CN102497937A - Operating device - Google Patents
Operating device Download PDFInfo
- Publication number
- CN102497937A CN102497937A CN2010800384073A CN201080038407A CN102497937A CN 102497937 A CN102497937 A CN 102497937A CN 2010800384073 A CN2010800384073 A CN 2010800384073A CN 201080038407 A CN201080038407 A CN 201080038407A CN 102497937 A CN102497937 A CN 102497937A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- conveyance
- work
- unit
- slide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Coating Apparatus (AREA)
- Feeding Of Workpieces (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Disclosed is an operating device which can flexibly accommodate changes in production volume and which can be used as a fully automatic operating device having a conveyance mechanism for a workpiece or as a semi-automatic operating device (a desktop robot) wherein the workpiece is manually attached and detached. A fully automatic operating device is provided with a mount on which a conveyance unit for conveying a workpiece is arranged, and a desktop operating unit which is detachably arranged on the mount. The desktop operating unit is provided with a workpiece holder for holding a workpiece, an operating head, and a relative displacement unit which moves the workpiece holder and the operating head relative to one another, and is able to carry out alone the desired operation on the workpiece held in the workpiece holder. The workpiece holder has a conveyance position, wherein the workpiece holder is connected to the conveyance unit, and an operating position, wherein the workpiece holder separates from the conveyance unit and carries out the desired operation on the workpiece.
Description
Technical field
The present invention relates to a kind of apparatus for work of workpiece being carried out required operation; For example have carrying out the semi-automatic apparatus for work of the desktop robot of required operation with the workpiece of manual input, and can load and unload the full-automatic type apparatus for work that disposes this semi-automatic apparatus for work freely and have the conveyance unit.
In this manual, so-called " full-automatic type apparatus for work " be meant can automatically carry out to the workpiece in operation place move into, in the operation place to the operation of workpiece, the apparatus for work of from the operation place, workpiece being taken out of, as concrete example; Disclose a kind of device; Can repeat automatically by taking out workpiece in the casket box of taking in a plurality of workpiece, after above-mentioned workpiece is carried out required operation, will be accommodated in the device of the step in the casket box again through post-job workpiece; Perhaps; Can repeat the workpiece moved into from the device of last step automatically, carry out required operation after, take out of the device of the step to the device of next step again.
Background technology
For in the precalculated position of the operation object that is called as " workpiece ", required operation such as implement that liquid coating, oiling, latch are pressed into, assemble, welding, screw are fastening, and use apparatus for work.
For example, patent documentation 1 discloses a kind of apparatus for work of workpiece being implemented alburnum coating operation.
This apparatus for work possesses and has: apparatus for coating body, loading machine and unloader; This apparatus for coating body is implemented the liquor coating to workpiece; This loading machine will carry the casket box table of putting the casket box and move up and down; And the workpiece of being taken in the casket box is supplied to the apparatus for coating body, this unloader will carry the casket box table of putting the casket box and move up and down, and will be accommodated in the casket box from the workpiece that the apparatus for coating body is discharged.Wherein, loading machine and unloader are disposed at the both sides of above-mentioned apparatus for coating body, and are equipped on vertical direction with respect to a plurality of casket box tables.
Like patent documentation 1 disclosed device; Automatically take out workpiece from the casket box of taking in workpiece; Again with the automatic conveyance of workpiece to the workpiece table, just be installed on the workpiece table, after utilizing apparatus for work that workpiece is implemented required operation; With in work transporting to the casket box and take in, the device of carrying out this a succession of operation automatically and continuously is called " full-automatic type " again.
Like the device of on manufacturing line, being assembled; Move into workpiece from the device of last step; After carrying out required operation, again the workpiece that fulfils assignment is taken out of the device to next step, the device of carrying out this a succession of operation automatically and continuously also belongs to " full-automatic type device ".
And this kind alburnum apparatus for coating is generally the floor that directly is arranged at ground the type apparatus for work is set.
This apparatus for work is a kind of liquid supplying apparatus, and is the desktop Work robot, and the assembly that is possessed includes: pedestal platform, directions X move the unit, the Z direction moves unit, syringe tray, syringe and nozzle.This pedestal platform is provided with the Y direction and moves the unit, makes to carry the workpiece table put workpiece (trace dish) and carry out the Y direction and move.This directions X moves the unit by near the two set shore supports rearward end of pedestal platform both sides, and above the workpiece table, moves.This Z direction moves the unit and is equipped on directions X and moves the unit.This syringe tray is arranged at the Z direction and moves the unit.This syringe is equipped on syringe tray, and stores fluent material.This nozzle is installed in the syringe downside end with the mode that is communicated with syringe, with the fluent material that spues.
Desktop Work robot operated by rotary motion or carry to place on table or the operation post and use.
This apparatus for work constitutes on base station and supports guiding element mechanism via supporting column, and makes instrument erecting bed and screwdriver unit robot drive divisions such as (De ラ イ バ one ユ ニ Star ト) carry out laterally moving along this guiding element mechanism.
In patent documentation 3; Disclose that table goes up that the robot device is fastening for screw especially, welding, clean, assembling, liquid coating, oiling, latch are pressed into etc. support and using, a kind of device is for example disclosed, it is as screw fastening device; Horizontal part is formed at the top at the instrument erecting bed; And as the supply department that keeps necessary parts in each job step, be provided with screw supplying and store machine, in screw supplying storage machine, contain a plurality of primary screws; This primary screw is supplied to the front end of screwdriver unit via inducing pipe, and it is fastening to carry out set screw.
Like patent documentation 2 and patent documentation 3 disclosed devices; Before operation manually with workpiece from taking-ups such as receiver or supporting plates; Likewise manually workpiece is installed on the operation table; After utilizing apparatus for work that workpiece is carried out required operation, dismantle from the operation table with the workpiece that manually will implement operation again, this device is called " semi-automatic ".In the semi-automatic apparatus for work, apparatus for work is carried out the operation for workpiece, but the operator must carry out workpiece the attaching/detaching of operation table and the operation of apparatus for work is begun indication, puts to be different from full-automatic type at this point.
