CN104582303A - Double-work-head special-shaped insertion machine - Google Patents
Double-work-head special-shaped insertion machine Download PDFInfo
- Publication number
- CN104582303A CN104582303A CN201410846583.XA CN201410846583A CN104582303A CN 104582303 A CN104582303 A CN 104582303A CN 201410846583 A CN201410846583 A CN 201410846583A CN 104582303 A CN104582303 A CN 104582303A
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- pcb board
- axis
- working head
- feeding
- special
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- 230000037431 insertion Effects 0.000 title abstract 8
- 238000003780 insertion Methods 0.000 title abstract 8
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 abstract 5
- 238000009434 installation Methods 0.000 abstract 1
- 150000003071 polychlorinated biphenyls Chemical class 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/303—Surface mounted components, e.g. affixing before soldering, aligning means, spacing means
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
- H05K13/0069—Holders for printed circuit boards
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
- H05K13/028—Simultaneously loading a plurality of loose objects, e.g. by means of vibrations, pressure differences, magnetic fields
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/046—Surface mounting
Abstract
The invention discloses a double-work-head special-shaped insertion machine which comprises a machine frame. The machine frame is provided with a transport support used for installation of a transport device with multiple work heads. A PCB conveyance locating device is arranged in the middle of the upper end of the machine frame, and the two sides of the upper end of the machine frame are each provided with a feeding device used for conveying electronic elements to the PCB conveyance locating device. The transport device transports and inserts the electronic elements conveyed by the two feeding devices into PCBs conveyed by the PCB transport locating device. Two work heads are adopted to take materials and insert the materials alternatively, so that the back-and-forth material taking time (about 1 second) of the work heads is saved, the insertion machine is in a working state to insert elements all the time, and therefore the inserting speed of the insertion machine is greatly increased (theoretically, the inserting speed is 1 time higher than that of an insertion machine with a single head). According to the insertion machine, each work head is provided with multiple insertion mechanical arms, the insertion machine is compatible with different special-shaped elements, and the assembly requirement for special-shaped elements of an electronic assembly market can be met.
Description
Technical field
The present invention relates to electronic component docking device, particularly the special-shaped inserter of a kind of double workhead.
Background technology
At present, the special-shaped inserter in electronic equipment market mostly is a working head, then on working head, installs 1-3 plug-in unit axle again, therefore can only solve the assembly problem of 1-3 kind shaped element.Working method with reference to the special-shaped inserter of a working head: working head moves to feeding position, head feeding, head moves to card address again, head plug-in mounting, working head moves, then to feeding position, circulation plug-in mounting, known: inserter every plug-in mounting element all needs a feeding time back and forth long, and the lifting like this for inserter plug-in mounting speed has very large obstacle.Along with the development of electronic technology, also more and more higher to the matching requirements of electronic product element, also can require that the plug-in mounting speed of special-shaped inserter is more and more higher for improving efficiency of assembling.
Summary of the invention
The object of the invention is the above-mentioned defect for prior art, provide the double workhead that a kind of structure is simple, grafting electronic component efficiency is high special-shaped inserter.
For solving the above-mentioned defect of prior art, technical scheme provided by the invention is: the special-shaped inserter of a kind of double workhead, comprise frame, in described frame, point is provided with one for installing the transporting supports of the Handling device with multiple working head, described frame upper center is provided with PCB conveying and positioning device, both sides, described frame upper end are respectively equipped with the feeding device to described PCB conveying and positioning device delivering electronic components, and the electronic component carrying of two described feeding devices conveyings is plugged on pcb board that described PCB conveying and positioning device is carried by described Handling device.
One as the special-shaped inserter of double workhead of the present invention is improved, described Handling device comprises two X-axis be parallel to each other and two Y-axis be parallel to each other, article two, described Y-axis is erected in two described X-axis respectively, article two, described X-axis is respectively equipped with a working head, article two, described X-axis is respectively equipped with the X-axis CD-ROM drive motor controlling the movement in X direction of described working head, two described Y-axis is respectively equipped with the Y-axis CD-ROM drive motor of the described X-axis of a control along Y-direction movement.
