CN105263670A - Automatic processing device, automatic processing method, and pallet - Google Patents
Automatic processing device, automatic processing method, and pallet Download PDFInfo
- Publication number
- CN105263670A CN105263670A CN201480030167.0A CN201480030167A CN105263670A CN 105263670 A CN105263670 A CN 105263670A CN 201480030167 A CN201480030167 A CN 201480030167A CN 105263670 A CN105263670 A CN 105263670A
- Authority
- CN
- China
- Prior art keywords
- pallet
- optical devices
- treating apparatus
- arm robot
- automatic processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B15/00—Optical objectives with means for varying the magnification
- G02B15/02—Optical objectives with means for varying the magnification by changing, adding, or subtracting a part of the objective, e.g. convertible objective
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The automatic processing device is provided with: multiple processing units for performing specified processes on an optical device having an aperture through which light beams enter; a mounting platform on which the optical device is mounted as a unit with a pallet on which the optical device is fixed; and an arm robot for raising the optical device as a unit with the pallet from the mounting platform, sequentially attaching the optical device as a unit with the pallet on the multiple processing units, and returning the optical device, after completion of the specified processes, as a unit with the pallet to the mounting platform.
Description
Technical field
The present invention relates to automatically to the pallet that workpiece carries out the automatic processing device of predetermined processing and automatic processing method and automatically uses in process and automatic processing method.
Background technology
The known apparatus for assembling (with reference to patent document 1) utilizing multiarticulate arm robot automatic Composition workpiece.Apparatus for assembling, by being placed in the parts of supply tray to the carrying of assembling region, is assembling region assembled workpiece, and by the workpiece after assembling to the carrying of keeping region.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-115877 publication
Summary of the invention
But, the workpiece after assembling is automatically adjusted or the motion of device that checks few, especially expects automatically to adjust concurrently multiple workpiece or the device of automatic inspection.
According to the 1st aspect of the present invention, automatic processing device has: multiple treating apparatus, and it carries out predetermined processing to the Optical devices with the opening entered for light beam; Mounting table, the pallet of Optical devices and fixed optics device loads by integratedly; Arm robot, Optical devices and pallet promote from mounting table by integratedly, and by Optical devices and pallet integratedly relative to multiple treating apparatus successively rotation, and the Optical devices and the pallet that make to complete predetermined processing return mounting table integratedly.
According to the 2nd aspect of the present invention, preferably, in the automatic processing device of first method, arm robot makes the opening of Optical devices relative with each treating apparatus in multiple treating apparatus, and by Optical devices relative to multiple treating apparatus successively rotation time, via pallet, Optical devices are installed to each treating apparatus, the opening that multiple treating apparatus has via pallet carries out predetermined processing to the Optical devices installed successively.
According to the 3rd aspect of the present invention, preferably, in the automatic processing device of second method, arm robot carries out Optical devices and pallet integratedly to the process of multiple treating apparatus successively rotation each of multiple Optical devices, thus, arm robot carries out each and pallet of multiple Optical devices integratedly relative to the operation of each movement of multiple treating apparatus and the operation of dismounting.
According to the 4th aspect of the present invention, preferably, in the automatic processing device of Third Way, also there is input port and send mouth.Mounting table has carries function as follows, Optical devices and pallet is carried towards sending mouth from input port via the movable range of arm robot integratedly.
According to the 5th aspect of the present invention, preferably, in the automatic processing device of fourth way, arm robot comprises the first arm robot and the second arm robot, carry out the first Optical devices in multiple Optical devices and pallet after the process integratedly relative to multiple treating apparatus successively rotation at the first arm robot, first Optical devices are carried to the movable range of the second arm robot by mounting table, and the second Optical devices in multiple Optical devices are carried to the movable range of the first arm robot during by mounting table, second arm robot carries out the first Optical devices and pallet integratedly relative to the process of multiple treating apparatus successively rotation, and the first arm robot carries out the second Optical devices and pallet integratedly relative to the process of multiple treating apparatus successively rotation.
According to the 6th aspect of the present invention, preferably, in the automatic processing device of the 5th mode, the first automatic processing device and the second automatic processing device that are automatic processing device configure adjacent to each other, the first automatic processing device to send mouth relative with the input port of the second automatic processing device.
According to the 7th aspect of the present invention, pallet fixes and carries the pallet of Optical devices, wherein, has the tray seat chimeric and fastening with the seat portion of Optical devices.
According to the 8th aspect of the present invention, preferably, in the pallet of the 7th mode, also there is pallet connector, its by arm robot Optical devices are arranged on the treating apparatus of predetermined processing is carried out to Optical devices time, be combined with arm robot to be undertaken promoting by arm robot, pallet connector is arranged on the face identical with tray seat.