The desktop Work robot that does not have the work transporting function will be used as the semi-automatic use.
As stated; Apparatus for work have be provided with or carry the semi-automatic apparatus for work that places operation post or table to go up the desktop size of using, or be arranged at directly that the floor is used and size greater than the full-automatic type apparatus for work of desktop size, one of benchmark of selecting to use full-automatic type apparatus for work, also be to use the semi-automatic apparatus for work is output.
Full-automatic type apparatus for work can automatically not carried out via operator's hand and produce, and can make high-quality goods.On the other hand, this device is large-scale, on being provided with, needs large space.And, when producing other kind,, thereby change and produce adjustment and need time and labour because device is comparatively huge.So full-automatic type apparatus for work tends to the single variety volume and produces.
The semi-automatic apparatus for work can form the compact devices that can use on the table, can apply flexibly the space in order to produce effectively, and kind changing when switching etc. produced adjustment and also be easier to implement.On the other hand, install because must carry out workpiece, thereby it is uneven to have workpiece installation site precision, thereby, requires the operator skilled in order to reach the quality of item of full-automatic type apparatus for work manufacturing via the operator.And, on this aspect of production efficiency, not as good as full-automatic type apparatus for work.So the semi-automatic apparatus for work tends to other kind produced in small quantities.
The prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid is opened the 2003-145022 communique
Patent documentation 2: Japanese Patent Laid is opened the 2005-061957 communique
Patent documentation 3: japanese patent laid-open 08-229478 communique
Summary of the invention
(problem that invention will solve)
Since previous, cooperate output, suitably select to use semi-automatic device or full-automatic type device, all need buy device at every turn.And, in each device, must carry out the setting of creating conditions, thereby must carry out time-consuming operation.But, in recent years, receive the influence of the variation, product life cycle shorteningization etc. of the market demand, in the production scene, the reply that requires to change and tackle flexibly for the equity of answering of diversification of varieties for output.
So; The objective of the invention is to address the above problem; Providing a kind of can either be used for the full-automatic type operation with work transporting mechanism and use device; Also can be used for semi-automatic device (desktop robot), and can tackle the apparatus for work of output neatly manually to carry out work-handling.
(technical scheme of technical solution problem)
The apparatus for work of the present invention the 1st aspect is full-automatic type apparatus for work, and possessing has: stand is equipped with the conveyance unit of conveyance workpiece; And desktop apparatus for work unit, loading and unloading are equipped on stand freely; Said apparatus for work is characterised in that: desktop apparatus for work unit possesses and has: keep workpiece maintaining part, the work head of workpiece and the relative moving mechanism that workpiece maintaining part and work head are relatively moved; And the workpiece that can be kept the workpiece maintaining part individually carries out required operation; And the workpiece maintaining part has: conveyance position that is connected with the conveyance unit and the job position that leaves the conveyance unit and workpiece carried out required operation.
The apparatus for work of the present invention the 2nd aspect is the semi-automatic apparatus for work, and possessing has: keep workpiece maintaining part, the work head of workpiece and the relative moving mechanism that workpiece maintaining part and work head are relatively moved; And the workpiece that can be kept the workpiece maintaining part on the table carries out required operation; Said apparatus for work is characterised in that: the loading and unloading of this device are equipped on freely possess the device that stand is arranged and be provided in the conveyance unit of the conveyance workpiece on the stand; The workpiece maintaining part is through being displaced into the conveyance position that is connected with the conveyance unit and leaving the conveyance unit and workpiece is carried out the job position of required operation, and can constitute full-automatic type apparatus for work.
The apparatus for work of the present invention the 3rd aspect is characterized in that: possess stand is arranged, this stand is equipped with the conveyance unit of conveyance workpiece; Can workpiece maintaining part, the work head that keep workpiece be arranged and make the desktop apparatus for work unit loading and unloading of the relative moving mechanism that workpiece maintaining part and work head relatively move be equipped on stand freely possessing; The workpiece maintaining part is through being displaced into the conveyance position that is connected with the conveyance unit and leaving the conveyance unit and workpiece is carried out the job position of required operation, and can constitute full-automatic type apparatus for work.
The apparatus for work of the present invention the 4th aspect is characterised in that, in the arbitrary aspect aspect the present invention the 1st to the 3rd, said conveyance unit possesses to have and leaves upstream side conveyance slide rail and the downstream dispensing slide rail that sets; In said conveyance position, said workpiece maintaining part is connected upstream side conveyance slide rail with downstream dispensing slide rail.
The apparatus for work of the present invention the 5th aspect is characterised in that, aspect the present invention the 4th in, said workpiece maintaining part possesses to have and connects slide rail and workpiece is limited to the card locking mechanism that connects slide rail.
The apparatus for work of the present invention the 6th aspect is characterised in that, aspect the present invention the 5th in, said conveyance unit possesses reciprocal conveyance portion is arranged, this reciprocal conveyance portion with workpiece from the conveyance of said upstream side conveyance slide rail to said downstream dispensing slide rail.
The apparatus for work of the present invention the 7th aspect is characterised in that, aspect the present invention the 6th in, also possess the unloader portion that the downstream that are disposed at said downstream dispensing slide rail are arranged; The pushing member that utilizes said reciprocal conveyance portion to be had is accommodated in unloader portion with workpiece.
The apparatus for work of the present invention the 8th aspect is characterised in that in the arbitrary aspect aspect the present invention the 1st to the 7th, said conveyance unit loading and unloading is equipped on said stand freely.
(effect of invention)
According to the present invention, need not cooperate output and many kinds a small amount of/modes of production such as short kind volume, and integrate a plurality of different devices.
Moreover, only make a last apparatus for work unit break away from stand and just can use, thereby can directly continue to use the operating condition that workpiece is carried out, need adjust time, adjustment operation hardly.
Moreover; Because can only the desktop operation unit of the work head that possesses breakage or serious wear be dismantled from stand; Thereby; Even under the situation that type apparatus for work unit breaks down on the table, also can only change desktop apparatus for work unit and just can continue to produce, thereby can shorten the production dwell time.Especially, under the situation of the apparatus for work of being assembled on the manufacturing line,, thereby can significantly cut down needed time of repair and labour because need not remove the binding of another adjacent device and conveyance unit or be connected.