One as the special-shaped inserter of double workhead of the present invention is improved, described working head comprises Z axis manipulator mounting panel, one side of described Z axis manipulator mounting panel be interval with multiple can along the manipulator of Z-direction movement, one of them manipulator is provided with one for the suction nozzle of sucking up electronic components, other manipulators are equipped with a swing clamp cylinder, the output shaft of each swing clamp cylinder is equipped with a jaw, the another side of described Z axis manipulator mounting panel is provided with and controls described manipulator and put Z axis CD-ROM drive motor to movement along Z, the lower end, side of described Z axis manipulator mounting panel is provided with the ccd video camera for determining the MARK point on pcb board.
One as the special-shaped inserter of double workhead of the present invention is improved, described PCB conveying and positioning device comprises a width adjusting support, described width adjusting support is added is provided with two pcb board delivery tracks be parallel to each other, article two, be provided with a pcb board clamping position plate between described pcb board delivery track, article two, the position of the corresponding described pcb board clamping position plate of described pcb board delivery track is all interval with multiple pressing plate cylinder, described pcb board delivery track is provided with the supporting plate cylinder controlling described pcb board clamping position plate and hold up or put down, article two, the corresponding described pcb board clamping position plate discharge edge position of described pcb board delivery track is equipped with the first baffle plate cylinder, article two, the corresponding described pcb board clamping position plate pan feeding marginal position of described pcb board delivery track is equipped with second baffle cylinder, described width adjusting support is provided with the width adjusting motor of the spacing of the described pcb board delivery track of adjustment two, article two, the corresponding surface of described pcb board delivery track is equipped with the conveyer belt of a transmission pcb board, described width adjusting support is provided with the conveying motor driving described conveyer belt.
One as the special-shaped inserter of double workhead of the present invention is improved, described feeding device comprises stock support, described stock support upper end is provided with at least two electronic component pipelines, electronic component pipeline described in every bar is equipped with an electromagnetic shaker, an industrial CCD is provided with in the middle part of one end of described stock support, the both sides, front and back of described industrial CCD are equipped with a loader support in bulk, described loader support in bulk is provided with the loader in bulk of delivery of bulk electronic component, the feeding end of described loader in bulk is connected with the discharging opening of a vibrator supply dish, the discharging opening of described electronic component pipeline aims at described industrial CCD, the other end of described stock support is provided with a pipe dress loader support tilted upward, described pipe dress loader support is provided with at least two pipe dress loaders, the discharging opening of described pipe dress loader is communicated with described electronic component pipeline.
One as the special-shaped inserter of double workhead of the present invention is improved, and described jaw is open and close type pneumatic-finger cylinder, and described suction nozzle is vacuum cup.
One as the special-shaped inserter of double workhead of the present invention is improved, when described Handling device carries the electronic component on described feeding device, one of them working head moves to the feeding position of one of them feeding device, working head carries out feeding, after working head moves to card address, another working head moves to the feeding position of another feeding device, one of them working head plug-in mounting, another working head feeding, one of them working head moves to the feeding position of one of them feeding device, another working head moves to card address, one of them working head feeding, another working head plug-in mounting, carry out circulation plug-in mounting.
Compared with prior art, advantage of the present invention is: the feeding turnaround time (about 1 second) that the present invention adopts two working heads to replace feeding, the working method of plug-in mounting can save working head, inserter is all in the operating state of inserting element always, improves the plug-in mounting speed (more fast again than the inserter of single head in theory) of inserter so greatly.This inserter also designs multiple plug-in unit manipulator on each working head, can compatible multiple different shaped element, to meet the assembling demand of electronic assemblies market to shaped element.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is Handling device structural representation of the present invention.
Fig. 3 is working head structure schematic diagram of the present invention.
Fig. 4 is PCB conveying and positioning device structural representation of the present invention.
Fig. 5 is feeding device structural representation of the present invention.
