CN104555396A - Automatic loading and unloading mechanism and method for PCB processing and detection device - Google Patents
Automatic loading and unloading mechanism and method for PCB processing and detection device Download PDFInfo
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- CN104555396A CN104555396A CN201510019094.1A CN201510019094A CN104555396A CN 104555396 A CN104555396 A CN 104555396A CN 201510019094 A CN201510019094 A CN 201510019094A CN 104555396 A CN104555396 A CN 104555396A
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Abstract
The invention discloses an automatic loading and unloading mechanism and method for a PCB processing and detection device. A loading platform driving device is connected with a loading platform, and drives the loading platform to ascend and descend, a feeding platform driving device is connected with a feeding platform, and drives the feeding platform to rotate, and an unloading platform driving device is connected with an unloading platform, and drives the unloading platform to ascend and descend; a right suction disc mechanical arm and a left suction disc mechanical arm are connected with a suction disc mechanical arm up-and-down driving device, the suction disc mechanical arm up-and-down driving device drives the right suction disc mechanical arm and the left suction disc mechanical arm to ascend and descend, the right suction disc mechanical arm and the left suction disc mechanical arm are connected with a suction disc mechanical arm left-and-right driving device, the suction disc mechanical arm left-and-right driving device drives the right suction disc mechanical arm and the left suction disc mechanical arm to move leftwards and rightwards, and the left suction disc mechanical arm is connected with a left suction disc mechanical arm rotating driving device. The automatic loading and unloading mechanism and method achieve loading, carrying, feeding, turning, material return and unloading of PCBs one by one, and auxiliary processing or detection efficiency is high, and control is flexible.
Description
Technical field
The present invention relates to a kind of for PCB processing and the automatic loading/unloading mechanism of check implement and method, belong to PCB processing and detection technique field.
Background technology
Along with the development of electronic industrial technology, market is to PCB(printed circuit board) demand get more and more, this require PCB processing and detect high efficiency, high stable.Every one manufacturing procedure of current PCB all needs assisting of personnel, such as loading and unloading material, location, detect, cutting etc., but these steps are single machinery, completely can use machine to substitute, in addition the employment cost of enterprise improves constantly now, Market competition, and machine replacement will be manually the development tendency of following PCB Fabricating machinery industry.
At present, in PCB processing and testing process, adopt artificial mode to carry out PCB material loading and discharging, its material loading, to there is hand labor intensity in discharge process high, and cost is high, and the problem that work efficiency is low, have influence on the efficiency that whole PCB processes and detects.
Summary of the invention
The object of the invention is to: provide a kind of for PCB processing and the automatic loading/unloading mechanism of check implement and method, solve existing PCB to process and to adopt that artificial mode carries out material loading, discharging exists hand labor intensity in check implement high, cost is high, and the technical matters that work efficiency is low, thus above-mentioned problems of the prior art can be solved by actv..
The object of the invention is realized by following technical proposals: a kind of for PCB processing and the automatic loading/unloading mechanism of check implement, comprise frame, feeding platform, loading bay and discharging platform, described feeding platform, loading bay and discharging platform are arranged in frame from right to left successively, also comprise feeding platform actuating device, loading bay actuating device, discharging platform actuating device, right sucker manipulator, left sucker manipulator, sucker machinery descends actuating device, sucker manipulator left and right actuating device and left sucker machinery hand-screw to turn driving on hand; Feeding platform actuating device is connected with feeding platform, feeding platform actuating device drives feeding platform lifting, and loading bay actuating device is connected with loading bay, and loading bay actuating device drives loading bay to rotate, discharging platform actuating device is connected with discharging platform, and discharging platform actuating device drives discharging platform lifting; Described right sucker manipulator descends actuating device to be connected with left sucker manipulator and sucker machinery on hand, sucker machinery descends actuating device to drive right sucker manipulator on hand and is elevated at sucker manipulator, described right sucker manipulator is connected with sucker manipulator left and right actuating device with left sucker manipulator, and sucker manipulator left and right actuating device drives right sucker manipulator and in the side-to-side movement of sucker manipulator; Left sucker manipulator turns to drive with left sucker machinery hand-screw and is connected, and left sucker machinery hand-screw turns the mechanical hand-screw of the left sucker of driving and turns or turn-over.