Description of drawings
The overall diagram of the apparatus for work that Fig. 1 relates to for embodiments of the invention 1.
Fig. 2 is in the device shown in Figure 1, the skeleton diagram of desktop apparatus for work unit.
Fig. 3 is in the desktop apparatus for work shown in Figure 2 unit, the skeleton diagram of operation table.
Fig. 4 is in the operation table shown in Figure 3, and the key diagram of the action of reinforcement unit is described.
Fig. 5 is in the device shown in Figure 1, the skeleton diagram of conveyance unit.
Fig. 6 is in the device shown in Figure 1, the skeleton diagram of loading machine portion, unloader portion and conveyance slide rail etc.
Fig. 7 a is the key diagram (1/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 b is the key diagram (2/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 c is the key diagram (3/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 d is the key diagram (4/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 e is the key diagram (5/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 f is the key diagram (6/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 g is the key diagram (7/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 7 h is the key diagram (8/8) of the work transporting pattern of key diagram 1 shown device.
Fig. 8 is the control block diagram of device shown in Figure 1.
The key diagram of the pattern when Fig. 9 separates desktop apparatus for work unit from device shown in Figure 1 for explanation.
Figure 10 is the key diagram that makes use-case of the desktop apparatus for work unit after explanation separates from device shown in Figure 1.
Figure 11 is the key diagram that be connected pattern of explanation body with desktop apparatus for work unit.
Figure 12 is the approximate three-dimensional map of block that body is connected with desktop apparatus for work unit.
Figure 13 is connected the key diagram of pattern for other of explanation body and desktop apparatus for work unit.
Figure 14 is the approximate three-dimensional map of position adjustment unit.
Figure 15 is the key diagram that engage pattern of explanation guiding element with body.
Symbol description
10 bodies
11 pedestal A (stand)
12 side plates
13 top boards
14 monitors (contact panel)
15 batching controllers
16 syringes
17 nozzles
18 pipelines
20 workpiece A
21 hole A
22 workpiece B
23 hole B
29 control boxs
30 conveyance unit
31 loading machine portions
32 unloader portions
33 reciprocal conveyance portions
34 casket box A
35 casket box B
36 conveyance driving mechanisms (conveyance driver element)
37 pin A
38 pin B
39 pin installed parts
40 take out of plate (pushing member)
41 slide rail connecting pieces
42 propellers
43 fixed flat planars
44 conveyance plates
50 desktop apparatus for work unit (Work robot unit)
51 pedestal B
52 pillars
53 directions X travel mechanisms (directions X moves the unit)
54 Z direction travel mechanisms (the Z direction moves the unit)
55 flat boards
56 discharge heads
57 CCD cameras
58 laser displacement gauges
59 Y direction travel mechanisms (the Y direction moves the unit)
60 operation tables
61 console switch
62 microscope carriers
63 reinforcement unit
64 support members
65 connecting pieces
67 installing holes
68 guiding elements
70 workpiece are moved into the position
71 workpiece are taken out of the position
72 design producing job positions
80 conveyance slide rail A
81 conveyance slide rail B
82 conveyance slide rail C
85 blocks
86 holes
87 position adjustment unit
88 adjustment screws
89 particle size parts
90 control part A
91 control part B.
The specific embodiment
Liquid material application device fluent material is coated as the lead frame of workpiece is an example, and the mode that is used for embodiment of the present invention is described.
The main composition important document of the apparatus for work of this embodiment is body 10 and the desktop apparatus for work unit 50 that is equipped with conveyance unit 30.
The stand of body 10 is provided with the conveyance unit 30 in order to the conveyance workpiece.From the viewpoints such as moving into easy property of taking out of of maintenance property and desktop apparatus for work unit 50,30 loading and unloading of preferred conveyance unit are equipped on stand freely.
The upper reaches in conveyance unit 30 dispose the loading machine portion of taking in the workpiece that does not fulfil assignment, and in the downstream of conveyance unit 30, dispose the unloader portion of taking in the workpiece that fulfils assignment.Middle reaches in conveyance unit 30 dispose the desktop apparatus for work unit 50 more than 1, utilize conveyance unit 30 to carry out the preceding workpiece of operation and move into desktop apparatus for work unit 50 and take out of post-job workpiece from desktop apparatus for work unit 50.
Desktop apparatus for work unit 50 also can break away from body 10 and use with monomer.When desktop apparatus for work unit 50 uses with monomer, the loading and unloading of workpiece manual execution capable of using.That is, desktop apparatus for work unit 50 possesses work head is arranged, workpiece maintaining part and XYZ direction travel mechanism, and can use as the semi-automatic apparatus for work with monomer.
On the table in the type apparatus for work unit 50, the preferable workpiece maintaining part that can constitute transport mechanism that is provided with conveyance unit 30 interlocks.For example, disclose on the table that the upstream side of type apparatus for work unit 50 is provided with conveyance slide rail A80, and conveyance slide rail C82 is set, utilize conveyance slide rail B81, constitute the workpiece maintaining part of desktop apparatus for work unit 50 with workpiece card locking mechanism in the downstream.Through this kind structure, can take out of under the situation of moving into device in that workpiece is not set separately, carry out picking and placeing of workpiece in conveyance unit 30 and 50 of desktop apparatus for work unit.
According to apparatus of the present invention discussed above; When produced in small quantities; Desktop apparatus for work capable of using unit produces; When output increased, the situation of producing with on device body, carrying desktop apparatus for work unit simply was identical, can realize workpiece is carried out condition adjustment time, the adjustment operation minimum of operation.
Moreover; In this embodiment; After the workpiece that will from the casket box, be discharged implemented the coating operation, the device that is accommodated in the type of casket box again constituted example and describes, but can certainly be as constituting at the device that is connected with on the manufacturing line that constitutes by multiple arrangement to be assembled and utilizing.
Moreover, in this embodiment, though illustration workpiece is implemented the apparatus for coating of fluent material coating, the present invention is certainly and not only be confined to apparatus for coating.
