CN103412496B - Detect the method and system of single vacuum source multistation suction nozzle material state - Google Patents
Detect the method and system of single vacuum source multistation suction nozzle material state Download PDFInfo
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- CN103412496B CN103412496B CN201310334121.5A CN201310334121A CN103412496B CN 103412496 B CN103412496 B CN 103412496B CN 201310334121 A CN201310334121 A CN 201310334121A CN 103412496 B CN103412496 B CN 103412496B
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Abstract
The present invention discloses a kind of method and system detecting single vacuum source multistation suction nozzle material state, described method: after suction nozzle absorbing material, closes predetermined quantity suction nozzle, obtains residue suction nozzle vacuum values; This vacuum values is compared with default intermediate value, when being greater than intermediate value, determines that suction has material, form the first data; When have in the first data be no less than described predetermined quantity suction nozzle inhale have a material time, open previously close suction nozzle, obtain its vacuum values and adopt aforesaid standards to judge, forming the second data; When have in the first data be less than predetermined quantity suction nozzle inhale have a material time, close and surplusly do not inhale material suction nozzle, and open and previously closed suction nozzle, obtain its vacuum values and adopt aforesaid standards to judge, formation the 3rd data; Calculate and export suction nozzle state outcome.Whether the present invention is inhaled suction nozzle by setting intermediate value has material to make accurate judgement, without the need to adopting original vision system detection method, eliminating expensive vision system, providing cost savings, improve production efficiency simultaneously.
Description
Technical field
The present invention relates to information storage elements manufacture field, particularly relate to a kind of method and system detecting single vacuum source multistation suction nozzle material state.
Background technology
Along with the high speed development of hard disc of computer industry, the memory capacity of hard disk becomes increasing.In a hard disk, data write and read to have been come by magnetic head automatic tracking on disc.Because disc area is certain, capacity increases, and causes the track density on disc to become more and more closeer, thus requires that the tracking precision of magnetic head is more and more higher.
Traditional magnetic head relies on voice coil motor, and the tracking mode driven by bearing is more and more difficult to realize the accurate tracking in high-density disk.So introduce piezoelectric ceramics (PZT) to form the method that the micro-drive system of closed loop carries out micrometric displacement error correction and just arise at the historic moment on magnetic head.Due to the fragility of piezoelectric ceramics itself, in the production, test process of reality, manually material is easy to the damage causing piezoelectric ceramics up and down, so newly-designed equipment generally can realize automatically material up and down, this wherein topmost means be exactly adopt the mode of vacuum cups to pick and place material, and vision detection system is set carries out image detection, whether detect supplied materials has disappearance.But this also makes production cost improve, and the method efficiency that image detects is not high, directly results in the decline of whole production efficiency.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of method and system detecting single vacuum source multistation suction nozzle material state, be intended to solve current image and detect the cost that suction nozzle material state causes and increase, the problem that work efficiency reduces.
Technical scheme of the present invention is as follows:
Detect a method for single vacuum source multistation suction nozzle material state, the method implements under the prerequisite that vacuum pump flow rate, suction nozzle quantity and suction nozzle specification are certain, and wherein, described method comprises:
After A, suction nozzle absorbing material, close the suction nozzle of wherein predetermined quantity number at random, obtain the vacuum values of each suction nozzle of residue;
B, by obtain each suction nozzle vacuum values with one preset intermediate value compare judgement, when the vacuum values of suction nozzle is greater than described intermediate value, determine this suction nozzle suction have material; Otherwise, then determine that suction nozzle does not have absorbing material; Record formation first data are carried out to judged result;
C, when record in the first data the suction nozzle being no less than described predetermined quantity number inhale have a material time, perform step D;
When recording the suction nozzle suction being less than predetermined quantity number in the first data and having material, perform step e;
D, open the suction nozzle of previous closed predetermined quantity number, obtaining the vacuum values of the suction nozzle of this unlatching respectively and compare judgement with described intermediate value one by one, when judging that the vacuum values of suction nozzle is greater than intermediate value, determining that corresponding suction nozzle suction has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the second data;
The suction nozzle of absorbing material is not had in E, closedown residue suction nozzle, and the suction nozzle of the predetermined quantity number of previously having closed is opened, obtain the vacuum values of the suction nozzle of this predetermined quantity number and compare judgement with described intermediate value respectively, when the vacuum values of suction nozzle is greater than intermediate value, determine that the suction of this suction nozzle has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the 3rd data;
F, read first, second, third data, calculate the state determining suction nozzle absorbing material, and export the state outcome of each suction nozzle absorbing material.
