CN104670880A - Automatic conveying equipment - Google Patents
Automatic conveying equipment Download PDFInfo
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- CN104670880A CN104670880A CN201410745307.4A CN201410745307A CN104670880A CN 104670880 A CN104670880 A CN 104670880A CN 201410745307 A CN201410745307 A CN 201410745307A CN 104670880 A CN104670880 A CN 104670880A
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Abstract
The invention provides automatic conveying equipment comprising a product feeding device (1), a product conveying device (2) and a product processing device (3). A product (4) to be tested is fed into and positioned by the product feeding device (1). The product conveying device (2) conveys the product (4) to be tested to a product testing station (5) and conveys the same to the product processing device (3) after the test. The product processing device (3), according to the test result, divides good products from defective products. The automatic conveying equipment is high in efficiency, low in cost, universal, convenient to maintain and appropriate to test programs of electronics (or printed circuit board).
Description
skill states field
The present invention relates to carrying test skill and state field, be specifically related to a kind of automatic transportation equipment.
background skill is stated
In electron trade, the test of electronic product (or lettering circuit card) trends towards few peopleization with unmanned; Such as in household electric appliances, because of the reason of production capacity or efficiency, the test of product has multiple identical post, and be directed at efficiency low, cost of labor is many; And be difficult to realize or very complicated mode could realize automatically test, thus it is high to be directed at cost, and space hold is large, and after replacement of products, equipment is difficult to realize general, maintenance inconvenience.
Summary of the invention
State for above-mentioned existing skill, skill to be solved by this invention is stated problem and is to provide a kind of automatic transportation equipment, and this automatic transportation equipment can realize automated handling, and efficiency is high, and cost is low, and Device-General is easy to maintenance.
Problem is stated in order to solve above-mentioned skill, the invention provides a kind of automatic transportation equipment, comprise product feeding device, carrying device for products, product treatment apparatus, product to be measured is fed into product feeding device and locates, carrying device for products is carried product to be measured and is tested to product test station, and after having tested, carrying device for products carries product to be measured again to product treatment apparatus, product treatment apparatus, according to test result, distinguishes non-defective unit and defective products.
Further improvement of the present invention is; product feeding device comprises product conveyor structure, the first frame, positioning cylinder, positioning cylinder adapter plate; first frame is provided with the first rack table; positioning cylinder is provided with positioning cylinder and exports wheel shaft; product conveyor structure is installed on the first rack table, and positioning cylinder is installed on product conveyor structure by positioning cylinder adapter plate; Product to be measured is delivered to positioning cylinder through product conveying mechanism and exports location, wheel shaft place.
Further improvement of the present invention is, carrying device for products comprises product grasping mechanism, Z axis, Z-axis lifting mechanism, Z axis rotating mechanism, Z axis base, Y-axis moving mechanism, permanent seat, X-axis travel mechanism, Z-axis lifting mechanism is provided with lifting and drives plate, product grasping mechanism rotates to be installed on lifting drive plate and to slide up and down with Z axis by the draw-in groove of Z axis and is connected, lifting drives plate and Z axis sliding block joint, Z axis is installed on Z axis rotating mechanism, Z axis rotating mechanism is installed on Z axis base, Z-axis lifting mechanism is installed on Z axis chassis side, Z axis floor installation is in Y-axis moving mechanism, Y-axis moving mechanism is installed on permanent seat, permanent seat is installed on X-axis travel mechanism, product grasping mechanism is for capturing product to be measured, Z axis rotating mechanism rotates and drives Z axis, thus drive product grasping mechanism to rotate, Z-axis lifting mechanism drives strip movable property product grasping mechanism up-and-down movement by lifting, Y-axis moving mechanism drives Z axis base to move along y-axis shift, X-axis travel mechanism drives permanent seat to move along X-axis.
Further improvement of the present invention is, product treatment apparatus comprises product connecting gear, product lifting mechanism, the second frame, product connecting gear, product lifting mechanism are installed on the second frame respectively, non-defective unit after having tested directly is sent to subsequent processing through product connecting gear, defective products after having tested rises automatically through product lifting mechanism, thus distinguishes non-defective unit and defective products.
Further improvement of the present invention is, product grasping mechanism comprises that carrying is grabbed, sucker, sucker adapter plate, adjustment block, and sucker adapter plate is fixedly installed in the front end of carrying and grabbing by adjustment block, under sucker is fixedly installed in sucker adapter plate.
Further improvement of the present invention is, Z-axis lifting mechanism comprises lifting and drives plate, lifting drives plate mount pad, stepper motor, first synchronous pulley, second synchronous pulley, first synchronous belt, second screw mandrel, second feed screw nut, first slide block, first guide rail, bearing seat, stepper motor is provided with stepping motor output shaft, lifting drives the lower end of plate to be fixedly installed in lifting and drives plate mount pad, lifting drives plate mount pad to be connected to the first guide rail by the first skid, first guide rail is fixedly installed in inside Z axis base, stepper motor is fixedly installed in inside Z axis base, first synchronous pulley is fixedly installed in stepping motor output shaft, second screw mandrel top is rotated and is installed on bearing seat, bearing seat is fixedly installed on Z axis base, second synchronous pulley is fixedly installed in the second screw mandrel upper end, first synchronous belt is connected with the first synchronous pulley and the second synchronous belt pulley transmission, second feed screw nut is fixedly installed in lifting and drives on plate mount pad, and the second feed screw nut is connected with the second screw rod transmission.
Further improvement of the present invention is, Z axis rotating mechanism comprises the first servomotor, rotary flange dish, first linear bearing, first linear bearing mount pad, first centripetal force ball-bearing casing, the outer seat of first centripetal force ball-bearing casing, described first servomotor is provided with the first servo motor rotor, described Z axis is fixedly installed in the first servo motor rotor by rotary flange dish, described first servomotor is fixedly installed on Z axis base, the outer ring of the first linear bearing is installed on the inner ring of the first linear bearing mount pad, the inner ring of the first linear bearing and Z axis sliding block joint, the outer ring of the first centripetal force ball-bearing casing is installed on the inner ring of the outer seat of the first centripetal force ball-bearing casing, the inner ring of the first centripetal force ball-bearing casing is installed on the outer ring of the first linear bearing mount pad, the outer seat of first centripetal force ball-bearing casing is installed on lifting and drives on the upper end of plate, the rear end that carrying is grabbed loosens and is installed on the first linear bearing mount pad through Z axis.