In addition, the configuration pattern about the conveyance slide rail also can adopt any-mode.For example, constitute, but, also can utilize the present invention for the device that is not provided with conveyance slide rail C, unloader and casket box B by loading machine, casket box A, conveyance slide rail A and conveyance slide rail B.Promptly; Utilize conveyance slide rail B to implement the workpiece A of coating operation, return to conveyance slide rail A once again and return the casket box A of loading machine A, then; The workpiece B that then should implement the coating operation takes out from casket box A; And via conveyance slide rail A conveyance to conveyance slide rail B, this device that carries out the type of work transporting also can be suitable for the present invention.At this moment, same position moved into position and workpiece drain position yes by workpiece.
Below, utilize embodiment that detailed content of the present invention is described, but the present invention does not receive the restriction of arbitrary embodiment.
Embodiment
[summary of apparatus for work]
The workpiece of present embodiment is with the lead frame of clathrate configuration multiple arrangement, forms the hole in upper right end.
[body 10]
Body 10 is by set contact panel 14 and batching controller 15 at the conveyance unit 30 that the place ahead set of pedestal (stand) A11 and control box 29 and on the plate that biside plate 12 supported 13 by the rear of pedestal A11 and constitute.And, below pedestal A11, set control part A90.Central authorities at pedestal A11 set desktop apparatus for work unit 50.
[desktop apparatus for work unit 50]
Desktop apparatus for work unit 50 is made up of directions X travel mechanism 53, Z direction travel mechanism 54, discharge head 56, flat board 55, Y direction travel mechanism 59, operation table 60 and console switch 61.This directions X travel mechanism 53 is by supporting towards the pedestal B51 extended pillar 52 in top.This Z direction travel mechanism 54 utilizes directions X travel mechanism 53 and can move at directions X.This discharge head 56 utilizes Z direction travel mechanism 54 and can on the Z direction, move.This flat board 55 is equipped with CCD camera 57 and laser displacement gauge 58.This Y direction travel mechanism 59 is disposed at pedestal B51 central authorities.This operation table 60 utilizes Y direction travel mechanism 59 and can on the Y direction, move.This console switch 61 is disposed at the right side of pedestal B51.In pedestal B51, set not shown control part B91.
Control part B91 can write down the coating program; The button of console switch 61 or not shown coating program; To implement the action sequence sequencing of coating for the desired location on workpiece, can to the action of X moving direction unit 53, Y direction travel mechanism 59 and Z direction travel mechanism 54 and batching controller 15 and after the action of the reinforcement unit 63 stated control.
Through receiving signal, can carry out above-mentioned coating program from connector.When performing a programme, the order of being put down in writing in the amenable to process is moved directions X travel mechanism 53, Y direction travel mechanism 59, Z direction travel mechanism 54, batching controller 15 and above-mentioned reinforcement unit 63.
Moreover, the control part A that states after control part B91 is connected in, can and control part A between carry out signal transmission receive.
Discharge head 56 has the nozzle 17 that is communicated with the syringe that is used for the storaging liquid material 16, and is communicated with batching controller 15 via pipeline 18.Utilization is implemented the required time pressurization through the air of batching controller 15 pressure regulation with the fluent material in the syringe 16, thereby constitutes the state of the fluent material that from nozzle 17, spues.
[operation table 60]
As shown in Figure 3, operation table 60 is made up of microscope carrier 62, support member 64, connecting piece 65, conveyance slide rail B81 and reinforcement unit 63.This support member 64 is equipped on the microscope carrier 62.This connecting piece 65 is supported by support member 64.This conveyance slide rail B81 utilizes connecting piece 65 and this slide rail member is fixed.This reinforcement unit 63 is positioned at the below of above-mentioned conveyance slide rail B81 and is equipped on microscope carrier 62.
Conveyance slide rail B81 is the two slide rail members that cross sectional shape is the コ word, is configured to the mutual subtend of recess separately, and, for the conveyance workpiece, maintain proper spacing.
[conveyance unit 30]
As shown in Figure 5, conveyance unit 30 is made up of loading machine portion 31, unloader portion 32, conveyance slide rail A80, conveyance slide rail C82 and reciprocal conveyance portion 33.
Conveyance slide rail A80 is fixed in loading machine portion 31, utilizes slide rail connecting piece 41 and is connected with the conveyance slide rail C82 that is fixed in unloader portion 32.Slide rail connecting piece 41 is fixed in the outside sidepiece of conveyance slide rail A80 and conveyance slide rail C82.
Conveyance slide rail A80 and conveyance slide rail C82 leave with the distance of the same length of conveyance slide rail B81 and dispose.Through configuration conveyance slide rail B81 between this conveyance slide rail A80 and conveyance slide rail C82, thereby workpiece can be from 31 conveyances of loading machine portion to unloader portion 32.
As shown in Figure 6, back and forth conveyance portion 33 is made up of conveyance plate 44, pin A37 and pin B38.This conveyance plate 44 utilizes conveyance driving mechanism (conveyance driver element) 36, and moves at directions X.This pin A37 and pin B38 can move at above-below direction and be mounted to via the pin installed part 39 that is fixed in conveyance plate 44.
On pin installed part 39, in loading machine portion 31 sides (casket box A34 side) pin A37 is installed, and pin B38 is installed in unloader portion 32 sides (casket box B35 side).And, be equipped with on the pin installed part 39 of pin B38, be provided with in the workpiece transport direction front of pin installed part 39 and take out of plate (pushing member) 40.
The control of conveyance unit 30 is carried out by control part A90.Control part A90 carries out the control that moves up and down of each lifting unit that loading machine portion 31 and unloader portion 32 are moved at above-below direction; And the directions X of the conveyance driving mechanism 36 that conveyance plate 44 is moved at directions X moves control, carries out the control that moves up and down of pin A37 and pin B38 simultaneously.And, communicate by letter (with reference to Fig. 8) of the signal that control part A90 and the control part B91 of desktop apparatus for work unit 50 carry out picking and placeing about workpiece.
[action]
With reference to Fig. 7 a～7h the action of this device is described.In addition, in Fig. 7 a～7h, the beam (purlin) that becomes each conveyance slide rail omits diagram.