As a kind of optimal way, also comprise synchronous frame, described synchronous erection is placed in the top of feeding platform, loading bay and discharging platform; The right-hand member of synchronous frame fixes right sucker manipulator, and left end fixes left sucker manipulator.
As further preferred embodiment, described synchronous frame is I shape, and the two ends of I shape are set up in frame respectively, and can along housing slide, and the middle part of I shape is driven by sucker manipulator left and right actuating device.
As a kind of optimal way, reel is equipped with bottom the front bottom end of described loading bay and rear end, the middle part of loading bay is load-transfer device, locating plate is provided with in the rear end of loading bay, positioning pressuring plate is provided with directly over locating plate, positioning pressuring plate and positioning pressuring plate cylinders, positioning pressuring plate air cylinder driven positioning pressuring plate up-and-down movement, coordinates with locating plate after positioning pressuring plate down moves.
For PCB processing and the automatic loading/unloading method of check implement, comprise the steps:
The first step, place PCB, adjustment workplatform: PCB to be processed is placed on feeding platform, using the table top of loading bay as benchmark, make the height of the PCB on feeding platform parallel with the table top of loading bay by adjustment feeding platform actuating device, make the height of discharging platform parallel with the table top of loading bay by adjustment discharging platform actuating device;
Second step, capture PCB to be processed: drive feeding platform to rise by feeding platform actuating device, sucker machinery descends actuating device to drive right sucker machinery subordinate to fall on hand, right sucker manipulator captures the PCB to be processed being positioned at top, then, sucker machinery descends actuating device to drive right sucker machinery to rise on hand on hand;
3rd step, mobile PCB to be processed is to loading bay: sucker manipulator left and right actuating device drives right sucker manipulator and left sucker manipulator toward moving left a station simultaneously, make left sucker manipulator be positioned at the top of discharging platform, right sucker manipulator is positioned at the top of loading bay; Sucker machinery descends actuating device to drive right sucker machinery subordinate to fall on hand, and crawled PCB to be processed is put on loading bay by right sucker manipulator; Then, sucker manipulator left and right actuating device drives left and right sucker manipulator to get back to the right original position, standby;
4th step, processing PCB: drive loading bay by loading bay actuating device, PCB to be processed is made to enter the processing of loading bay rear end or detecting device is processed, positioning pressuring plate air cylinder driven positioning pressuring plate up-and-down movement, coordinate with locating plate after positioning pressuring plate down moves, after being compressed pcb board front end, the equipment of auxiliary rear end is carried out processing or detects; PCB after processing, under the counter-rotational propulsive effort of loading bay actuating device, returns loading bay; Complete the unidirectional processing of PCB.
As further preferred embodiment, PCB is two-way adds man-hour, PCB after unidirectional processing returns on loading bay completely, left sucker manipulator is positioned at above loading bay, sucker machinery descends actuating device to drive left sucker machinery subordinate to fall on hand, PCB after unidirectional processing is picked up, the PCB turning the unidirectional processing driving the hand-motion of left sucker machinery on it at left sucker machinery hand-screw carries out 90 degree of rotations or pros and cons rotates, then left sucker machinery subordinate falls, by unidirectional processing and postrotational PCB is put on loading bay; Be conveyed in processing or detecting device by loading bay and process, realize the two-way processing of PCB.
As further preferred embodiment, movement has completed the PCB of unidirectional processing or two-way processing to discharging platform: left sucker machinery subordinate moves and captures processing PCB, then rises; Left sucker manipulator is toward moving left a station, and when left sucker manipulator is positioned at above discharging platform, left sucker machinery subordinate moves, and unclamps the sucker of left sucker manipulator, is placed on discharging platform by processing PCB; Complete discharging, meanwhile, right sucker machinery subordinate falls and captures PCB to be processed, then rises; Right sucker manipulator is toward moving left a station, and when right sucker manipulator is positioned at above loading bay, right sucker machinery subordinate moves, and unclamps the sucker of right sucker manipulator, is placed on loading bay by PCB to be processed; Synchronously complete charging, rear left sucker machine tool hand and right sucker manipulator to return right-hand member standby.