The method of described detection list vacuum source multistation suction nozzle material state, wherein, the suction nozzle of described predetermined quantity number is be more than or equal to the suction nozzle of 5.
The method of described detection list vacuum source multistation suction nozzle material state, wherein, the step of described default intermediate value value comprises:
Opened 1 suction nozzle and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; Random selecting 5 suction nozzle absorbing materials, all the other suction nozzles not absorbing material, obtains the vacuum values P2 of the suction nozzle of absorbing material; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
The method of described detection list vacuum source multistation suction nozzle material state, wherein, obtains the vacuum values of suction nozzle, by solenoid valve opening and closing suction nozzle by vacuum pressure switch.
The method of described detection list vacuum source multistation suction nozzle material state, wherein, described suction nozzle is distributed at least 1 piece of cylinder manifold, when detecting suction nozzle material state, every block cylinder manifold closes described predetermined quantity number suction nozzle at random, wherein, described predetermined quantity number suction nozzle is be more than or equal to the suction nozzle of 5.。
For detecting a system for single vacuum source multistation suction nozzle material state, wherein, described system comprises:
Vacuum values acquisition module, for closing the suction nozzle of predetermined quantity number at random and obtaining the vacuum values of each suction nozzle of residue, and opens the suction nozzle of the predetermined quantity number of previously closing and obtains the vacuum values of the suction nozzle of this predetermined quantity number.
Multilevel iudge module, for the vacuum values of each suction nozzle obtained and the intermediate value preset are compared judgement, carries out record formation first, second, third data to judged result;
First data analysis module, has the suction nozzle quantity of material for reading in the first data to inhale and exports different control signal according to the suction nozzle whether this quantity is less than described predetermined quantity number;
Data calculate and result output module, calculate for reading first, second, third data the state the state outcome exporting each suction nozzle absorbing material of determining suction nozzle absorbing material.
The described system for detecting single vacuum source multistation suction nozzle material state, it is characterized in that, described system also comprises:
Intermediate value setting module, for being opened 1 suction nozzle and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; Random selecting 5 suction nozzle absorbing materials, all the other suction nozzles not absorbing material, obtains the vacuum values P2 of the suction nozzle of absorbing material; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
Beneficial effect: the invention provides a kind of method and system detecting single vacuum source multistation suction nozzle material state, by detecting the vacuum values of suction nozzle according to scheduled operation thus whether inhaling suction nozzle and have material to make accurate judgement, thus without the need to adopting original vision system detection method, eliminate expensive vision system, provide cost savings, automatic loading and unloading system detection efficiency improves simultaneously, and then improves production efficiency.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of detection of the present invention single vacuum source multistation suction nozzle material state.
Fig. 2 is the system principle diagram of detection of the present invention single vacuum source multistation suction nozzle material state.
Fig. 3 is system and the signal wiring schematic diagram of detection of the present invention single vacuum source multistation suction nozzle material state.