Further improvement of the present invention is, Y-axis moving mechanism comprises the second servomotor, 3rd synchronous pulley, 4th synchronous pulley, second synchronous belt, 3rd screw mandrel, 3rd feed screw nut, 3rd feed screw nut's mount pad, 3rd screw mandrel mount pad, second slide block, second guide rail, base plate, second servomotor is provided with the second servo motor output shaft, Z axis base is fixedly installed on the 3rd feed screw nut's mount pad, second servomotor is fixedly installed on permanent seat, 3rd synchronous pulley is fixedly installed on the second servo motor output shaft, the two ends of the 3rd screw mandrel are rotated respectively and are installed in the 3rd screw mandrel mount pad, 3rd screw mandrel mount pad is fixedly installed on base plate, 4th synchronous pulley is fixedly installed in one end of the 3rd screw mandrel, second synchronous belt is connected with the 3rd synchronous pulley and the 4th synchronous belt pulley transmission respectively, under 3rd feed screw nut is fixedly installed in the 3rd feed screw nut's mount pad, 3rd feed screw nut's mount pad is connected to the second guide rail by the second skid, second guide rail is fixedly installed on base plate, base plate is fixedly installed on permanent seat.
Further improvement of the present invention is, X-axis travel mechanism comprises the 3rd servomotor, screw mandrel stay bearing plate, 4th screw mandrel, 4th feed screw nut, 4th feed screw nut's mount pad, first axis of guide, 3rd servomotor is provided with the 3rd servo motor output shaft, the two ends of the 4th screw mandrel are rotatablely equipped with a screw mandrel stay bearing plate respectively, 3rd servomotor is fixedly installed in screw mandrel stay bearing plate, 3rd servo motor output shaft is fixedly connected with the 4th screw mandrel, the two ends of second axis of guide are fixedly installed in screw mandrel stay bearing plate respectively, 4th feed screw nut is fixedly installed in the 4th feed screw nut's mount pad, 4th screw mandrel is connected with the 4th screw nut driving, second axis of guide and the 4th feed screw nut's mount pad sliding block joint, under 4th feed screw nut's mount pad is fixedly installed in permanent seat.
Compared with stating with existing skill, the invention has the advantages that, this automatic transportation equipment adopts product feeding device, carrying device for products and product treatment apparatus to combine, product to be measured is fed into product feeding device and locates, carrying device for products is carried product to be measured and is tested to product test station, and after having tested, carrying device for products carries product to be measured again to product treatment apparatus, product treatment apparatus, according to test result, distinguishes non-defective unit and defective products.This automatic transportation equipment can realize automated handling, and efficiency is high, and cost is low, and Device-General is easy to maintenance.
Accompanying drawing explanation
Fig. 1 is block diagram of the present invention;
Fig. 2 is the schematic circuit diagram of central processing module of the present invention;
Fig. 3 is the schematic circuit diagram of AD data input module of the present invention;
Fig. 4 is the schematic circuit diagram of digital signal load module of the present invention;
Fig. 5 is the schematic circuit diagram of digital signal output modules of the present invention;
Fig. 6 is the schematic circuit diagram of usb communication module of the present invention;
Fig. 7, Fig. 8 are the block diagrams of product treatment apparatus of the present invention two different visual angles.
In figure, each component names is as follows:
1-product feeding device;
11-product conveyor structure;
1101-the first guide rail;
1102-the second guide rail;
1103-the first fixed mounting;
1104-the second fixed mounting;
1105-the first permanent seat;
1106-the second permanent seat;
1107-the first active connecting base;
1108-the second active connecting base;
1109-the first flower wheel;
1110-the first driving wheel;
1111-the first transmission shaft;
1112-the first motor;
1113-the first sprocket wheel;
1114-the first chain;
1115-the first axis of guide;
1116-the first belt;
1117-the first motor mount;
12-the first frame;
121-the first rack table;
13-positioning cylinder;
131-positioning cylinder exports wheel shaft;
14-positioning cylinder adapter plate;
15-the first width adjustment mechanism;
151-the first shakes the hand rotating shaft;
152-the first screw mandrel;
153-first connecting rod;
154-first connecting rod mount pad;
155-the first finishing bevel gear cuter;
2-carrying device for products;
21-product grasping mechanism;
211-carrying is grabbed;
212-sucker;
213-sucker adapter plate;
214-adjustment block;
22-Z axis;
23-Z-axis lifting mechanism;
2301-lifting drives plate;
2302-lifting drives plate mount pad;
2303-stepper motor;
2304-stepper motor adapter plate;
2305-the first synchronous pulley;
2306-the second synchronous pulley;
2307-the first synchronous belt;
2308-the second screw mandrel;
2309-the second feed screw nut;
2310-the second feed screw nut's adapter plate;
2311-the first slide block;
2312-the first guide rail;
2313-bearing seat;
2314-bearing mounting plate;
24-Z axis rotating mechanism;
241-the first servomotor;
242-rotary flange dish;
243-the first linear bearing;
244-the first linear bearing mount pad;
245-the first centripetal force ball-bearing casing;
The outer seat of 246-the first centripetal force ball-bearing casing;
25-Z axis base;
26-Y-axis moving mechanism;
2601-the second servomotor;
2602-the second servomotor mount pad;
2603-the three synchronous pulley;
2604-the four synchronous pulley;
2605-the second synchronous belt;
2606-the three screw mandrel;
2607-the three feed screw nut;
2608-the three feed screw nut's mount pad;
2609-the three screw mandrel mount pad;
2610-the second slide block;
2611-the second guide rail;
2612-base plate;
27-permanent seat;
28-X-axis travel mechanism;
281-the three servomotor;
282-the three servomotor mount pad;
283-screw mandrel stay bearing plate;
284-the four screw mandrel;
285-the four feed screw nut;
286-the four feed screw nut's mount pad;
287-the second axis of guide;
29-the second frame;
291-the second rack table;
3-product treatment apparatus;
31-product connecting gear;
3101-the first motor;
3102-the first retarder;
3103-the first motor mount;
3104-the second finishing bevel gear cuter;
3105-second driving shaft;
3106-the second driving wheel;
3107-belt idle wheel;
3108-belt pulley;
3109-transfer wheel;
3110-the second belt;
3111-the three belt;
3112-front shoe;
3113-rear fixed plate;
3114-portable plate;
3115-the three axis of guide;
32-product lifting mechanism;
3201-the second motor;
3202-the second retarder;
3203-the second motor mount;
3204-the five synchronous pulley;
3205-the three synchronous belt;
3206-the five screw mandrel;
3207-the five feed screw nut;
3208-the four axis of guide;
3209-lifter plate;
3210-the three slide block;
3211-the three guide rail;
3212-upper setting block;
3213-lower adjustment block;
3214-pilot bar;
3215-screening bar;
33-the three frame;
331-the three frame upper table surface;
332-the three frame following table;
34-the second width adjustment mechanism;
341-the second shakes the hand rotating shaft;
342-the six screw mandrel;
343-the seven screw mandrel;
344-seat of shaking the hand;
345-the second sprocket wheel;
346-the second chain;
4-product to be measured;
5-product test station.