Compared with prior art, beneficial effect of the present invention: the present invention is used for automatic loading/unloading mechanism and the method for PCB processing and check implement, possesses following advantage:
1, the material loading one by one of PCB, carrying, charging, the material returned, discharging is realized; The efficiency of secondary process or detection is high, controls flexibly, has greatly saved manpower, in realization, the unmanned and automation of discharge process;
2, for the workpiece needing transverse and longitudinal direction all will process or detect, when after horizontal completion of processing, workpiece goes back to feed zone, workpiece is made to rotate the angle required, and then carry out longitudinal direction processing or detect, make workpiece single process or after detecting, its Plane Rotation and pros and cons thereof are rotated, without the need to artificial adjustment;
3, the present invention is simple to operate, reasonable in design, is easy to operation, without the need to personnel's regulation and control in the overall process of processing or detect, saves manpower, reduces employment cost;
4, environment is had no effect, and most of zero device recoverable, environmental protection.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
All features disclosed in this specification sheets, or the step in disclosed all methods or process, except the speciality mutually repelled and/or step, all can combine by any way, unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object, namely, unless specifically stated otherwise, an embodiment in a series of equivalence of each feature or similar characteristics.
embodiment:
As shown in Figure 1, for PCB processing and the automatic loading/unloading mechanism of check implement, comprise frame 1, feeding platform 9, loading bay 6, discharging platform 2, feeding platform actuating device 11, loading bay actuating device 7, discharging platform actuating device 16, right sucker manipulator 8, left sucker manipulator 4, sucker machinery descend actuating device 3, sucker manipulator left and right actuating device 10, left sucker machinery hand-screw to turn driving 5 and synchronous frame 15 on hand.In order to make loading and unloading material mechanism of the present invention can realize the unified control of automation, a controller can be set, be realized by the mode of numerical control.And the equipment of controller only needs to set according to structure of the present invention and loading and unloading material procedure.
Wherein, described feeding platform 9, loading bay 6 and discharging platform 2 are arranged in frame 1 from right to left successively, and feeding platform 9, loading bay 6 and discharging platform 2 are specifically arranged on the top of frame 1, are positioned at the below of left and right sucker manipulator.Take loading bay as benchmark, feeding platform is together with the PCB to be processed on it, and discharging platform is together with the height of the PCB that it has been processed, should be parallel with loading bay 6.Feeding platform actuating device 11 is connected with feeding platform 9, feeding platform actuating device 11 drives feeding platform 9 to be elevated, loading bay actuating device 7 is connected with loading bay 6, loading bay actuating device 7 drives loading bay 6 to rotate, discharging platform actuating device 16 is connected with discharging platform 2, and discharging platform actuating device 16 drives discharging platform 2 to be elevated.In the present embodiment, feeding platform actuating device, loading bay actuating device and discharging platform actuating device are made up of motor, leading screw and feed screw nut, type of drive that is pneumatic, electronic or electrical bond can be adopted, and the control of these actuating devices can be unified to control by controller, to realize unified management.
Reel is equipped with bottom the front bottom end of described loading bay 6 and rear end, the middle part of loading bay 6 is load-transfer device, puts into after on loading bay, by the propulsive effort of loading bay actuating device when needing the PCB of processing, reel is rolled, and driving conveying belt is toward the processing at rear or test section motion.Locating plate 12 is provided with in the rear end of loading bay 6, positioning pressuring plate 13 is provided with directly over locating plate 12, positioning pressuring plate 13 is connected with positioning pressuring plate cylinder 14, positioning pressuring plate cylinder 14 drives positioning pressuring plate 13 up-and-down movement, coordinate with locating plate 12 after positioning pressuring plate 13 down moves, after being compressed pcb board front end, the equipment of auxiliary rear end, carries out processing or detects.
Described synchronous frame 15 is arranged at the top of feeding platform 9, loading bay 6 and discharging platform 2; The right-hand member of synchronous frame 15 fixes right sucker manipulator 8, and left end fixes left sucker manipulator 4.Described synchronous frame 15 is I shape, and the two ends of I shape are set up in frame 1 respectively, and can slide along frame 1, and the middle part of I shape is driven by sucker manipulator left and right actuating device 10.Described right sucker manipulator 8 descends actuating device 3 to be connected with left sucker manipulator 4 and sucker machinery on hand, sucker machinery descends actuating device 3 to drive right sucker manipulator 8 and left sucker manipulator 4 to be elevated on hand, described right sucker manipulator 8 is connected with sucker manipulator left and right actuating device 10 with left sucker manipulator 4, and sucker manipulator left and right actuating device 10 drives right sucker manipulator 8 and the side-to-side movement of left sucker manipulator 4; Sucker machinery descends actuating device 3 to be located on synchronous frame on hand, in the present embodiment, is ensured the side-to-side movement of left and right sucker manipulator by synchronous frame.