Embodiment
The invention provides a kind of method and system detecting single vacuum source multistation suction nozzle material state, for making object of the present invention, technical scheme and effect clearly, clearly, the present invention is described in more detail below.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Industrial vacuum refers to the air pressure gas space less than standard atmospheric pressure, refers to thin gaseous state, can be divided into again high vacuum, middle vacuum and low vacuum, and current industrial vacuum pump or the vacuum generator of mainly utilizing produces vacuum.Vacuum pump is a kind of rotary positive-displacement, utilizes air to produce vacuum, is characterized in there is larger pumping speed in wider pressure limit; Rotor has good geometrical symmetry, therefore vibrates little, smooth running; Ratio of compression is lower.Vacuum generator utilizes the one of malleation source of the gas generation negative pressure novel, efficiently, clean, economical, small-sized vacuum components and parts, its principle: utilize jet pipe high velocity jet pressurized air, form jet at nozzle exit, produce and entrainment flowing. under Involving velocity, nozzle exit ambient air is constantly sucked away, make Pressure Drop in adsorbent chamber to atmospheric pressure, form certain vacuum degree.For single or a small amount of suction nozzle, having under compressed-air actuated condition, vacuum generator is utilized to produce vacuum more convenient, but for multiple suction nozzle, if utilize vacuum generator, the serious consumption of compressed air of meeting, reduce compressed-air actuated force value, can affect the production in whole workshop time serious, so in this case, equipment preferably utilizes vacuum pump to provide vacuum.
For vacuum system, also have crucial components and parts to be exactly vacuum pressure switch, for judging the size of vacuum, digital vacuum switch can show current vacuum value size in real time.According to the vacuum values of setting, vacuum switch can give processor by Real-time Feedback 0 and 1, judges that current vacuum values is greater than or is less than the vacuum values of setting.
Fundamental purpose of the present invention how correctly to detect, judges whether vacuum cups has material, thus can replace the function that image detects.The method is in vacuum pump flow rate, implement under suction nozzle quantity and the certain prerequisite of suction nozzle specification, if the system of current use has n vacuum cups, suppose that n-1 suction nozzle has material, the vacuum values of the suction nozzle of material is not had to be x1, a same hypothesis n-1 suction nozzle does not have material, the vacuum values of the suction nozzle of material is had to be x2, if x1 < is x2, a value between x1 and x2 is then set on vacuum pressure switch, just can judge whether each vacuum cups has material, but proved by test, actual conditions are x1 > x2, so just can not find the detected value that setting vacuum pressure switch is suitable, also just cannot judge that each vacuum cups is with or without material, if so in n vacuum cups 2 have material, all the other n-2 do not have material, at this moment how the suction nozzle vacuum values x3 of material is there? by test, find that x3 is still less than x1, but be greater than x2, we continue checking 3 like this material, 4 have material ..., until accomplish that 5 when having a material, the suction nozzle vacuum values x4 of material is had to be greater than x1, suitable vacuum switch setting value P can be found.
Therefore based on above-mentioned principle, needed to set intermediate value before method of the present invention.Namely A0,1 suction nozzle opened and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; 5 suction nozzles are closed, opens all the other suction nozzles and not absorbing material, obtain the vacuum values P2 of the suction nozzle opened; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
A kind of method detecting single vacuum source multistation suction nozzle material state as shown in Figure 1, the method implements under the prerequisite that vacuum pump flow rate, suction nozzle quantity and suction nozzle specification are certain, and described method comprises:
After S100, suction nozzle absorbing material, close the suction nozzle of wherein predetermined quantity number at random, obtain the vacuum values of each suction nozzle of residue.
The suction nozzle of described predetermined quantity number is be more than or equal to the suction nozzle of 5.The determination of this numerical value is based on previously described vacuum values comparative approach.
After multistation suction nozzle absorbing material, system closes the suction nozzle of the quantity number preset at random by solenoid valve, obtained the vacuum values of remaining suction nozzle by vacuum pressure switch.
S200, by obtain each suction nozzle vacuum values with one preset intermediate value compare judgement, when the vacuum values of suction nozzle is greater than intermediate value, determine this suction nozzle suction have material; Otherwise, then determine that suction nozzle does not have absorbing material; Record formation first data are carried out to judged result.
The vacuum values of each suction nozzle that vacuum pressure switch obtains and intermediate value compare, and when vacuum values is greater than the intermediate value of setting, then return 1 to system processor, determine this suction nozzle suction nozzle material, when vacuum values is less than intermediate value, then return 0 to processor, determine that this suction nozzle is not inhaled and had material.Above-mentioned data form the first data and store in systems in which.These data record the situation of the absorbing material of each suction nozzle.