Reference numeral title: 1, frame 2, Handling device 3, transporting supports 4, PCB conveying and positioning device 5, feeding device 6, working head 21, X-axis 22, Y-axis 23, X-axis CD-ROM drive motor 24, Y-axis CD-ROM drive motor 40, conveying motor 41, width adjusting support 42, pcb board delivery track 43, pcb board clamping position plate 44, pressing plate cylinder 45, supporting plate cylinder 46, first baffle plate cylinder 47, second baffle cylinder 48, width adjusting motor 49, conveyer belt 51, stock support 52, electronic component pipeline 53, electromagnetic shaker 54, industrial CCD 55, loader support 56 in bulk, loader 57 in bulk, pipe dress loader support 58, pipe dress loader 59, vibrator supply dish 61, Z axis manipulator mounting panel 62, manipulator 63, suction nozzle 64, swing clamp cylinder 65, jaw 66, Z axis CD-ROM drive motor 67, ccd video camera.
Embodiment
Just the invention will be further described with reference to the accompanying drawings below.
As shown in Figure 1, the special-shaped inserter of a kind of double workhead, comprise frame 1, it is characterized in that, in frame 1, point is provided with one for installing the transporting supports 3 of the Handling device 2 with multiple working head, frame 1 upper center is provided with PCB conveying and positioning device 4, and both sides, frame 1 upper end are respectively equipped with the feeding device 5 to PCB conveying and positioning device 4 delivering electronic components, and the electronic component carrying that two feeding devices 5 are carried by Handling device 2 is plugged on the pcb board of conveying on PCB conveying and positioning device 4.This equipment is connected with automatic deals machine, carry pcb board on the PCB conveying and positioning device 4 of this equipment by upper equipment to this equipment, PCB conveying and positioning device 4 realizes conveying to pcb board and location action, two feeding devices are fed to the feeding position of loader in bulk respectively, two working heads move to feeding on feeding position, one of them working head 6 moves to the feeding position of one of them feeding device 5, working head 6 carries out feeding, after working head 6 moves to card address, another working head 6 moves to the feeding position of another feeding device 5, one of them working head 6 plug-in mounting, another working head 6 feeding, one of them working head 6 moves to the feeding position of one of them feeding device 5, another working head 6 moves to card address, one of them working head 6 feeding, another working head 6 plug-in mounting, carry out circulation plug-in mounting.Ensure that this equipment is in the operating state of inserting element always, save the time that feeding moves back and forth, the plug-in mounting speed of raising equipment, promote the efficiency that shaped element is assembled automatically, after the shaped element plug-in mounting on pcb board, by PCB conveying and positioning device 4, pcb board is transported on next equipment again, continues processing for the next equipment.
As shown in Figure 2, Handling device 2 comprises two X-axis be parallel to each other 21 and two Y-axis be parallel to each other 22, article two, Y-axis 22 is erected in two X-axis 21 respectively, article two, X-axis 21 is respectively equipped with a working head 6, article two, X-axis 21 is respectively equipped with control working head 6 movement in X direction X-axis CD-ROM drive motor 23, two Y-axis 22 on be respectively equipped with the Y-axis CD-ROM drive motor 24 of a control X-axis 21 along Y-direction movement.Adopt two X-axis 21 and two Y-axis 22, X-axis 21 and Y-axis 22 routing motion realize two working heads 6 by the alternating movement action of feeding position to card address, and Z axis CD-ROM drive motor 66 realizes lower slotting feeding or the assembling action of plug-in unit axle.
As shown in Figure 3, working head 6 comprises Z axis manipulator mounting panel 61, one side of Z axis manipulator mounting panel 61 be interval with multiple can along the manipulator 62 of Z-direction movement, one of them manipulator 62 is provided with one for the suction nozzle 63 of sucking up electronic components, other manipulators 62 are equipped with a swing clamp cylinder 64, the output shaft of each swing clamp cylinder 64 is equipped with a jaw 65, the another side of Z axis manipulator mounting panel 61 is provided with and controls manipulator 62 and put Z axis CD-ROM drive motor 66 to movement along Z, the lower end, side of Z axis manipulator mounting panel 61 is provided with the ccd video camera 67 for determining the MARK point on pcb board.Of a great variety due to shaped element, profile is different, so can draw the feeding action that realize element by jaw 65 or suction nozzle 63 for different types of element, ccd video camera 67 looks for benchmark to use according to the MARK point on pcb board.