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described, element numbers similar in accompanying drawing represents similar element.
As shown in Figure 1, a kind of automatic transportation equipment of the present invention, it comprises product feeding device 1, carrying device for products 2, product treatment apparatus 3, product 4 to be measured is fed into product feeding device 1 and locates, carrying device for products 2 is carried product 4 to product test station 5 to be measured and is tested, and after having tested, carrying device for products 2 carries product 4 to product treatment apparatus 3 to be measured again, product treatment apparatus 3, according to test result, distinguishes non-defective unit and defective products.Carrying device for products 2 and product test station 5 can use multiple combination according to the needs of actual production, it is 4 groups if: carrying device for products 2 is 1 group and product test station 5, or carrying device for products 2 to be 2 groups and product test station 5 be 8 groups etc., present embodiment is that 1 group and product test station 5 are 4 groups and are described with carrying device for products 2.
Particularly; as shown in Figures 2 and 3; product feeding device 1 comprises product conveyor structure 11, first frame 12, positioning cylinder 13, positioning cylinder adapter plate 14; first frame 12 is provided with the first rack table 121; positioning cylinder 13 is provided with positioning cylinder output shaft 131; product conveyor structure 11 is installed on the first rack table 121, and positioning cylinder 13 is installed on product conveyor structure 11 by positioning cylinder adapter plate 14; Also comprise the first width adjustment mechanism 15, first width adjustment mechanism 15 and be installed on the first rack table 121, for regulating the width of product conveyor structure 11 conveying products; Product 5 to be measured is delivered to location, positioning cylinder output shaft 131 place through product conveying mechanism 11.Product conveyor structure 11 comprises the first guide rail 1101, second guide rail 1102, first fixed mounting 1103, second fixed mounting 1104, first permanent seat 1105, second permanent seat 1106, first active connecting base 1107, second active connecting base 1108, first flower wheel 1109, first driving wheel 1110, first transmission shaft 1111, first motor 1112, first sprocket wheel 1113, first chain 1114, first axis of guide 1115, first belt 1116, first motor mount (1117), the quantity of the first flower wheel 1109 is 8, the quantity of the first driving wheel 1110 is 2, the quantity of the first sprocket wheel 1113 is 2, the quantity of the first belt 1116 is 2, first motor 1112 is provided with the first motor output shaft, first width adjustment mechanism 15 comprise first shake the hand rotating shaft 151, first screw mandrel 152, first connecting rod 153, first connecting rod mount pad 154, first finishing bevel gear cuter 155, first finishing bevel gear cuter 155 quantity be 4, first guide rail 1101 is fixedly installed in the front end of the first rack table 121 by the first fixed mounting 1103 of both sides and the second fixed mounting 1104, first permanent seat 1105 and the second permanent seat 1106 are fixedly installed in the both sides, rear end of the first rack table 121, one end of first transmission shaft 1111 is installed with the first driving wheel 1110 and is rotated by bearing and is installed in the second fixed mounting 1104, the other end of the first transmission shaft 1111 is installed with one first sprocket wheel 1113 and is rotated by bearing and is installed in the second permanent seat 1106, one end of first axis of guide 1115 is fixedly installed in the first fixed mounting 1103, the other end of first axis of guide 1115 is fixedly installed in the first permanent seat 1105, second guide rail 1102 both sides are installed with the first active connecting base 1107 and the second active connecting base 1108, first active connecting base 1107 is slidably connected to first axis of guide 1115 by copper sheathing, first transmission shaft 1111 slidably connects copper sheathing and copper sheathing and the second active connecting base 1108 are rotationally connected, copper sheathing is also installed with the first driving wheel 1110, 4 the first flower wheels 1109 are installed inside first guide rail 1101, the inner side of the second guide rail 1102 is provided with 4 the first flower wheels 1109, between 4 the first flower wheels 1109 inside first guide rail 1101 and the first driving wheel 1110 on the first transmission shaft 1111, first belt 1116 is installed, between 4 the first flower wheels 1109 inside second guide rail 1102 and the first driving wheel 1110 on copper sheathing, the first belt 1116 is also installed, first motor 1112 is fixedly installed in the first rack table 121 times by the first motor mount 1118, first motor 1112 is provided with the first motor output shaft, first motor output shaft is installed with the first sprocket wheel 1113, first chain 1114 is snapped at the first sprocket wheel 1113 on motor output shaft and the first sprocket wheel 1113 on the first transmission shaft 1111 respectively, first one end of shaking the hand rotating shaft 151 is installed with the runner being rotationally connected by bearing and the second fixed mounting 1104 of shaking the hand, first other end of shaking the hand rotating shaft 151 is installed with the first finishing bevel gear cuter 155 and is rotationally connected by bearing and the second permanent seat 1106, one end of first screw mandrel 152 is rotated by bearing and is installed on the first fixed mounting 1103, the other end of the first screw mandrel 152 is installed with the first finishing bevel gear cuter 155 and is rotated by bearing and is installed on the first permanent seat 1105, the two ends of first connecting rod 153 are installed with the first finishing bevel gear cuter 155 respectively and are rotationally connected with first connecting rod mount pad 154, first connecting rod mount pad 154 is fixedly installed in the first rack table 121, first finishing bevel gear cuter 155 of the other end installation of the first screw mandrel 152 is snapped at the first finishing bevel gear cuter 155 of one end installation of first connecting rod 153, the first finishing bevel gear cuter 155 that the other end that the first finishing bevel gear cuter 155 that first other end of shaking the hand rotating shaft 151 is installed is snapped at first connecting rod 153 is installed, first rotating shaft 151 of shaking the hand is slidably connected to the copper sheathing being fixedly installed in the second active connecting base 1108, first screw mandrel 152 is rotationally connected with the feed screw nut being fixedly mounted on the first active connecting base 1107, positioning cylinder 13 is fixedly installed in the exit of the first guide rail 1101 by positioning cylinder adapter plate 14.