S300, when record in the first data the suction nozzle being no less than described predetermined quantity number inhale have a material time, perform step S400;
When recording the suction nozzle suction being less than predetermined quantity number in the first data and having material, perform step S500.
S400, open the suction nozzle of previous closed predetermined quantity number, obtaining the vacuum values of the suction nozzle of this unlatching respectively and compare judgement with described intermediate value one by one, when judging that the vacuum values of suction nozzle is greater than intermediate value, determining that corresponding suction nozzle suction has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the second data.
Under having at least 5 suction nozzles suctions to have the prerequisite of material in remaining suction nozzle, meet the service condition of intermediate value, then system opens the suction nozzle of the predetermined quantity number of closing at first, directly the material state of the suction nozzle of this predetermined quantity number is judged, namely, when the vacuum values of the suction nozzle of this predetermined quantity number is greater than intermediate value, determine that the suction of this suction nozzle has material; Otherwise, then determine that suction nozzle does not have absorbing material.Whether the suction nozzle of this predetermined quantity number is inhaled and has the data of material to carry out record formation second data.
The suction nozzle of absorbing material is not had in S500, closedown residue suction nozzle, and the suction nozzle of the predetermined quantity number of previously having closed is opened, obtain the vacuum values of the suction nozzle of this predetermined quantity number and compare judgement with described intermediate value respectively, when the vacuum values of suction nozzle is greater than intermediate value, determine that the suction of this suction nozzle has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the 3rd data.
If inhale the suction nozzle lazy weight 5 having material in residue suction nozzle, if then now directly open the suction nozzle of previous predetermined quantity number and detect its vacuum values and compare with intermediate value, then because the precondition (having at least 5 suction nozzles to have material) set by intermediate value does not now exist, the inaccurate of result will be caused.Therefore, remain in suction nozzle inhale have material suction nozzle less than 5 time, first will not have the suction nozzle drawn to close in residue suction nozzle according to the first data, this be, is equivalent to remain suction nozzle and all inhales and have material.Then open the suction nozzle of the predetermined quantity number of previously closing, acquisition vacuum values and intermediate value compare.Formation is recorded these 5 suction nozzles and whether is inhaled the 3rd data having material state.
S600, read first, second, third data, calculate the state determining suction nozzle absorbing material, and export the state outcome of each suction nozzle absorbing material.
Read first, second data according to processing procedure before or read the first, the 3rd data and calculate the state determining suction nozzle absorbing material, and this result is presented on the screen of control end computer.
If described suction nozzle is distributed at least 1 piece of cylinder manifold, when detecting suction nozzle material state, every block cylinder manifold closes the suction nozzle of predetermined quantity number at random, predetermined quantity number suction nozzle is now be more than or equal to 5 suction nozzles equally, and judges the suction nozzle absorbing material situation on every block cylinder manifold according to the method described above.
A kind of system for detecting single vacuum source multistation suction nozzle material state as described in Figure 2, described system comprises:
Vacuum values acquisition module 510, for closing the suction nozzle of predetermined quantity number at random and obtaining the vacuum values of each suction nozzle of residue, and opens the suction nozzle of the predetermined quantity number of previously closing and obtains the vacuum values of the suction nozzle of this predetermined quantity number.
Multilevel iudge module 520, for the vacuum values of each suction nozzle obtained and the intermediate value preset are compared judgement, carries out record formation first, second, third data to judged result;
First data analysis module 530, exports different control signal for reading in the first data to inhale to have the suction nozzle quantity of material and whether be less than 5 according to this quantity;
Data calculate and result output module 540, calculate for reading first, second, third data the state the state outcome exporting each suction nozzle absorbing material of determining suction nozzle absorbing material.