As shown in Figure 4, PCB conveying and positioning device 4 comprises a width adjusting support 41, width adjusting support 41 is added is provided with two pcb board delivery tracks 42 be parallel to each other, article two, between pcb board delivery track 42, be provided with a pcb board clamping position plate 43, article two, the position of pcb board delivery track 42 corresponding pcb board clamping position plate 43 is all interval with multiple pressing plate cylinder 44, pcb board delivery track 42 is provided with the supporting plate cylinder 45 controlling pcb board clamping position plate 43 and hold up or put down, article two, the position of pcb board delivery track 42 corresponding pcb board clamping position plate 43 discharge edge is equipped with the first baffle plate cylinder 46, article two, the position at pcb board delivery track 42 corresponding pcb board clamping position plate 43 pan feeding edge is equipped with second baffle cylinder 47, width adjusting support 41 is provided with the width adjusting motor 48 of the spacing of adjustment two pcb board delivery tracks 42, article two, the corresponding surface of pcb board delivery track 42 is equipped with the conveyer belt 49 of a transmission pcb board, width adjusting support 41 is provided with the conveying motor 40 driving conveyer belt 49.When upper equipment is transported to the front end of delivery track 42 pcb board, first baffle plate cylinder 46 action is stretched out, conveying motor 40 driving conveying belt 49 moves, belt conveyor 49 drives pcb board to travel forward, until encounter the extension bar of second baffle cylinder 47, now, the stop motion of conveying motor 40, after pcb board clamping position plate 43 is held up certain height by supporting plate cylinder 45 action, the action of multiple pressing plate cylinder 44, pcb board is held out against, thus realize the positioning function of pcb board, after pcb board has assembled, first baffle plate cylinder 46 is retracted, the action of conveying motor 40, pcb board is transported on the next equipment.
The width adjusting function of this device: width adjusting motor 48 is connected with a pcb board delivery track 42 with Timing Belt by synchronizing wheel, when width adjusting motor 48 moves, a wherein pcb board delivery track 42 is driven to move to another pcb board delivery track 42, thus realize the broad-adjustable effect of pcb board delivery track 42, pcb board delivery track 42 width regulates automatically by input parameter, faster, convenient, intelligent humanized.
As shown in Figure 5, feeding device 5 comprises stock support 51, stock support 51 upper end is provided with at least two electronic component pipelines 52, every bar electronic component pipeline 52 is equipped with an electromagnetic shaker 53, an industrial CCD 54 is provided with in the middle part of one end of stock support 51, the both sides, front and back of industrial CCD 54 are equipped with a loader support 55 in bulk, loader support 55 in bulk is provided with the loader in bulk 56 of delivery of bulk electronic component, the feeding end of loader 56 in bulk is connected with the discharging opening of a vibrator supply dish 59, the discharging opening of electronic component pipeline 52 aims at industrial CCD 54, the other end of stock support 51 is provided with a pipe dress loader support 57 tilted upward, pipe dress loader support 57 is provided with at least two pipe dress loaders 58, the discharging opening of pipe dress loader 58 is communicated with electronic component pipeline 52.
Vibrator supply dish 57 is sorted by the heterotype element that vibrating transportation is in bulk, and then be transported to the feeding position of mechanically specifying sequenced for element, the sequenced assigned address being transported to machinery of heterotype element of pipe dress supplied materials, the effect of industrial CCD: (1), according to the pin of element, screens element; (2) when gripping or suction nozzle element have deviation, correct the coordinate of element, that improves heterotype element is plugged into power.