Particularly, as shown in Figures 4 and 5, carrying device for products 2 comprises product grasping mechanism 21, Z axis 22, Z-axis lifting mechanism 23, Z axis rotating mechanism 24, Z axis base 25, Y-axis moving mechanism 26, permanent seat 27, X-axis travel mechanism 28, second frame 29, second frame 29 are provided with the second rack table 291.Product grasping mechanism 21 comprises that carrying grabs 211, sucker 212, sucker adapter plate 213, adjustment block 214, and sucker 212 is Pneumatic suction cup, and quantity is 4 to 6; Z axis 22 is castellated shaft; Z-axis lifting mechanism 23 comprises lifting and drives plate 2301, lifting drive plate mount pad 2302, stepper motor 2303, stepper motor adapter plate 2304, first synchronous pulley 2305, second synchronous pulley 2306, first synchronous belt 2307, second screw mandrel 2308, second feed screw nut 2309, second feed screw nut's adapter plate 2310, first slide block 2311, first guide rail 2312, bearing seat 2313, bearing mounting plate 2314; stepper motor 2303 is provided with stepping motor output shaft; the quantity of the first slide block 2311 is 4, and the quantity of the first guide rail 2312 is 2; Z axis rotating mechanism 24 comprises the first servomotor 241, outer seat 246, first servomotor 241 of rotary flange dish 242, first linear bearing 243, first linear bearing mount pad 244, first centripetal force ball-bearing casing 245, first centripetal force ball-bearing casing is provided with the first servo motor rotor; Y-axis moving mechanism 26 comprises the second servomotor 2601, second servomotor mount pad 2602, the 3rd synchronous pulley 2603, the 4th synchronous pulley 2604, second synchronous belt 2605, the 3rd screw mandrel 2606, the 3rd feed screw nut 2607, the 3rd feed screw nut's mount pad 2608, the 3rd screw mandrel mount pad 2609, second slide block 2610, second guide rail 2611, base plate 2612; second servomotor 2601 is provided with the second servo motor output shaft; the quantity of the 3rd screw mandrel mount pad 2609, second guide rail 2611 is 2, and the quantity of the second slide block 2610 is 4; X-axis travel mechanism 28 comprises the 3rd servomotor 281, the 3rd servomotor mount pad 282, screw mandrel stay bearing plate 283, the 4th screw mandrel 284, the 4th feed screw nut 285, the 4th feed screw nut's mount pad 286, second axis of guide 287,3rd servomotor 281 is provided with the 3rd servo motor output shaft, and the quantity of screw mandrel stay bearing plate 283, second axis of guide 287 is 2.The rear end that carrying grabs 211 loosens to be fixedly installed in slide up and down on the first linear bearing mount pad 244 and with Z axis 22 through Z axis 22 (castellated shaft) and is connected, sucker adapter plate 213 is fixedly installed in by adjustment block 214 front end that carrying grabs 211, adjustment block 214 is for adjusting sucker adapter plate 213 relative to carrying the distance of grabbing the front end of 211, and sucker 212 is fixedly installed in sucker adapter plate 213 times, lifting drives the upper end of plate 2301 to loosen and is fixedly installed in the outer seat 246 of the first centripetal force ball-bearing casing through Z axis 22 (castellated shaft) and slides up and down with Z axis 22 and is connected, lifting drives the lower end of plate 2301 to be fixedly installed in lifting and drives plate mount pad 2302, lifting drives plate mount pad 2302 to be slidably connected to 2 the first guide rails 2312 by 4 the first slide blocks 2311, 2 the first guide rails 2312 are fixedly installed in inside Z axis base 25, stepper motor 2303 is fixedly installed in inside Z axis base 25 by stepper motor adapter plate 2304, first synchronous pulley 2305 is fixedly installed in stepping motor output shaft, second screw mandrel 2308 top is rotated by bearing and is installed on bearing seat 2313, bearing seat 2313 is fixedly installed on Z axis base 25 by bearing mounting plate 2314, second synchronous pulley 2306 is fixedly installed in the second screw mandrel 2308 upper end, first synchronous belt 2307 and the first synchronous pulley 2305 and the second synchronous pulley 2306 are in transmission connection, second feed screw nut 2309 is fixedly installed in lifting by second feed screw nut's adapter plate 2310 and drives on plate mount pad 2302, second feed screw nut 2309 and the second screw mandrel 2308 are in transmission connection, lifting drives bottom plate mount pad 2302 and is provided with cushion rubber, Z axis 22 is fixedly installed on the first servo motor rotor by rotary flange dish 242, first servomotor 241 is fixedly installed on Z axis base 25, the outer ring of the first linear bearing 243 is fixedly installed in the inner ring of the first linear bearing mount pad 244, the inner ring of the first linear bearing 243 and Z axis 22 (castellated shaft) sliding block joint, the outer ring of the first centripetal force ball-bearing casing 245 is fixedly installed in the inner ring of the outer seat 246 of the first centripetal force ball-bearing casing, the inner ring of the first centripetal force ball-bearing casing 245 is fixedly installed in the outer ring of the first linear bearing mount pad 244, the outer seat 246 of first centripetal force ball-bearing casing is fixedly installed in lifting by screw and drives on the upper end of plate 2301, carrying grab 211 rear end loosen be fixedly installed on the first linear bearing mount pad 244 through Z axis 22 by screw, the upper surface of the first linear bearing mount pad 244 exceeds the upper surface of the first linear bearing 243, the a bit of distance in upper surface of the outer seat 246 of the first centripetal force ball-bearing casing, Z axis base 25 is fixedly installed on the 3rd feed screw nut's mount pad 2608, second servomotor 2601 is fixedly installed on permanent seat 27 by the second servomotor mount pad 2602, 3rd synchronous pulley 2603 is fixedly installed on the second servo motor output shaft, the two ends of the 3rd screw mandrel 2606 are rotated respectively by bearing and are installed in the 3rd screw mandrel mount pad 2609, 3rd screw mandrel mount pad 2609 is fixedly installed on base plate 2612, 4th synchronous pulley 2604 is fixedly installed in one end of the 3rd screw mandrel 2606, second synchronous belt 2605 is in transmission connection with the 3rd synchronous pulley 2603 and the 4th synchronous pulley 2604 respectively, 3rd feed screw nut 2607 is fixedly installed in the 3rd feed screw nut's mount pad 2608 times, 3rd feed screw nut's mount pad 2608 is slidably connected to 2 the second guide rails 2611 by 4 the second slide blocks 2610, 2 the second guide rails 2611 are fixedly installed on base plate 2612, base plate 2612 is fixedly installed on permanent seat 27, the two ends of the 4th screw mandrel 284 are rotatablely equipped with a screw mandrel stay bearing plate 283 respectively by bearing, two screw mandrel stay bearing plates 283 are fixedly installed in the second rack table 291 respectively, 3rd servomotor 281 is fixedly installed in screw mandrel stay bearing plate 283 by the 3rd servomotor mount pad 282, 3rd servo motor output shaft is fixedly connected with the 4th screw mandrel 284 by drive coupling, 2 second axis of guides 287 are placed in the 4th screw mandrel 284 both sides, two ends are fixedly installed in screw mandrel stay bearing plate 283 respectively, 4th feed screw nut 285 is fixedly installed in the 4th feed screw nut's mount pad 286, 4th screw mandrel 284 and the 4th feed screw nut 285 are in transmission connection, second axis of guide 287 is by linear bearing and the 4th feed screw nut's mount pad 286 sliding block joint, 4th feed screw nut's mount pad 286 is fixedly installed in permanent seat 27 times, 2 the second axis of guide 287 two ends are respectively provided with a buffer gasket near screw mandrel stay bearing plate 283 place.