In addition, left sucker manipulator 4 turns driving 5 with left sucker machinery hand-screw and is connected, and left sucker machinery hand-screw turns driving 5 and drives left sucker manipulator 4 to rotate or turn-over.
For PCB processing and the automatic loading/unloading method of check implement, comprise the steps:
The first step, place PCB, adjustment workplatform: PCB to be processed is placed on feeding platform 9, using the table top of loading bay 6 as benchmark, feeding platform 9 is driven to rise a thickness of slab unit by adjustment feeding platform actuating device 11, make the height of the PCB on feeding platform 9 parallel with the table top of loading bay 6, by adjustment discharging platform actuating device 16, discharging platform 2 is declined a thickness of slab, make its height parallel with the table top of loading bay 6.
Second step, capture PCB to be processed: drive feeding platform 9 to rise by feeding platform actuating device 11, sucker machinery descends actuating device 3 to drive right sucker manipulator 8 to decline on hand, after right sucker manipulator 8 has adsorbed undressed or pcb board that is that detect and left sucker manipulator 12 has adsorbed and just processes or detect complete PCB, sucker machinery descends actuating device 3 to rise on hand, and then left and right sucker manipulator is overall to left movement under the driving of sucker manipulator left and right actuating device 10.Right sucker manipulator 8 captures the PCB to be processed being positioned at top.
3rd step, mobile PCB to be processed is to loading bay: sucker manipulator left and right actuating device 10 drives right sucker manipulator 8 and left sucker manipulator 4 toward moving left a station simultaneously, make left sucker manipulator 4 be positioned at the top of discharging platform 2, right sucker manipulator 8 is positioned at the top of loading bay 6; Sucker machinery descends actuating device 3 to drive right sucker manipulator 8 to decline on hand, and crawled PCB to be processed is put on loading bay 6 by right sucker manipulator 8; Then, sucker manipulator left and right actuating device drives left and right sucker manipulator to get back to the right original position, standby.
4th step, processing PCB: drive loading bay 6 by loading bay actuating device 7, PCB to be processed is made to enter the processing of loading bay 6 rear end or detecting device is processed, positioning pressuring plate cylinder 14 drives positioning pressuring plate 13 up-and-down movement, coordinate with locating plate 12 after positioning pressuring plate 13 down moves, after being compressed pcb board front end, the equipment of auxiliary rear end is carried out processing or detects.PCB after processing, under the counter-rotational propulsive effort of loading bay actuating device 7, returns loading bay 6; Complete the unidirectional processing of PCB.
5th step, has completed the PCB of unidirectional processing or two-way processing to discharging platform in mobile above-mentioned steps, left sucker manipulator 4 moves down and captures processing PCB, then rises; Left sucker manipulator 4 is toward moving left a station, and when left sucker manipulator 4 is positioned at above discharging platform 2, left sucker manipulator 4 moves down, and unclamps the sucker of left sucker manipulator 4, is placed on discharging platform 2 by processing PCB; Complete discharging, meanwhile, right sucker manipulator 8 declines and captures PCB to be processed, then rises; Right sucker manipulator 8 is toward moving left a station, and when right sucker manipulator 8 is positioned at above loading bay 6, right sucker manipulator 8 moves down, and unclamps the sucker of right sucker manipulator 8, is placed on by PCB to be processed on loading bay 2; Synchronously complete charging, rear left sucker machine tool hand 4 and right sucker manipulator 8 to return right-hand member standby.
When moving to above discharging platform 2 with the left sucker manipulator 12 just processing or detect complete PCB, when moving to the top of loading bay 6 with right sucker manipulator 8 that is undressed or detection pcb board, sucker machinery descends actuating device 3 to move downward on hand, and left sucker manipulator 12 puts down just processes or detect complete PCB on discharging platform 2.