Preferably, jaw 65 is open and close type pneumatic-finger cylinder, and suction nozzle 63 is vacuum cup.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also carry out suitable change and amendment to above-mentioned execution mode.Therefore, the present invention is not limited to embodiment disclosed and described above, also should fall in the protection range of claim of the present invention modifications and changes more of the present invention.In addition, although employ some specific terms in this specification, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (7)
1. the special-shaped inserter of double workhead, comprise frame (1), it is characterized in that, the upper point of described frame (1) is provided with one for installing the transporting supports (3) of the Handling device (2) with multiple working head, described frame (1) upper center is provided with PCB conveying and positioning device (4), described frame (1) both sides, upper end are respectively equipped with the feeding device (5) to described PCB conveying and positioning device (4) delivering electronic components, the electronic component carrying that two described feeding devices (5) are carried by described Handling device (2) is plugged on the pcb board of the upper conveying of described PCB conveying and positioning device (4).
2. the special-shaped inserter of double workhead according to claim 1, it is characterized in that, described Handling device (2) comprises two X-axis be parallel to each other (21) and two Y-axis be parallel to each other (22), article two, described Y-axis (22) is erected on two described X-axis (21) respectively, article two, described X-axis (21) is respectively equipped with a working head (6), article two, described X-axis (21) is respectively equipped with the X-axis CD-ROM drive motor (23) controlling described working head (6) movement in X direction, article two, described Y-axis (22) is respectively equipped with the Y-axis CD-ROM drive motor (24) of the described X-axis of a control (21) along Y-direction movement.
3. the special-shaped inserter of double workhead according to claim 2, it is characterized in that, described working head (6) comprises Z axis manipulator mounting panel (61), one side of described Z axis manipulator mounting panel (61) be interval with multiple can along the manipulator of Z-direction movement (62), one of them manipulator (62) is provided with one for the suction nozzle (63) of sucking up electronic components, other manipulators (62) are equipped with a swing clamp cylinder (64), the output shaft of each swing clamp cylinder (64) is equipped with a jaw (65), the another side of described Z axis manipulator mounting panel (61) is provided with and controls described manipulator (62) and put Z axis CD-ROM drive motor (66) to movement along Z, the lower end, side of described Z axis manipulator mounting panel (61) is provided with the ccd video camera (67) for determining the MARK point on pcb board.
4. the special-shaped inserter of double workhead according to claim 1, it is characterized in that, described PCB conveying and positioning device (4) comprises a width adjusting support (41), described width adjusting support (41) is added is provided with two pcb board delivery tracks (42) be parallel to each other, article two, be provided with a pcb board clamping position plate (43) between described pcb board delivery track (42), article two, the position of the corresponding described pcb board clamping position plate (43) of described pcb board delivery track (42) is all interval with multiple pressing plate cylinder (44), described pcb board delivery track (42) is provided with the supporting plate cylinder (45) controlling described pcb board clamping position plate (43) and hold up or put down, article two, the position of corresponding described pcb board clamping position plate (43) discharge edge of described pcb board delivery track (42) is equipped with the first baffle plate cylinder (46), article two, the position at corresponding described pcb board clamping position plate (43) the pan feeding edge of described pcb board delivery track (42) is equipped with second baffle cylinder (47), described width adjusting support (41) is provided with the width adjusting motor (48) of the spacing of the described pcb board delivery track (42) of adjustment two, article two, the corresponding surface of described pcb board delivery track (42) is equipped with the conveyer belt (49) of a transmission pcb board, described width adjusting support (41) is provided with the conveying motor (40) driving described conveyer belt (49).