Particularly, as shown in Fig. 6, Fig. 7 and Fig. 8, product treatment apparatus 3 comprises product connecting gear 31, product lifting mechanism 32, the 3rd frame 33, product connecting gear 31, product lifting mechanism 32 are installed on the 3rd frame 33 respectively, non-defective unit after having tested directly is sent to subsequent processing through product connecting gear 31, defective products after having tested rises automatically through product lifting mechanism 32, thus distinguishes non-defective unit and defective products.Preferably, product treatment apparatus 3 also comprises the second width adjustment mechanism 34, second width adjustment mechanism 34 transmits product and lifting product width for adjusting product connecting gear 31 and product lifting mechanism 32.Product connecting gear 31 comprises the first motor 3101, first retarder 3102, first motor mount 3103, second finishing bevel gear cuter 3104, second driving shaft 3105, second driving wheel 3106, belt idle wheel 3107, belt pulley 3108, transfer wheel 3109, second belt 3110, 3rd belt 3111, front shoe 3112, rear fixed plate 3113, portable plate 3114, 3rd axis of guide 3115, bearing pin (not shown), first motor 3101 is provided with the first motor output shaft, first retarder 3102 is provided with the first reducer output shaft, second finishing bevel gear cuter 3104, second driving wheel 3106, the quantity of the 3rd axis of guide 3115 is all 2, the quantity of belt idle wheel 3107 is 20, the quantity of belt pulley 3108 is 24, the quantity of transfer wheel 3109 is 16, the quantity of the 3rd belt 3111 is 4 articles, the quantity of the second belt 3110 is 2, the quantity of bearing pin is 20, product lifting mechanism 32 comprises the second motor 3201, second retarder 3202, second motor mount 3203, 5th synchronous pulley 3204, 3rd synchronous belt 3205, 5th screw mandrel 3206, 5th feed screw nut 3207, 4th axis of guide 3208, lifter plate 3209, 3rd slide block 3210, 3rd guide rail 3211, upper setting block 3212, lower adjustment block 3213, pilot bar 3214, screening bar 3215, second motor 3201 is provided with the second motor output shaft, second retarder 3202 is provided with the second reducer output shaft, 5th synchronous pulley 3204, upper setting block 3212, the quantity of lower adjustment block 3213 is all 2, the quantity of the 4th axis of guide 3208 is 2, the quantity of pilot bar 3214 is 4, the quantity of screening bar 3215 is 12, 3rd frame 33 is provided with the 3rd frame upper table surface 331 and the 3rd frame following table 332, second width adjustment mechanism 34 comprise second shake the hand rotating shaft 341, the 6th screw mandrel 342, the 7th screw mandrel 343, seat 344, second sprocket wheel 345, second chain 346, second sprocket wheel 345 of shaking the hand quantity be 2, first motor 3101 is fixedly installed in the first motor mount 3103 by the first retarder 3102, first motor mount 3103 is fixedly installed in the leading section of the 3rd frame upper table surface 331, the end winding support of the first reducer output shaft is provided with one second finishing bevel gear cuter 3104, the two ends of second driving shaft 3105 are rotated respectively by bearing and are installed on front shoe 3112 and rear fixed plate 3113, front shoe 3112 and rear fixed plate 3113 are fixedly installed in leading section and the rearward end of the 3rd frame upper table surface 331 respectively, the two ends of 2 the 3rd axis of guides 3115 are fixedly installed in the both sides of front shoe 3112 and rear fixed plate 3113 respectively, one end of second driving shaft 3105 gives prominence to front shoe 3,112 one segment distance and end winding support is provided with one second finishing bevel gear cuter 3104, second finishing bevel gear cuter 3104 of one end of second driving shaft 3105 is engaged in the second finishing bevel gear cuter 3104 of the end of the first reducer output shaft, 2 the 3rd axis of guides 3115 are slidably mounted on the both sides of portable plate 3114 by axle sleeve, second driving shaft 3105 slidably connects copper sheathing and copper sheathing and portable plate 3114 are rotationally connected, copper sheathing outside portable plate 3114 is also installed with the second driving wheel 3106, 10 bearing pins are in line and are evenly distributedly rotationally connected by bearing and portable plate 3114 through portable plate 3114, the end of 10 bearing pins in the outside of portable plate 3114 is installed with belt pulley 3108 respectively, the end of 8 bearing pins in centre of the inner side of portable plate 3114 is installed with transfer wheel 3109 respectively, on the limit of the inner side of portable plate 3,114 2 bearing pins end on be installed with belt pulley 3108 respectively, middle part below the outside belt pulley 3108 of portable plate 3114 is straggly is rotatablely equipped with 8 belt idle wheels 3107, 1 belt idle wheel 3107 is rotatablely equipped with respectively at the both ends, inner side of portable plate 3114, 10 belt pulleys 3108 in the outside of portable plate 3114, between 8 belt idle wheels 3107 and 1 the second driving wheel 3106, transmission is provided