Along with processing or detect complete sheet material quantity and increase, discharging platform actuating device 16 drives discharging platform 2 to decline a thickness of slab unit; Meanwhile right sucker manipulator 8 puts down PCB that is undressed or that detect above loading bay 6, and sucker machinery descends actuating device 3 to rise on hand; Sucker manipulator left and right actuating device 10 drives left and right sucker machinery, and heavy-handed newly to get back to right-hand member standby, loading bay actuating device 7 drives winding to rotate simultaneously, the PCB that is undressed or that detect that right sucker manipulator 8 puts down by winding moves to processing or surveyed area, process, realize full automatic material loading, processing, discharge process.
two-way processing:
PCB is two-way adds man-hour, PCB after unidirectional processing returns on loading bay completely, left sucker manipulator 4 is positioned at above loading bay 6, sucker machinery descends actuating device 3 to drive left sucker manipulator 8 to decline on hand, PCB after unidirectional processing is picked up, turning driving 5 at left sucker machinery hand-screw drives left sucker manipulator 4 to drive the PCB of the unidirectional processing on it to carry out 90 degree of rotations or pros and cons rotates, and then left sucker manipulator 4 declines, by unidirectional processing and postrotational PCB is put on loading bay 6; Be conveyed in processing or detecting device by loading bay 6 and carry out vertical or laterally processing or detection, algorithm is with unidirectional processing or detect consistent, until longitudinally process or detect complete, realizes the two-way processing of PCB.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. one kind for PCB processing and the automatic loading/unloading mechanism of check implement, comprise frame (1), feeding platform (9), loading bay (6) and discharging platform (2), described feeding platform (9), loading bay (6) and discharging platform (2) are arranged in frame (1) from right to left successively, it is characterized in that: also comprise feeding platform actuating device (11), loading bay actuating device (7), discharging platform actuating device (16), right sucker manipulator (8), left sucker manipulator (4), sucker machinery descends actuating device (3) on hand, sucker manipulator left and right actuating device (10) and left sucker machinery hand-screw turn driving (5), feeding platform actuating device (11) feeding platform (9) be connected, feeding platform actuating device (11) drives feeding platform (9) lifting, loading bay actuating device (7) is connected with loading bay (6), loading bay actuating device (7) drives loading bay (6) to rotate, discharging platform actuating device (16) is connected with discharging platform (2), and discharging platform actuating device (16) drives discharging platform (2) lifting, described right sucker manipulator (8) descends actuating device (3) to be connected with left sucker manipulator (4) and sucker machinery on hand, sucker machinery descends actuating device (3) to drive right sucker manipulator (8) and left sucker manipulator (4) lifting on hand, described right sucker manipulator (8) is connected with sucker manipulator left and right actuating device (10) with left sucker manipulator (4), and sucker manipulator left and right actuating device (10) drives right sucker manipulator (8) and left sucker manipulator (4) side-to-side movement, left sucker manipulator (4) turns with left sucker machinery hand-screw and drives (5) to be connected, and the mechanical hand-screw of left sucker turns driving (5) and drives the rotation of left sucker manipulator (4) or turn-over.
2., as claimed in claim 1 for the automatic loading/unloading mechanism of PCB processing and check implement, it is characterized in that: also comprise synchronous frame (15), described synchronous frame (15) is arranged at the top of feeding platform (9), loading bay (6) and discharging platform (2); The right-hand member of synchronous frame (15) fixes right sucker manipulator (8), and left end fixes left sucker manipulator (4).
3. as claimed in claim 2 for the automatic loading/unloading mechanism of PCB processing and check implement, it is characterized in that: described synchronous frame (15) is I shape, the two ends of I shape are set up in frame (1) respectively, and can slide along frame (1), the middle part of I shape is driven by sucker manipulator left and right actuating device (10).
4. as claimed in claim 1 for the automatic loading/unloading mechanism of PCB processing and check implement, it is characterized in that: bottom the front bottom end of described loading bay (6) and rear end, be equipped with reel, the middle part of loading bay (6) is load-transfer device, locating plate (12) is provided with in the rear end of loading bay (6), positioning pressuring plate (13) is provided with directly over locating plate (12), positioning pressuring plate (13) is connected with positioning pressuring plate cylinder (14), positioning pressuring plate cylinder (14) drives positioning pressuring plate (13) up-and-down movement, coordinate with locating plate (12) after positioning pressuring plate (13) down moves.