5. the special-shaped inserter of double workhead according to claim 1, it is characterized in that, described feeding device (5) comprises stock support (51), described stock support (51) upper end is provided with at least two electronic component pipelines (52), electronic component pipeline (52) described in every bar is equipped with an electromagnetic shaker (53), an industrial CCD (54) is provided with in the middle part of one end of described stock support (51), the both sides, front and back of described industrial CCD (54) are equipped with a loader support (55) in bulk, described loader support (55) in bulk is provided with the loader in bulk (56) of delivery of bulk electronic component, the feeding end of described loader in bulk (56) is connected with the discharging opening of a vibrator supply dish (59), the discharging opening of described electronic component pipeline (52) aims at described industrial CCD (54), the other end of described stock support (51) is provided with pipe dress loader support (57) tilted upward, described pipe dress loader support (57) is provided with at least two pipes dress loader (58), the discharging opening of described pipe dress loader (58) is communicated with described electronic component pipeline (52).
6. the special-shaped inserter of double workhead according to claim 3, is characterized in that, described jaw (65) for open and close type pneumatic-finger cylinder, described suction nozzle (63) be vacuum cup.
7. the special-shaped inserter of double workhead according to claim 1, it is characterized in that, when described Handling device (2) carries the electronic component on described feeding device (5), one of them working head (6) moves to the feeding position of one of them feeding device (5), working head (6) carries out feeding, after working head (6) moves to card address, another working head (6) moves to the feeding position of another feeding device (5), one of them working head (6) plug-in mounting, another working head (6) feeding, one of them working head (6) moves to the feeding position of one of them feeding device (5), another working head (6) moves to card address, one of them working head (6) feeding, another working head (6) plug-in mounting, carry out circulation plug-in mounting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410846583.XA CN104582303A (en) | 2014-12-31 | 2014-12-31 | Double-work-head special-shaped insertion machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410846583.XA CN104582303A (en) | 2014-12-31 | 2014-12-31 | Double-work-head special-shaped insertion machine |
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| CN104582303A true CN104582303A (en) | 2015-04-29 |
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| CN201410846583.XA Pending CN104582303A (en) | 2014-12-31 | 2014-12-31 | Double-work-head special-shaped insertion machine |
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Cited By (15)
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| CN104902739A (en) * | 2015-06-25 | 2015-09-09 | 广东工业大学 | Insertion machine visual system |
| CN105149924A (en) * | 2015-09-09 | 2015-12-16 | 舒建文 | Workpiece attaching machine |
| CN105188334A (en) * | 2015-09-11 | 2015-12-23 | 东莞侨亨精密设备有限公司 | Vision positioning modularization dual-arm high speed special element plugging equipment |
| CN105246318A (en) * | 2015-10-21 | 2016-01-13 | 广东工业大学 | Composite gripper for special-shaped elements |
| CN105530764A (en) * | 2016-01-22 | 2016-04-27 | 东莞市冠佳电子设备有限公司 | Plug-in machine with directional electronic element |
| CN107613748A (en) * | 2017-11-03 | 2018-01-19 | 苏州新富捷自动化科技有限公司 | Three-dimension flexible feeder |
| CN107666825A (en) * | 2016-07-27 | 2018-02-06 | 深圳市祈飞科技有限公司 | Automatically slotting patch machine |
| CN108045633A (en) * | 2017-12-30 | 2018-05-18 | 深圳市万相源科技有限公司 | A kind of abnormal shape automatic insertion method and automatic insertion equipment |