with the second belt 3110, between 1 belt pulley 3108 at the both ends, inner side of portable plate 3114 and 1 belt idle wheel 3107, transmission is provided with the 3rd belt 3111 respectively, the installation site of 1 the second driving wheel, 3106,10 belt idle wheels, 3107,12 belt pulleys, 3108,8 transfer wheels, 3109,1 article of second belt, 3110,10 bearing pins on front shoe 3112 and 2 article of the 3rd belt 3111 and front shoe 3112, connection mode and portable plate 3114 identical, as shown in Figure 3, no longer elaborate at this.Second motor 3201 is fixedly installed in the second motor mount 3203 by the second retarder 3202, second motor mount 3203 is fixedly installed in the 3rd frame following table 332 times, second reducer output shaft is installed with one the 5th synchronous pulley 3204, 5th feed screw nut 3207 is through the 3rd frame following table 332 and rotation is installed in the 3rd frame following table 332, 5th feed screw nut 3207 is installed with one the 5th synchronous pulley 3204, on second reducer output shaft 1 the 5th synchronous pulley 3204, one the 5th synchronous pulley 3204 on 5th feed screw nut 3207 is in transmission connection in the 3rd synchronous belt 3205 respectively, 5th screw mandrel 3206 and the 5th feed screw nut 3207 are in transmission connection, 2 the 4th axis of guides 3208 slide up and down the front-end and back-end being installed on the 3rd frame following table 332 respectively by linear bearing, under the upper end of 2 the 4th axis of guides 3208 is fixedly installed in the front-end and back-end of lifter plate 3209 respectively, the upper end of the 5th screw mandrel 3206 is rotated by bearing and is installed on subordinate in lifter plate 3209, 3rd guide rail 3211 is fixedly installed on lifter plate 3209, 3rd slide block 3210 and the 3rd guide rail 3211 sliding block joint, a lower adjustment block 3213 is fixedly installed in the front end of lifter plate 3209 by cushion block, article 6, screening bar 3215 is fixedly installed in a lower adjustment block 3213 through the upper notch lower end of front shoe 3112, upper end is fixedly installed in a upper setting block 3212, article 2, pilot bar 3214 slides through linear bearing lower end and is fixedly installed in lower adjustment block 3213, upper end is fixedly installed in a upper setting block 3212, and linear bearing is fixedly installed in the both sides, outside of front shoe 3112, the inner vertical of screening bar 3215 is evenly installed with Screw everywhere, another lower adjustment block 3213 is fixedly installed on the 3rd slide block 3210, article 6, screening bar 3215 is fixedly installed in another lower adjustment block 3213 through the upper notch lower end of rear portable plate 3114, upper end is fixedly installed in another upper setting block 3212, article 2, pilot bar 3214 slides through linear bearing lower end and is fixedly installed in another lower adjustment block 3213, upper end is fixedly installed in another upper setting block 3212, and linear bearing is fixedly installed in the both sides, outside of portable plate 3114, the inner vertical of screening bar 3215 is evenly installed with Screw everywhere.One end of 6th screw mandrel 342 is through portable plate 3114, rear fixed plate 3113 and being in transmission connection by the side of feed screw nut and portable plate 3114, be rotationally connected by the side of bearing and rear fixed plate 3113, one end of 6th screw mandrel 342 is installed with one second sprocket wheel 345, the other end of the 6th screw mandrel 342 rotates by bearing the side that is installed on front shoe 3112 through front shoe 3112 and is fixedly connected on second one end of shaking the hand rotating shaft 341, one end of 7th screw mandrel 343 is through portable plate 3114, rear fixed plate 3113 and being in transmission connection by the opposite side of feed screw nut and portable plate 3114, be rotationally connected by the opposite side of bearing and rear fixed plate 3113, one end of 7th screw mandrel 343 is installed with another the second sprocket wheel 345, the other end of the 7th screw mandrel 343 rotates the opposite side being installed on front shoe 3112 by bearing through front shoe 3112, second shake the hand rotating shaft 341 rotate be installed on seat 344 of shaking the hand, seat 344 of shaking the hand is fixedly installed in the side, front end of the 3rd frame upper table surface 331, second chain 346 respectively with second sprocket wheel 345 of the 6th screw mandrel 342 one end, another second sprocket wheel 345 of the 7th screw mandrel 343 one end is in transmission connection.
Particularly, as shown in Figure 1, product test station 5 is 4 groups altogether, 2 groups of front portions being installed on the second rack table 291,2 groups of rear portions being installed on the second rack table 291, and carrying device for products 2 is installed on the middle part of the second rack table 291; Product test station 5 is for testing the various function of product 4 to be measured and various correlation parameter, and product test station 5 is not inventive point of the present invention, does not elaborate at this.