5., for PCB processing and the automatic loading/unloading method of check implement, it is characterized in that: comprise the steps:
The first step, place PCB, adjustment workplatform: PCB to be processed is placed on feeding platform (9), using the table top of loading bay (6) as benchmark, make the height of the PCB on feeding platform (9) parallel with the table top of loading bay (6) by adjustment feeding platform actuating device (11), make the height of discharging platform (2) parallel with the table top of loading bay (6) by adjustment discharging platform actuating device (16);
Second step, capture PCB to be processed: drive feeding platform (9) to rise by feeding platform actuating device (11), sucker machinery descends actuating device (3) to drive right sucker manipulator (8) to decline on hand, the crawl of right sucker manipulator (8) is positioned at the PCB to be processed at top, then, sucker machinery descends actuating device (3) to drive right sucker manipulator (8) to rise on hand;
3rd step, mobile PCB to be processed is to loading bay: sucker manipulator left and right actuating device (10) drives right sucker manipulator (8) and left sucker manipulator (4) toward moving left a station simultaneously, make left sucker manipulator (4) be positioned at the top of discharging platform (2), right sucker manipulator (8) is positioned at the top of loading bay (6); Sucker machinery descends actuating device (3) to drive right sucker manipulator (8) to decline on hand, and crawled PCB to be processed is put on loading bay (6) by right sucker manipulator (8); Then, sucker manipulator left and right actuating device drives left and right sucker manipulator to get back to the right original position, standby;
4th step, processing PCB: drive loading bay (6) by loading bay actuating device (7), PCB to be processed is made to enter the processing of loading bay (6) rear end or detecting device is processed, positioning pressuring plate cylinder (14) drives positioning pressuring plate (13) up-and-down movement, coordinate with locating plate (12) after positioning pressuring plate (13) down moves, after being compressed pcb board front end, the equipment of auxiliary rear end is carried out processing or detects; PCB after processing, under loading bay actuating device (7) counter-rotational propulsive effort, returns loading bay (6); Complete the unidirectional processing of PCB.
6. as claimed in claim 5 for the automatic loading/unloading method of PCB processing and check implement, it is characterized in that: PCB is two-way adds man-hour, PCB after unidirectional processing returns on loading bay completely, left sucker manipulator (4) is positioned at loading bay (6) top, sucker machinery descends actuating device (3) to drive left sucker manipulator (8) to decline on hand, PCB after unidirectional processing is picked up, turning driving (5) at left sucker machinery hand-screw drives left sucker manipulator (4) to drive the PCB of the unidirectional processing on it to carry out 90 degree of rotations or pros and cons rotation, then left sucker manipulator (4) declines, by unidirectional processing and postrotational PCB is put on loading bay (6), be conveyed in processing or detecting device by loading bay (6) and process, realize the two-way processing of PCB.
7. as described in claim 5 or 6 for PCB processing and the automatic loading/unloading method of check implement, it is characterized in that: movement has completed the PCB of unidirectional processing or two-way processing to discharging platform: left sucker manipulator (4) moves down and captures processing PCB, then rises; Left sucker manipulator (4) is toward moving left a station, and when left sucker manipulator (4) is positioned at discharging platform (2) top, left sucker manipulator (4) moves down, and unclamps the sucker of left sucker manipulator (4), is placed on discharging platform (2) by processing PCB; Complete discharging, meanwhile, right sucker manipulator (8) declines and captures PCB to be processed, then rises; Right sucker manipulator (8) is toward moving left a station, and when right sucker manipulator (8) is positioned at loading bay (6) top, right sucker manipulator (8) moves down, and unclamps the sucker of right sucker manipulator (8), is placed on by PCB to be processed on loading bay (2); Synchronously complete charging, rear left sucker machine tool hand (4) and right sucker manipulator (8) to return right-hand member standby.
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| CN110395577A (en) * | 2019-07-03 | 2019-11-01 | 温州源利智能科技有限公司 | A kind of pcb board and its transplantation method and equipment |
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