" loading machine portion～conveyance slide rail A～conveyance slide rail B "
The casket box A34 that the operator will take in the preceding workpiece of coating in advance is arranged at loading machine portion 31, and the empty boxes box B35 that will reclaim coating back workpiece simultaneously is arranged at unloader portion 32.At this moment, the operation table 60 of desktop apparatus for work unit 50 is moved into position 70 standbies at workpiece.Be positioned at this workpiece through operation table 60 and move into position 70, the conveyance slide rail B81 on the operation table 60 just is connected with conveyance slide rail A80 and conveyance slide rail C82, thereby can carry out the conveyance of workpiece from conveyance slide rail A80 to conveyance slide rail B81.
Begin from control box 29 indication operations through the operator, this device just begins to be coated with operation.
Shown in Fig. 7 b, at first, the casket box A80 of loading machine portion 31 moves to the position that the workpiece of the 1st layer of casket box A80 topmost is discharged, then, propeller 42 at directions X (right-hand to) towards conveyance slide rail A80 only with ormal weight pushing workpiece A20.Then, rise with respect to the workpiece A20 that pushes out from above-mentioned loading machine portion 31 through making pin A37, thereby pin A37 is inserted in the set hole 21 of workpiece A20 right-hand member.
Then, shown in Fig. 7 c, make conveyance driving mechanism 36 produce action, the workpiece A20 that makes injection pin A37 slides towards directions X (among the figure right-hand to) on conveyance slide rail A80, and moves to conveyance slide rail B81.When workpiece A20 moves to conveyance slide rail B81, stop conveyance driving mechanism 36, and the mobile of workpiece A20 stopped.
" coating program implementation "
After workpiece A20 stops, pin A37 is descended, from control part A90 desktop apparatus for work unit 50 transmission workpiece are moved and establish the completion signal.When the control part B91 of desktop operation unit 50 receives above-mentioned signal, just carry out the required coating program that in control part B91, stores in advance.Here, at first make the reinforcement unit 63 of operation table 60 produce action, and fixed flat planar 43 is risen.When fixed flat planar 43 rose, workpiece A20 was located in above the fixed flat planar 43 and below the conveyance slide rail B81, goes up (with reference to Fig. 3 b) and be fixed in fixed flat planar 43 with conveyance slide rail B81.
After workpiece A20 relative fixed dull and stereotyped 43 and conveyance slide rail B81 are fixing; Desktop apparatus for work unit 50 moves (with reference to Fig. 7 e) with workpiece towards design producing job position 72; And make directions X travel mechanism 53, Y direction travel mechanism 59, Z direction travel mechanism 54 and batching controller 15 produce action, thereby on workpiece A20, the fluent material of aequum is coated with into required pattern.
When the coating that utilizes above-mentioned coating program to implement was accomplished, the control part B91 of desktop apparatus for work unit 50 took out of position 71 with operation table 60 towards workpiece and moves, and will be coated with the completion signal and be sent to control part A90 (with reference to Fig. 7 f).Here, in the present embodiment, workpiece is moved into position 70 and is taken out of position 71 with workpiece and be same position, and still, workpiece is moved into position 70 and taken out of position 71 with workpiece and also can be diverse location certainly.For example; Leaving under the bigger situation of distance between conveyance slide rail A and conveyance slide rail C; Workpiece is moved into the position becomes conveyance slide rail B but position that with conveyance slide rail C leave adjacent with conveyance slide rail A; And workpiece takes out of the position and becomes the adjacent but position that leave with conveyance slide rail A of conveyance slide rail B and conveyance slide rail C, and workpiece is moved into position and workpiece, and to take out of the position different.
" standby of workpiece B22 "
Shown in Fig. 7 e and Fig. 7 f; On the table type apparatus for work unit 50 carry out the design producing operations during in, loading machine portion 31 and reciprocal conveyance portion 33 carry out and make the workpiece B22 that then will carry out the design producing operation move to conveyance slide rail A80 and efficient is preferably carried out the preparation of coating operation.That is, make loading machine portion 31 produce action, and be positioned at the position of discharging workpiece B22, make propeller 42 produce action, and workpiece B12 is only seen off towards conveyance slide rail A80 with ormal weight.Then, make conveyance driving mechanism 36 produce action, and pin A37 is moved towards loading machine portion 31 directions (left to), and pin A37 is risen, the hole B23 that pin A37 is passed through insert in workpiece B22.Then, conveyance driving mechanism 36 is moved towards unloader direction (right-hand to), and move to pin B38 and can pass through to insert in and be positioned at position and the standby of hole A21 that workpiece is taken out of the workpiece A20 of position.Passed through the unloader direction of slotting workpiece B22 through conveyance driving mechanism 36 (right-hand to) by pin A37 and move, and passed out on the conveyance slide rail A, and standby on conveyance slide rail A80.Like this, conveyance slide rail A80 plays the coating standby station effect of the workpiece that becoming continues implements coating.In addition, when standby, pin B38 descends.
" conveyance slide rail B～conveyance slide rail C～unloader portion "
When control part A receives coating when accomplishing signal from control part B, just begin the workpiece A20 that has been coated with is recovered in the action of casket box B35.Take out of position 71 at workpiece, the fixed flat planar 43 of reinforcement unit 63 is descended, establish fixing to the folder of workpiece A20 and remove.Then, pin B38 is risen, and the hole 21 that pin B38 is passed through insert in workpiece A20.
Shown in Fig. 7 g, produce action through conveyance driving mechanism 36 pin B38 is moved towards unloader portion 32 directions (among the figure right-hand to), thereby make workpiece A20, and be transferred to conveyance slide rail C82 in the enterprising line slip of conveyance slide rail C82.At this moment, workpiece B22 utilizes pin A37 to move to conveyance slide rail B81.After being transferred to conveyance slide rail C82, pin B38 is descended.