Principle of work of the present invention: product 4 to be measured enters to the first belt 1116 from the entrance of product conveyor structure 11, first motor 1112 drive first belt 1116 that works moves forward, product 4 to be measured moves forward with the first belt 1116, then, positioning cylinder 13 works, positioning cylinder output shaft 131 moves up a segment distance, blocks product to be measured 4, first motor 1112, the positioning cylinder 13 that move forward with the first belt 1116 and quits work, the lifting of stepper motor 2303 task driven drives plate 2301 to drive the carrying sucker 212 of grabbing on 211 to be moved downward on product 4 to be measured along Z axis 22, sucker 212 holds product 4 to be measured, then positioning cylinder 13 resets, positioning cylinder output shaft 131 moves down a segment distance and is separated from product 4 to be measured, then, 3rd servomotor 281 works and drives the product to be measured 4 that sucker 212 holds to move forward a segment distance, product 4 to be measured is separated from the first belt 1116, then, second servomotor 2601 works and drives product to be measured 4 that sucker 212 holds or the segment distance that moves right left, simultaneously, the product to be measured 4 that the sucker 212 that the lifting of stepper motor 2303 task driven drives plate 2301 to drive carrying to grab on 211 holds to move up a segment distance along Z axis 22, then, first servomotor 241 task driven Z axis 22 left or dextrorotation turn 90 degrees in product test station 5, sucker 212 unclamps the product to be measured 4 held, product 4 to be measured falls into product test station 5, first servomotor 241 resets, product test station 5 is tested product 4 to be measured, after having tested, first servomotor 241 task driven Z axis 22 left or dextrorotation turn 90 degrees in product test station 5, product to be measured 4 after sucker 212 holds and tested, then, first servomotor 241 again task driven Z axis 22 left or dextrorotation turn 90 degrees to dead ahead, the second servomotor 2601 resets, then, product to be measured 4 after 3rd servomotor 281 work drives the test that sucker 212 holds to complete moves forward a segment distance again, product to be measured 4 after test is completed enters to the entrance of product treatment apparatus 3, product to be measured 4 after sucker 212 unclamps and tested, then the 3rd servomotor 281 resets, 4 article of the 3rd belt, 3111,16 transfer wheels 3109 that first motor 3101 working passband moves two ends inside front shoe 3112 and rear fixed plate 3113 are rotated simultaneously, and the product to be measured 4 after the test entered from the entrance of product treatment apparatus 3 completes moves forward with the 3rd belt 3111 of entrance, if the product to be measured 4 after having tested is non-defective units, then the product to be measured 4 after having tested enters to next process by the 3rd belt 3111 in 8 transfer wheels 3109 of middle part, the exit of product treatment apparatus 3 successively, if the product to be measured 4 after having tested is defective productss, when product to be measured 4 after then having tested arrives 8 transfer wheel 3109 places of middle part, second motor 3201 drive 12 the screening bar 3215 that works to move up a segment distance along pilot bar 3214, article 12, the Screw jack-up of screening on bar 3215 tested after defective products, thus distinguish non-defective unit and defective products.First rotating shaft 151 of shaking the hand rotates through 4 the first finishing bevel gear cuters 155 and drives the first screw mandrel 152 to rotate, thus drives the second guide rail 1102 to move in or out, and then reaches the width that adjustment enters product.Second rotating shaft 341 of shaking the hand rotates through that the 6th screw mandrel 342,2 the second sprocket wheel 345, second chains 346 drive the 6th screw mandrel 342, the 7th screw mandrel 343 rotates simultaneously, thus drive portable plate 3114 to move in or out, and then reach the width that adjustment enters product.
The invention has the advantages that, this automatic transportation equipment adopts product feeding device, carrying device for products and product treatment apparatus to combine, product to be measured is fed into product feeding device and locates, carrying device for products is carried product to be measured and is tested to product test station, after having tested, carrying device for products carries product to be measured again to product treatment apparatus, and product treatment apparatus, according to test result, distinguishes non-defective unit and defective products.This automatic transportation equipment can realize automated handling, and efficiency is high, and cost is low, and Device-General is easy to maintenance.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.Common skill skill belonging to the present invention being stated to field states personnel, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (9)
1. an automatic transportation equipment, it is characterized in that: comprise product feeding device (1), carrying device for products (2), product treatment apparatus (3), product to be measured (4) is fed into described product feeding device (1) and locates, described carrying device for products (2) is carried described product to be measured (4) and is tested to product test station (5), after having tested, described carrying device for products (2) carries described product to be measured (4) again to described product treatment apparatus (3), described product treatment apparatus (3) is according to test result, non-defective unit and defective products are distinguished.
2. automatic transportation equipment as claimed in claim 1, it is characterized in that: described product feeding device (1) comprises product conveyor structure (11), first frame (12), positioning cylinder (13), positioning cylinder adapter plate (14), described first frame (12) is provided with the first rack table (121), described positioning cylinder (13) is provided with positioning cylinder and exports wheel shaft (131), described product conveyor structure (11) is installed on the first rack table (121), described positioning cylinder (13) is installed on product conveyor structure (11) by positioning cylinder adapter plate (14), described product to be measured (5) is delivered to positioning cylinder through product conveying mechanism (11) and exports location, wheel shaft (131) place.
3. automatic transportation equipment as claimed in claim 1, it is characterized in that: described carrying device for products (2) comprises product grasping mechanism (21), Z axis (22), Z-axis lifting mechanism (23), Z axis rotating mechanism (24), Z axis base (25), Y-axis moving mechanism (26), permanent seat (27), X-axis travel mechanism (28), described Z-axis lifting mechanism (23) is provided with lifting and drives plate (2301), described product grasping mechanism (21) is rotated to be installed on to be elevated to drive plate (2301) upper and slide up and down with Z axis (22) by the draw-in groove of Z axis (22) and is connected, described lifting drives plate (2301) and Z axis (22) sliding block joint, described Z axis (22) is installed on Z axis rotating mechanism (24), described Z axis rotating mechanism (24) is installed on Z axis base (25), described Z-axis lifting mechanism (23) is installed on Z axis base (25) side, described Z axis base (25) is installed on Y-axis moving mechanism (26), described Y-axis moving mechanism (26) is installed on permanent seat (27), described permanent seat (27) is installed on X-axis travel mechanism (28), described product grasping mechanism (21) is for capturing product to be measured (5), the rotation of described Z axis rotating mechanism (24) drives Z axis (22), thus drive product grasping mechanism (21) to rotate, described Z-axis lifting mechanism (23) drives plate (2301) to drive product grasping mechanism (21) up-and-down movement by lifting, described Y-axis moving mechanism (26) drives Z axis base (25) to move along y-axis shift, described X-axis travel mechanism (28) drives permanent seat (27) to move along X-axis.
4. automatic transportation equipment as claimed in claim 1, it is characterized in that: described product treatment apparatus (3) comprises product connecting gear (31), product lifting mechanism (32), the second frame (33), described product connecting gear (31), product lifting mechanism (32) are installed on the second frame (33) respectively, non-defective unit after having tested directly is sent to subsequent processing through described product connecting gear (31), defective products after having tested rises automatically through described product lifting mechanism (32), thus distinguishes non-defective unit and defective products.
5. automatic transportation equipment as claimed in claim 3, it is characterized in that: described product grasping mechanism (21) comprises carrying and grabs (211), sucker (212), sucker adapter plate (213), adjustment block (214), described sucker adapter plate (213) is fixedly installed in by adjustment block (214) front end that (211) are grabbed in carrying, under described sucker (212) is fixedly installed in sucker adapter plate (213).