Intermediate value setting module 550, under the prerequisite that vacuum pump flow rate, suction nozzle quantity and suction nozzle specification are certain, for being opened 1 suction nozzle and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; Random selecting 5 suction nozzle absorbing materials, all the other suction nozzles not absorbing material, obtains the vacuum values P2 of the suction nozzle of absorbing material; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
As shown in Figure 3, the present invention comprises for the hardware of the method detecting single vacuum source multistation suction nozzle material state
Vacuum pump 100, for providing pull of vacuum for suction nozzle, in the present invention, the total flow that vacuum pump provides is constant;
Suction nozzle 200, for utilizing pull of vacuum absorbing material, in the present invention, the specification of suction nozzle is consistent;
Solenoid valve 300, for controlling the opening and closing of suction nozzle;
Vacuum pressure switch 400, for obtaining the size of suction nozzle vacuum values;
Processor 500: for the treatment of the data obtained and the method process of detection according to the present invention single vacuum source multistation suction nozzle material state Output rusults.
Described suction nozzle connects vacuum pump by solenoid valve, and vacuum pressure switch is connected on each suction nozzle, and vacuum pump, solenoid valve, vacuum pressure switch respectively connection handling device are electrically connected.
In actual production, use 20 station suction nozzles, 20 solenoid valves of corresponding suction nozzle, 20 vacuum pressure switchs of corresponding suction nozzle, 2 piece of 10 station cylinder manifold, 20 suction nozzles are distributed on 2 pieces of cylinder manifolds, close the solenoid valve (namely supposing that 19 suction nozzles have material) of 19 suction nozzles, do not have the vacuum values of the suction nozzle of material to be p1, same hypothesis 15 suction nozzles do not have material, have the suction nozzle vacuum values of material to be p2, then p2>p1, get a value in this scope and do intermediate value, it is preferred that intermediate value is p1+ (p2-p1)/2.
In automatic loading/unloading process, first at random 5 solenoid valves are closed, be equivalent to these 5 suction nozzles and have material, even if remaining like this 15 each suction nozzles all do not have material, also by with intermediate value compare the material state that entirely accurate judges each suction nozzle, then open 5 solenoid valves of closedown, if having the quantity of material to be greater than 5 in 15 suction nozzles, then directly determine the state of front 5 suction nozzles by vacuum pressure switch.If have the quantity of material to be less than 5 in 15 suction nozzles, then first close the solenoid valve not having the suction nozzle of material in latter 15.Be equivalent to 15 suction nozzles like this and have material, before the state of 5 suction nozzles can accurately judge.
In actual application, find that there is material inhale less than phenomenon, reason is because 20 suction nozzles are distributed on 2 pieces of cylinder manifolds, only close the solenoid valve on one piece of cylinder manifold, vacuum tightness for another block cylinder manifold has impact, so be optimized method further, first closes 5 suction nozzles on every block cylinder manifold, detect the state judging residue 10 suction nozzles, and then judge the state of 10 suction nozzles above.
The invention provides a kind of method and system detecting single vacuum source multistation suction nozzle material state, by detecting the vacuum values of suction nozzle according to scheduled operation thus whether inhaling suction nozzle and have material to make accurate judgement, thus without the need to adopting original vision system detection method, eliminate expensive vision system, provide cost savings, automatic loading and unloading system detection efficiency improves simultaneously, and then improves production efficiency.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (7)
1. detect a method for single vacuum source multistation suction nozzle material state, the method implements under the prerequisite that vacuum pump flow rate, suction nozzle quantity and suction nozzle specification are certain, and it is characterized in that, described method comprises:
After A, suction nozzle absorbing material, close the suction nozzle of wherein predetermined quantity number at random, obtain the vacuum values of each suction nozzle of residue;
B, by obtain each suction nozzle vacuum values with one preset intermediate value compare judgement, when the vacuum values of suction nozzle is greater than described intermediate value, determine this suction nozzle suction have material; Otherwise, then determine that suction nozzle does not have absorbing material; Record formation first data are carried out to judged result;
C, when record in the first data the suction nozzle being no less than described predetermined quantity number inhale have a material time, perform step D;
When recording the suction nozzle suction being less than predetermined quantity number in the first data and having material, perform step e;
D, open the suction nozzle of previous closed predetermined quantity number, obtaining the vacuum values of the suction nozzle of this unlatching respectively and compare judgement with described intermediate value one by one, when judging that the vacuum values of suction nozzle is greater than intermediate value, determining that corresponding suction nozzle suction has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the second data;
The suction nozzle of absorbing material is not had in E, closedown residue suction nozzle, and the suction nozzle of the predetermined quantity number of previously having closed is opened, obtain the vacuum values of the suction nozzle of this predetermined quantity number and compare judgement with described intermediate value respectively, when the vacuum values of suction nozzle is greater than intermediate value, determine that the suction of this suction nozzle has material; Otherwise, then determine that suction nozzle does not have absorbing material; Record judged result forms the 3rd data;
F, read first, second, third data, calculate the state determining suction nozzle absorbing material, and export the state outcome of each suction nozzle absorbing material.