Shown in Fig. 7 h; Make conveyance driving mechanism 36 produce action; Take out of plate 40 and move and make, up to taking out of till plate 40 is arranged in the position of loading pusher side of workpiece A20 rear end (left end of figure), then towards loading machine portion 31 directions (left among the figure to); Rear end (left end the figure) from workpiece A20; Utilize conveyance driving mechanism 36 to make to take out of plate 40 to move, thereby take out of the rear end of plate 40 pushing workpiece A20, workpiece A20 is accommodated in the casket box B35 of unloader portion 32 towards unloader portion 32 directions (among the figure right-hand to).At this moment, the casket box B35 of unloader portion 32 position and the standby that utilize lifting unit to move to take in workpiece.And, take out of plate 40 and be arranged at when pin B38 passes through the hole of inserting workpiece, the position that can not interfere with the unloading pusher side front end (right-hand member among the figure) of workpiece.
Parallel with above-mentioned operation, when workpiece B22 utilizes pin A37 to move to conveyance slide rail B81, pin A37 is descended, and the fixed flat planar 43 of reinforcement unit 63 is risen, and be fixed in conveyance slide rail B81, likewise carry out the design producing operation with workpiece A20 again.That is, in execution workpiece A20 is accommodated between the operational period of unloader 32, the coating operation can be carried out to workpiece B22 in desktop apparatus for work unit 50.And, in that workpiece B22 is carried out between the design producing operational period, workpiece A20 is accommodated in casket box B35, and the workpiece that makes the workpiece B22 that continues implement coating moves to conveyance slide rail A80.
Above action repeats, and till whole workpiece that the casket box A34 of loading machine portion 31 is taken in finished, when all workpiece are accommodated in the casket box B35 of unloader 32, terminates turned round automatically.
[loading and unloading]
In the hole 86 through four blocks 85 on the pedestal A11 of body 10, fix, desktop apparatus for work unit 50, intercalation is four pins being set of 50 bottom surfaces, type apparatus for work unit on the table, thereby fix (with reference to Figure 11 and Figure 12) with body 10 bindings.
When with desktop apparatus for work unit 50 when body 10 separates, desktop apparatus for work unit 50 is lifted towards the top, and makes pin pull-off from the block 85 of body 10 of 50 bottom surfaces, desktop apparatus for work unit.
In the present embodiment 1, make the rear side of desktop apparatus for work unit 50, through just taking out of by side plate 12 and 13 area surrounded of top board from body 10.Top board 13 is arranged at the height that when taking out of desktop apparatus for work unit 50, can not interfere certainly.In addition, also can on the pedestal A11 of body 10, be provided with and take out of mouth.
Moreover, shown in figure 13, desktop apparatus for work unit 50 also can positioning and fixing in body 10.Promptly; Also can be positioned near the mode the guiding element fixed on the pedestal A11 of body 10 68 with the corner side of desktop apparatus for work unit 50; Carry and put desktop apparatus for work unit 50; Then, utilize position adjustment unit 87, the corner side of desktop apparatus for work unit 50 is pressed against guiding element 68 with the location and fix.Here, the screw 88 that position adjustment unit 87 is particle size for front end connects the structure of L word shape plates, and the front end face of the particle size part 89 of screw 88 front ends is connected to the side of desktop apparatus for work unit 50.When particle size part 89 is the material of soft property such as rubber or plastics, can not injure desktop apparatus for work unit 50, thereby preferable.
In addition; If the bottom surface of type apparatus for work unit 50 is provided with castor on the table; When position adjustment unit 87 is operated desktop apparatus for work unit 50 being pressed against guiding element 68 etc., it is more or less freely that the desktop apparatus for work unit 50 on the pedestal A11 of body 10 moves, thereby preferable.
Moreover, after position adjustment unit 87 is preferably in desktop apparatus for work unit placed near guiding element 68 in 50 years, be fixed in the pedestal A11 of body 10 via installing hole 67.Reason is, when body 10 is moved in desktop apparatus for work unit 50, from the rear side of body 10 through by near mobile up to position adjustment unit 87 of side plate 12 and 13 area surrounded of top board, need desktop apparatus for work unit 50 not lifted.
When desktop apparatus for work unit 50 is taken out of, through in advance with position adjustment unit 87 from pedestal A11 dismounting, thereby same when moving into, do not lift desktop apparatus for work unit 50 and just can desktop apparatus for work unit 50 be taken out of from body 10 back sides.
The conveyance unit 30 of present embodiment directly is equipped on the pedestal A11, but also can set conveyance unit 30 via the members such as flat board that loading and unloading on pedestal A11 are provided with freely.Through adopting this kind structure, can easily conveyance unit 30 be separated from body 10 integratedly, thereby can easily carry out the maintenance of conveyance unit 30, thereby preferable.
Moreover, if should flat board etc. member from body A11 dismounting, also can desktop apparatus for work unit 50 be taken out of from the body front and move into.
In the present embodiment, illustration pin is inserted in the conveyance mode that the type of conveyance workpiece is come in hole set in the workpiece, but not only be confined to this kind conveyance mode certainly.
Effective conveyance mode as when in workpiece, not being provided with hole 21,23 for example discloses: (1) replaces the pin of present embodiment, changes into utilizing the fixture unit that inserts and puts workpiece that workpiece is inserted and put and the conveyance mode of conveyance workpiece; (2) workpiece is carried place on the belt of rotation and the belt conveyance mode of carrying out conveyance.
[as the utilization of semi-automatic device]
From the desktop apparatus for work unit 50 that body 10 breaks away from, can produce action as the semi-automatic device.The use pattern of the desktop apparatus for work unit 50 after breaking away from from body 10 is for example shown in Figure 10.
When desktop apparatus for work unit 50 is also produced action as the semi-automatic device, can manually workpiece be installed on operation table 60 by the operator.That is, workpiece is installed on the conveyance slide rail B81 of operation table 60, utilizes reinforcement unit 63 workpiece to be fixed and implemented the coating operation again by the operator.With workpiece from the situation of operation table 60 dismounting too with manual execution.
The program of stored (record) among the control part B91 of type apparatus for work unit 50 via not shown connector, is imported from outside input blocks such as PC on the table.If robot cell 50 is installed on body 10 and is connected with control part A90 on the table, also can be from monitor (contact panel) 14 inputs.