| CN108216723A (en) * | 2016-12-30 | 2018-06-29 | 青岛海科佳电子设备制造有限公司 | Opposite conveying mechanical arm charging device and its method |
| CN108289405A (en) * | 2017-01-10 | 2018-07-17 | 深圳市祈飞科技有限公司 | Automatism card machine |
| CN108857384A (en) * | 2018-07-02 | 2018-11-23 | 苏州富强科技有限公司 | A kind of material fetching mechanism and assembling assembly automatic assembling apparatus |
| CN110267517A (en) * | 2017-03-13 | 2019-09-20 | 深圳市中禾旭精密机械有限公司 | Material conveying device and corresponding automatism card machine |
| CN110267520A (en) * | 2019-06-25 | 2019-09-20 | 东莞市德速达精密设备有限公司 | Special-shaped plug-in machine |
| CN111112968A (en) * | 2018-10-30 | 2020-05-08 | 武汉远大天安智能科技有限公司 | Automatic PCB assembling device and assembling method thereof |
| CN114084565A (en) * | 2021-11-30 | 2022-02-25 | 重庆机电智能制造有限公司 | Automatic storage and taking three-dimensional warehouse with inert gas protection |
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| CN104902739A (en) * | 2015-06-25 | 2015-09-09 | 广东工业大学 | Insertion machine visual system |
| CN105149924A (en) * | 2015-09-09 | 2015-12-16 | 舒建文 | Workpiece attaching machine |
| CN105188334A (en) * | 2015-09-11 | 2015-12-23 | 东莞侨亨精密设备有限公司 | Vision positioning modularization dual-arm high speed special element plugging equipment |
| CN105246318A (en) * | 2015-10-21 | 2016-01-13 | 广东工业大学 | Composite gripper for special-shaped elements |
| CN105530764B (en) * | 2016-01-22 | 2018-11-23 | 东莞市冠佳电子设备有限公司 | A kind of plug-in machine with directional electrical subcomponent |
| CN105530764A (en) * | 2016-01-22 | 2016-04-27 | 东莞市冠佳电子设备有限公司 | Plug-in machine with directional electronic element |
| CN107666825A (en) * | 2016-07-27 | 2018-02-06 | 深圳市祈飞科技有限公司 | Automatically slotting patch machine |
| CN108216723B (en) * | 2016-12-30 | 2023-07-18 | 青岛海科佳智能科技股份有限公司 | Material feeding device and method for opposite conveying manipulator |
| CN108216723A (en) * | 2016-12-30 | 2018-06-29 | 青岛海科佳电子设备制造有限公司 | Opposite conveying mechanical arm charging device and its method |
| CN108289405A (en) * | 2017-01-10 | 2018-07-17 | 深圳市祈飞科技有限公司 | Automatism card machine |
| CN110267517B (en) * | 2017-03-13 | 2021-02-09 | 深圳市中禾旭精密机械有限公司 | Material conveying device and corresponding automatic component inserter |
| CN110267518A (en) * | 2017-03-13 | 2019-09-20 | 深圳市中禾旭精密机械有限公司 | Pipe charging loader and corresponding automatism card machine |
| CN110267517A (en) * | 2017-03-13 | 2019-09-20 | 深圳市中禾旭精密机械有限公司 | Material conveying device and corresponding automatism card machine |
| CN110267519A (en) * | 2017-03-13 | 2019-09-20 | 深圳市中禾旭精密机械有限公司 | Plug-in unit robot device and corresponding automatism card machine |
| CN107613748A (en) * | 2017-11-03 | 2018-01-19 | 苏州新富捷自动化科技有限公司 | Three-dimension flexible feeder |
| CN107613748B (en) * | 2017-11-03 | 2024-02-20 | 苏州新富捷自动化科技有限公司 | Three-dimensional flexible feeder |
| CN108045633A (en) * | 2017-12-30 | 2018-05-18 | 深圳市万相源科技有限公司 | A kind of abnormal shape automatic insertion method and automatic insertion equipment |
| CN108857384A (en) * | 2018-07-02 | 2018-11-23 | 苏州富强科技有限公司 | A kind of material fetching mechanism and assembling assembly automatic assembling apparatus |
| CN108857384B (en) * | 2018-07-02 | 2024-02-06 | 苏州富强科技有限公司 | Material taking mechanism and automatic assembly device for assembly components |
| CN111112968A (en) * | 2018-10-30 | 2020-05-08 | 武汉远大天安智能科技有限公司 | Automatic PCB assembling device and assembling method thereof |
| CN110267520A (en) * | 2019-06-25 | 2019-09-20 | 东莞市德速达精密设备有限公司 | Special-shaped plug-in machine |
| CN114084565A (en) * | 2021-11-30 | 2022-02-25 | 重庆机电智能制造有限公司 | Automatic storage and taking three-dimensional warehouse with inert gas protection |
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Application publication date: 20150429 |