2. the method for detection according to claim 1 single vacuum source multistation suction nozzle material state, is characterized in that, the suction nozzle of described predetermined quantity number is be more than or equal to the suction nozzle of 5.
3. the method for detection according to claim 2 single vacuum source multistation suction nozzle material state, is characterized in that, the step of described default intermediate value value comprises:
Opened 1 suction nozzle and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; Random selecting 5 suction nozzle absorbing materials, all the other suction nozzles not absorbing material, obtains the vacuum values P2 of the suction nozzle of absorbing material; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
4. the method for detection according to claim 1 single vacuum source multistation suction nozzle material state, is characterized in that, is obtained the vacuum values of suction nozzle, by solenoid valve opening and closing suction nozzle by vacuum pressure switch.
5. the method for detection according to claim 1 single vacuum source multistation suction nozzle material state, it is characterized in that, described suction nozzle is distributed at least 1 piece of cylinder manifold, when detecting suction nozzle material state, every block cylinder manifold closes described predetermined quantity number suction nozzle at random, wherein, described predetermined quantity number suction nozzle is be more than or equal to the suction nozzle of 5.
6., for detecting a system for single vacuum source multistation suction nozzle material state, it is characterized in that, described system comprises:
Vacuum values acquisition module, for closing the suction nozzle of predetermined quantity number at random and obtaining the vacuum values of each suction nozzle of residue, and opens the suction nozzle of the predetermined quantity number of previously closing and obtains the vacuum values of the suction nozzle of this predetermined quantity number;
Multilevel iudge module, for the vacuum values of each suction nozzle obtained in vacuum values acquisition module and the intermediate value preset are compared judgement, carries out record formation first, second, third data to judged result;
First data analysis module, has the suction nozzle quantity of material for reading in the first data to inhale and exports different control signal according to the suction nozzle whether this quantity is less than described predetermined quantity number;
Data calculate and result output module, calculate for reading first, second, third data the state the state outcome exporting each suction nozzle absorbing material of determining suction nozzle absorbing material.
7. the system for detecting single vacuum source multistation suction nozzle material state according to claim 6, it is characterized in that, described system also comprises:
Intermediate value setting module, for being opened 1 suction nozzle and not absorbing material, all the other suction nozzles are closed, and obtain the vacuum values P1 of the suction nozzle of this unlatching; Random selecting 5 suction nozzle absorbing materials, all the other suction nozzles not absorbing material, obtains the vacuum values P2 of the suction nozzle of absorbing material; Within the scope of P1-P2, select a numerical value as intermediate value and record, wherein, P1< intermediate value <P2.
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| CN102820232A (en) * | 2012-08-16 | 2012-12-12 | 爱普科斯科技（无锡）有限公司 | Ceramic package and product encapsulation integrated machine |
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| CN102540930A (en) * | 2012-01-12 | 2012-07-04 | 广州市攀森机械设备制造有限公司 | Automatic double-arm multi-head chip mounting control system for LED (Light Emitting Diode) chip mounting machine |
| CN102820232A (en) * | 2012-08-16 | 2012-12-12 | 爱普科斯科技（无锡）有限公司 | Ceramic package and product encapsulation integrated machine |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 |