(utilizability on the industry)
The present invention can from discharge head, cutting element, decontaminating apparatus, assembling tool, screw fastening with screwdriver, UV irradiator, soldering appliance, oiling, be pressed into instrument etc. and select arbitrarily work head and utilize.
Claims (8)
1. apparatus for work is full-automatic type apparatus for work, and possessing has: stand is equipped with the conveyance unit of conveyance workpiece; And desktop apparatus for work unit, loading and unloading are equipped on stand freely; Said apparatus for work is characterised in that:
Desktop apparatus for work unit possesses and has: keep workpiece maintaining part, the work head of workpiece and the relative moving mechanism that workpiece maintaining part and work head are relatively moved; And the workpiece that can be kept the workpiece maintaining part individually carries out required operation; And
The workpiece maintaining part has: conveyance position that is connected with the conveyance unit and the job position that leaves the conveyance unit and workpiece carried out required operation.
2. an apparatus for work is the semi-automatic apparatus for work, and possessing has: keep workpiece maintaining part, the work head of workpiece and the relative moving mechanism that workpiece maintaining part and work head are relatively moved; And the workpiece that can be kept the workpiece maintaining part on the table carries out required operation; Said apparatus for work is characterised in that:
The loading and unloading of this device are equipped on freely possess the device that stand is arranged and be provided in the conveyance unit of the conveyance workpiece on the stand; The workpiece maintaining part is through being displaced into the conveyance position that is connected with the conveyance unit and leaving the conveyance unit and workpiece is carried out the job position of required operation, and can constitute full-automatic type apparatus for work.
3. apparatus for work is characterized in that:
Possess stand is arranged, this stand is equipped with the conveyance unit of conveyance workpiece;
Can workpiece maintaining part, the work head that keep workpiece be arranged and make the desktop apparatus for work unit loading and unloading of the relative moving mechanism that workpiece maintaining part and work head relatively move be equipped on stand freely possessing;
The workpiece maintaining part is through being displaced into the conveyance position that is connected with the conveyance unit and leaving the conveyance unit and workpiece is carried out the job position of required operation, and can constitute full-automatic type apparatus for work.
4. according to each described apparatus for work in the claim 1 to 3, it is characterized in that:
Said conveyance unit possesses to have and leaves the upstream side conveyance slide rail that sets and downstream dispensing slide rail;
In said conveyance position, said workpiece maintaining part is connected upstream side conveyance slide rail with downstream dispensing slide rail.
5. apparatus for work according to claim 4 is characterized in that: said workpiece maintaining part possesses to have and connects slide rail and workpiece is limited to the card locking mechanism that connects slide rail.
6. apparatus for work according to claim 5 is characterized in that: said conveyance unit possesses reciprocal conveyance portion is arranged, this reciprocal conveyance portion with workpiece from the conveyance of said upstream side conveyance slide rail to said downstream dispensing slide rail.
7. apparatus for work according to claim 6 is characterized in that: also possess the unloader portion that the downstream that are disposed at said downstream dispensing slide rail are arranged;
The pushing member that utilizes said reciprocal conveyance portion to be had is accommodated in unloader portion with workpiece.
8. according to each described apparatus for work in the claim 1 to 7, it is characterized in that: said conveyance unit loading and unloading is equipped on said stand freely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510527742.4A CN105214909B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009201074A JP5586191B2 (en) | 2009-08-31 | 2009-08-31 | Work equipment |
| JP2009-201074 | 2009-08-31 | ||
| PCT/JP2010/064701 WO2011024998A1 (en) | 2009-08-31 | 2010-08-30 | Operating device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510527742.4A Division CN105214909B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102497937A true CN102497937A (en) | 2012-06-13 |
| CN102497937B CN102497937B (en) | 2015-09-02 |
Family
ID=43628089
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510527742.4A Active CN105214909B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
| CN201080038407.3A Active CN102497937B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510527742.4A Active CN105214909B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5586191B2 (en) |
| KR (1) | KR101759589B1 (en) |
| CN (2) | CN105214909B (en) |
| HK (2) | HK1166752A1 (en) |
| TW (2) | TWI524945B (en) |
| WO (1) | WO2011024998A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI596456B (en) * | 2015-06-11 | 2017-08-21 | 車樂美縫衣機工業股份有限公司 | Robot |
| CN113426626A (en) * | 2021-05-26 | 2021-09-24 | 朱逸卿 | Low-pressure infiltration type high-temperature epoxy glue repairing device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5586191B2 (en) * | 2009-08-31 | 2014-09-10 | 武蔵エンジニアリング株式会社 | Work equipment |
| KR20130136057A (en) | 2012-06-04 | 2013-12-12 | 현대자동차주식회사 | Vehicle driving guiding device and method |
| CN106081612B (en) * | 2016-07-28 | 2018-01-30 | 昆山优乐智机器人科技有限公司 | One kind automation dispensing hot pressing synthesis streamline |
| JP6736754B2 (en) * | 2017-02-14 | 2020-08-05 | ヤマハ発動機株式会社 | Implement work device |
