method for PCB numerical control drilling and drilling process

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