According to the 9th aspect of the present invention, preferably, in the pallet of eighth mode, when Optical devices being arranged on treating apparatus by arm robot, in order to for the catcher support for the treatment of apparatus and fixed tray and the incised notch portion that arranges is formed on the face identical with tray seat, and in order to carry out location when being arranged on treating apparatus by Optical devices by arm robot, be formed with the locating hole that the pilot pin for treating apparatus inserts.
According to the 10th aspect of the present invention, preferably, in the pallet of the 7th mode, Optical devices are camera bodies of camera, and the seat portion of Optical devices is fuselage seats of camera body.
According to the 11st aspect of the present invention, in automatic processing method, to there are the Optical devices of opening that enter for light beam and the pallet of fixed optics device promotes integratedly, by Optical devices and pallet integratedly to the multiple treating apparatus rotation successively Optical devices being carried out to predetermined processing, the Optical devices and the pallet that make to complete predetermined processing return integratedly.
Invention effect
According to the present invention, the automatic processing device that ease of use is good can be obtained.
Accompanying drawing explanation
Fig. 1 is the figure of the automatic processing device for illustration of one embodiment of the present invention.
Fig. 2 is the figure exemplified with workpiece (camera body).
Fig. 3 is the figure exemplified with pallet.
Fig. 4 is the figure exemplified with the state of having installed workpiece (camera body) on the pallet of Fig. 3.
Fig. 5 is the side view exemplified with the workpiece (camera body) under the state illustrated in Fig. 4 and pallet being arranged on integratedly the state in the dismounting portion of device.
Fig. 6 is the figure for illustration of the state having linked 3 automatic processing devices.
Fig. 7 is the figure of the automatic processing device exemplified with the 4th variation.
Fig. 8 is the figure of the example representing the operation utilizing arm robot to be carried out as object by multiple workpiece (camera body).
Fig. 9 is the flow chart representing the processing method utilizing arm robot to the automatic process that workpiece (camera body) carries out.
Detailed description of the invention
Hereinafter, with reference to the accompanying drawings of for implementing mode of the present invention.
The summary > of < automatic processing device
Fig. 1 is the figure of the automatic processing device 1 for illustration of one embodiment of the present invention.In FIG, automatic processing device 1 is formed in and is kept in the housing 21 of cleaning ambient by air cleaning machine 31.The operation to automatic processing device 1 is carried out from control panel 30.
In housing 21, be configured with side by side manipulating object and workpiece 11 are specified adjustment, inspection multiple treating apparatus 71 ~ treating apparatus 79.In the present embodiment, the workpiece 11 be positioned on conveyer belt 23 is promoted by arm robot 24 or arm robot 25, workpiece 11 is carried out rotation relative to multiple treating apparatus 71 ~ treating apparatus 79 by arm robot 24 or arm robot 25, carries out adjustment to workpiece 11, check processing respectively thus by treating apparatus 71 ~ treating apparatus 79.Arm robot 24 and arm robot 25 are the vertical articulated robot hung down from the top plate portion of housing 21.
The explanation > of < workpiece
In the present embodiment, using optical device and camera body as workpiece 11, carry out adjustment to camera body, check processing respectively by treating apparatus 71 ~ treating apparatus 79.Fig. 2 is the figure exemplified with workpiece 11 (camera body).In fig. 2, workpiece 11 is camera bodies of simple eye reflection-type.Workpiece 11 (camera body) has the fuselage seat 13 for installing interchangeable lenses 12.Interchangeable lenses 12 have the lens mount 14 chimeric with fuselage seat 13, can form removably relative to workpiece 11 (camera body).
When being provided with interchangeable lenses 12 on workpiece 11 (camera body), the light beam from subject that have passed interchangeable lenses 12 enters in workpiece 11 (camera body) from the opening 15 of fuselage seat 13, and arrives not shown photosensitive-member (such as imageing sensor).Workpiece 11 (camera body) is based on being carried out signal that opto-electronic conversion obtains by imageing sensor and image data generating.
In general, when production multiple stage workpiece 11 (camera body), meet the mode of the benchmark of regulation with the image obtained by each workpiece 11 (camera body), respectively each workpiece 11 (camera body) is adjusted, checked.In adjustment, checking, such as, from the color of opening 15 incidence regulation and the light of intensity of workpiece 11 (camera body), or from the data etc. that the not shown signal terminal input of the inner peripheral portion being arranged on opening 15 specifies, obtain the information of image and the regulation specified in workpiece 11 (camera body) this side.