| CN113798140B (en) * | 2021-09-17 | 2023-01-24 | 北京闼闼同创工贸有限公司 | Automatic production line |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04222656A (en) * | 1990-12-25 | 1992-08-12 | N O K Megurasuteitsuku Kk | Coating machine |
| JPH11238456A (en) * | 1998-02-20 | 1999-08-31 | Hirata Corp | Manufacture of board and manufacturing line |
| JPH11309409A (en) * | 1998-04-30 | 1999-11-09 | Dainippon Screen Mfg Co Ltd | Substrate treating system |
| JP3472318B2 (en) * | 1993-02-26 | 2003-12-02 | オリジン電気株式会社 | Disk coating equipment |
| JP2005175310A (en) * | 2003-12-12 | 2005-06-30 | Tokyo Electron Ltd | Substrate treatment apparatus |
| WO2007066808A1 (en) * | 2005-12-06 | 2007-06-14 | Musashi Engineering, Inc. | Machining apparatus and machining method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08229478A (en) * | 1995-02-23 | 1996-09-10 | Nec Eng Ltd | Paste coating device |
| FR2802127B1 (en) * | 1999-12-09 | 2002-09-06 | Biodecap Ind | NEW TECHNICAL TRAY FOR STRIPPING AND / OR PAINTING AND WORKSHOPS SO PERFORMED |
| JP4373041B2 (en) * | 2001-11-14 | 2009-11-25 | 武蔵エンジニアリング株式会社 | Liquid material applicator |
| JP4262553B2 (en) * | 2003-08-11 | 2009-05-13 | 武蔵エンジニアリング株式会社 | Desktop liquid content dispensing device |
| CN2745661Y (en) * | 2004-11-24 | 2005-12-14 | 吴发 | Semiautomatic gluing sticking machine |
| JP4652351B2 (en) * | 2007-02-02 | 2011-03-16 | 大日本印刷株式会社 | Substrate support apparatus and substrate support method |
| CN101439332A (en) * | 2007-11-20 | 2009-05-27 | 扬动股份有限公司 | Engine Gasket Gluing Device |
| CN201253602Y (en) * | 2008-10-26 | 2009-06-10 | 扬州麦斯通复合材料有限公司 | High-viscosity glue semi-automatic sprinkling trough |
| JP5586191B2 (en) * | 2009-08-31 | 2014-09-10 | 武蔵エンジニアリング株式会社 | Work equipment |
-
2009
- 2009-08-31 JP JP2009201074A patent/JP5586191B2/en active Active
-
2010
- 2010-08-30 WO PCT/JP2010/064701 patent/WO2011024998A1/en active Application Filing
- 2010-08-30 CN CN201510527742.4A patent/CN105214909B/en active Active
- 2010-08-30 CN CN201080038407.3A patent/CN102497937B/en active Active
- 2010-08-30 KR KR1020127008287A patent/KR101759589B1/en active IP Right Grant
- 2010-08-31 TW TW099129236A patent/TWI524945B/en active
- 2010-08-31 TW TW105102056A patent/TWI587926B/en active
-
2012
- 2012-07-25 HK HK12107291.7A patent/HK1166752A1/en unknown
-
2016
- 2016-02-24 HK HK16102052.3A patent/HK1214203A1/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04222656A (en) * | 1990-12-25 | 1992-08-12 | N O K Megurasuteitsuku Kk | Coating machine |
| JP3472318B2 (en) * | 1993-02-26 | 2003-12-02 | オリジン電気株式会社 | Disk coating equipment |
| JPH11238456A (en) * | 1998-02-20 | 1999-08-31 | Hirata Corp | Manufacture of board and manufacturing line |
| JPH11309409A (en) * | 1998-04-30 | 1999-11-09 | Dainippon Screen Mfg Co Ltd | Substrate treating system |
| JP2005175310A (en) * | 2003-12-12 | 2005-06-30 | Tokyo Electron Ltd | Substrate treatment apparatus |
| CN1894789A (en) * | 2003-12-12 | 2007-01-10 | 东京毅力科创株式会社 | Substrate treating apparatus |
| WO2007066808A1 (en) * | 2005-12-06 | 2007-06-14 | Musashi Engineering, Inc. | Machining apparatus and machining method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI596456B (en) * | 2015-06-11 | 2017-08-21 | 車樂美縫衣機工業股份有限公司 | Robot |
| US10029371B2 (en) | 2015-06-11 | 2018-07-24 | Janome Sewing Machine Co. Ltd. | Robot |
| CN113426626A (en) * | 2021-05-26 | 2021-09-24 | 朱逸卿 | Low-pressure infiltration type high-temperature epoxy glue repairing device |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1214203A1 (en) | 2016-07-22 |
| KR101759589B1 (en) | 2017-07-19 |
| CN105214909B (en) | 2018-02-02 |
| TW201622833A (en) | 2016-07-01 |
| HK1166752A1 (en) | 2012-11-09 |
| JP2011050831A (en) | 2011-03-17 |
| JP5586191B2 (en) | 2014-09-10 |
| WO2011024998A1 (en) | 2011-03-03 |
| CN102497937B (en) | 2015-09-02 |
| TWI587926B (en) | 2017-06-21 |
| KR20120059595A (en) | 2012-06-08 |
| CN105214909A (en) | 2016-01-06 |
| TWI524945B (en) | 2016-03-11 |
| TW201119747A (en) | 2011-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102497937A (en) | Operating device | |
| CN204093669U (en) | Full-automatic spot gluing pressing line | |
| CN101264497B (en) | Plate moving out device and method | |
| CN101855956B (en) | Electric circuit parts mounting method and system | |
| CN103429064B (en) | Accommodation device | |
| CN207258767U (en) | Double-station rollway | |
| CN105665183A (en) | Desktop working apparatus | |
| CN108750652A (en) | A kind of pcb board handling equipment | |
| CN104275725A (en) | Wooden tray nailing equipment | |
| CN101885189A (en) | The machine that is used for cutting panels of wood or analog | |
| CN208828802U (en) | A kind of pcb board handling equipment | |
| CN106622864B (en) | A kind of glass-mirror point glue sticking holder production system | |
| CN206298099U (en) | A kind of batch automatic loading and unloading device | |
| JP2011050831A5 (en) | ||
| EP2226250A3 (en) | Apparatus and method for handling partially formed containers | |
| CN209110676U (en) | A kind of handling equipment of numerically-controlled machine tool | |
| CN208663474U (en) | A kind of automatic charging & discharging machine | |
| US20030000959A1 (en) | Surface mount manufacturing storage system | |
| CN102554092A (en) | Forging device | |
| CN207671088U (en) | Truss parallel fabrication transfer matic tray library | |
| CN204109106U (en) | A kind of wood composite pallet nailing equipment | |
| CN212124241U (en) | Quartz stone plate decorative pattern cloth machine | |
| CN101621919B (en) | Method and device for mounting electronic component, auxiliary substrate supply device | |
| CN201519645U (en) | 45-degree eight-point automatic glue dispenser | |
| CN115072377B (en) | Conveying equipment suitable for washing machine angle plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1166752 Country of ref document: HK |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: GR Ref document number: 1166752 Country of ref document: HK |