6. automatic transportation equipment as claimed in claim 3, it is characterized in that: described Z-axis lifting mechanism (23) comprises lifting and drives plate (2301), lifting drives plate mount pad (2302), stepper motor (2303), first synchronous pulley (2305), second synchronous pulley (2306), first synchronous belt (2307), second screw mandrel (2308), second feed screw nut (2309), first slide block (2311), first guide rail (2312), bearing seat (2313), described stepper motor (2303) is provided with stepping motor output shaft, described lifting drives the lower end of plate (2301) to be fixedly installed in lifting and drives plate mount pad (2302), described lifting drives plate mount pad (2302) to be slidably connected to the first guide rail (2312) by the first slide block (2311), described first guide rail (2312) is fixedly installed in Z axis base (25) inner side, described stepper motor (2303) is fixedly installed in Z axis base (25) inner side, described first synchronous pulley (2305) is fixedly installed in stepping motor output shaft, described second screw mandrel (2308) top is rotated and is installed on bearing seat (2313), described bearing seat (2313) is fixedly installed on Z axis base (25), described second synchronous pulley (2306) is fixedly installed in the second screw mandrel (2308) upper end, described first synchronous belt (2307) is in transmission connection with the first synchronous pulley (2305) and the second synchronous pulley (2306), described second feed screw nut (2309) is fixedly installed in lifting and drives on plate mount pad (2302), described second feed screw nut (2309) and the second screw mandrel (2308) are in transmission connection.
7. automatic transportation equipment as claimed in claim 3, it is characterized in that: described Z axis rotating mechanism (24) comprises the first servomotor (241), rotary flange dish (242), first linear bearing (243), first linear bearing mount pad (244), first centripetal force ball-bearing casing (245), the outer seat (246) of first centripetal force ball-bearing casing, described first servomotor (241) is provided with the first servo motor rotor, described Z axis (22) is fixedly installed in the first servo motor rotor by rotary flange dish (242), described first servomotor (241) is fixedly installed on Z axis base (25), the outer ring of the first linear bearing (243) is installed on the inner ring of the first linear bearing mount pad (244), the inner ring of the first linear bearing (243) and Z axis (22) sliding block joint, the outer ring of the first centripetal force ball-bearing casing (245) is installed on the inner ring of the outer seat (246) of the first centripetal force ball-bearing casing, the inner ring of the first centripetal force ball-bearing casing (245) is installed on the outer ring of the first linear bearing mount pad (244), the outer seat (246) of first centripetal force ball-bearing casing is installed on lifting and drives on the upper end of plate (2301), carrying grab (211) rear end loosen be installed on the first linear bearing mount pad (244) through Z axis (22).
8. automatic transportation equipment as claimed in claim 3, it is characterized in that: described Y-axis moving mechanism (26) comprises the second servomotor (2601), 3rd synchronous pulley (2603), 4th synchronous pulley (2604), second synchronous belt (2605), 3rd screw mandrel (2606), 3rd feed screw nut (2607), 3rd feed screw nut's mount pad (2608), 3rd screw mandrel mount pad (2609), second slide block (2610), second guide rail (2611), base plate (2612), described second servomotor (2601) is provided with the second servo motor output shaft, described Z axis base (25) is fixedly installed on the 3rd feed screw nut's mount pad (2608), described second servomotor (2601) is fixedly installed on permanent seat (27), described 3rd synchronous pulley (2603) is fixedly installed on the second servo motor output shaft, the two ends of described 3rd screw mandrel (2606) are rotated respectively and are installed in the 3rd screw mandrel mount pad (2609), described 3rd screw mandrel mount pad (2609) is fixedly installed on base plate (2612), described 4th synchronous pulley (2604) is fixedly installed in one end of the 3rd screw mandrel (2606), described second synchronous belt (2605) is in transmission connection with the 3rd synchronous pulley (2603) and the 4th synchronous pulley (2604) respectively, under described 3rd feed screw nut (2607) is fixedly installed in the 3rd feed screw nut's mount pad (2608), described 3rd feed screw nut's mount pad (2608) is slidably connected to the second guide rail (2611) by the second slide block (2610), described second guide rail (2611) is fixedly installed on base plate (2612), described base plate (2612) is fixedly installed on permanent seat (27).
9. automatic transportation equipment as claimed in claim 3, it is characterized in that: described X-axis travel mechanism (28) comprises the 3rd servomotor (281), screw mandrel stay bearing plate (283), 4th screw mandrel (284), 4th feed screw nut (285), 4th feed screw nut's mount pad (286), first axis of guide (287), described 3rd servomotor (281) is provided with the 3rd servo motor output shaft, the two ends of described 4th screw mandrel (284) are rotatablely equipped with a screw mandrel stay bearing plate (283) respectively, described 3rd servomotor (281) is fixedly installed in screw mandrel stay bearing plate (283), described 3rd servo motor output shaft is fixedly connected with the 4th screw mandrel (284), the two ends of second axis of guide (287) are fixedly installed in screw mandrel stay bearing plate (283) respectively, described 4th feed screw nut (285) is fixedly installed in the 4th feed screw nut's mount pad (286), described 4th screw mandrel (284) and the 4th feed screw nut (285) are in transmission connection, described second axis of guide (287) and the 4th feed screw nut's mount pad (286) sliding block joint, under described 4th feed screw nut's mount pad (286) is fixedly installed in permanent seat (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410745307.4A CN104670880B (en) | 2014-12-09 | 2014-12-09 | A kind of automatic transportation equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410745307.4A CN104670880B (en) | 2014-12-09 | 2014-12-09 | A kind of automatic transportation equipment |
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| CN104670880B CN104670880B (en) | 2016-11-23 |
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| CN201410745307.4A Expired - Fee Related CN104670880B (en) | 2014-12-09 | 2014-12-09 | A kind of automatic transportation equipment |
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| CN109110425A (en) * | 2018-09-14 | 2019-01-01 | 昆山威典电子有限公司 | A kind of automatic transporting and test device of PCB |
| CN109853966A (en) * | 2018-12-27 | 2019-06-07 | 深圳市中科创想科技有限责任公司 | A kind of nonstandard full-automatic vertical lift device |
| CN111957590A (en) * | 2020-08-18 | 2020-11-20 | 惠州同兴自动化工业设备有限公司 | Printed circuit board screening machine |
| CN113401606A (en) * | 2021-08-18 | 2021-09-17 | 南通卡品特智能装备有限公司 | Waste discharge device |
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| CN104670880B (en) | 2016-11-23 |
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