The explanation > of < adjustment, testing fixture
Above-mentioned adjustment, check processing are implemented by treating apparatus 71 ~ treating apparatus 79.The treating apparatus etc. of the treating apparatus that treating apparatus 71 ~ treating apparatus 79 determines such as to adjust imageing sensor, the treating apparatus of colour temperature adjustment carrying out image, the treating apparatus carrying out the adjustment of automatic focusing (AF) function, the treating apparatus carrying out the adjustment of automatic exposure (AE) regulatory function and adjustment predetermined function implement respectively adjustment, inspection item.The treating apparatus adjusted, inspection item is different is respectively arranged one by treating apparatus 71 ~ treating apparatus 79 usually in housing 21, but when the treating apparatus that the time (pitch time: tacttime) needed for adjusting, checking is long, also more than 2 same treatment devices can be arranged in housing 21.
Treating apparatus 71 ~ the treating apparatus 79 be arranged in housing 21 exports idle signal when being in the state that can receive workpiece 11 (camera body) respectively.Treating apparatus 71 ~ treating apparatus 79, after workpiece 11 (camera body) has been installed in confirmation, starts the predetermined processing of adjustment or inspection etc. to installed workpiece 11 (camera body).Treating apparatus 71 ~ treating apparatus 79 when adjusting or the predetermined processing of inspection etc. completes, output processing settling signal.And, when becoming the state that can receive next workpiece 11 (camera body) when taking out workpiece 11 (camera body), again export idle signal.
In addition, treating apparatus 71 ~ treating apparatus 79 when noting abnormalities to installed workpiece 11 (camera body), output abnormality detection signal.
The explanation > of < pallet
In the present embodiment, workpiece 11 (camera body) being arranged under the state on the pallet 51 illustrated in Fig. 3, carry integratedly with pallet 51.Fig. 3 is the figure exemplified with pallet 51.In figure 3, pallet 51 has tray seat 52, pallet connector 53, locating hole 54 and incised notch portion 55.
Tray seat 52 has the fastening part same with the lens mount 14 of interchangeable lenses 12 (Fig. 2), and chimeric with the fuselage seat 13 of workpiece 11 (camera body).In the inner side of the circumference of tray seat 52, be provided with the through hole 56 running through pallet 51.Pallet connector 53 is connectors that arm robot 24 and arm robot 25 (from paper nearby side) use when promoting pallet 51.In the present embodiment, make arm robot 24 or arm robot 25 be combined with pallet connector 53 and promote pallet 51, but also can be configured to grip pallet 51 by arm robot 24 or arm robot 25 and promote pallet 51.
The through hole of the location of the pallet 51 when locating hole 54 is for being installed to treating apparatus 71 ~ treating apparatus 79 by the pallet 51 being provided with workpiece 11 (camera body).Incised notch portion 55 is in order to for not shown catcher (catcher) support that is arranged on treating apparatus 71 ~ treating apparatus 79 and fixed tray 51 and arranging.
Fig. 4 is the figure exemplified with workpiece 11 (camera body) being arranged on the state on the pallet 51 of Fig. 3.The fuselage seat 13 of tray seat 52 and workpiece 11 (camera body) is fastened, thus is fixed on pallet 51 by workpiece 11 (camera body).
Fig. 5 is the side view exemplified with the workpiece 11 (camera body) under the state illustrated in Fig. 4 and pallet 51 being arranged on integratedly in the dismounting portion 80 for the treatment of apparatus 72.The pallet 51 being fixed with workpiece 11 (camera body) is installed on treating apparatus 72 by arm robot 24 or arm robot 25 from the left side of figure.Specifically, with make the opening 15 of workpiece 11 (camera body) relative with treating apparatus 72 (dismounting portion 80) towards correspondingly, via pallet 51, workpiece 11 (camera body) is arranged on treating apparatus 72.Be configured to when not shown pilot pin being inserted catcher (not shown) the support pallet 51 of above-mentioned locating hole 54 and treating apparatus 72, the center contraposition of the center in dismounting portion 80 and the opening 15 of workpiece 11 (camera body).In treating apparatus 72, be accommodated with the equipment (not shown) of the adjustment for carrying out predetermining, inspection.
The explanation > of < automatic processing device
In the automatic processing device 1 of Fig. 1, the not shown operator X be positioned at outside input port 22 accepts the workpiece 11 (camera body) before adjustment, inspection from last operation, and is fastened on pallet 51.Operator X by the workpiece 11 (camera body) under the state illustrated in Fig. 4 to drop in housing 21 from input port 22 integratedly with pallet 51.Conveyer belt 23 is driven by not shown motor, workpiece 11 (camera body) and pallet 51 is carried along arrow A direction integratedly.When workpiece 11 (camera body) is carried to the movable range of arm robot 24 by conveyer belt 23, temporarily stop.
As mentioned above, arm robot 24 and arm robot 25 are vertical articulated robots.The workpiece 11 (camera body) be positioned on conveyer belt 23 and pallet 51 promote by arm robot 24 integratedly, and on this workpiece 11 (camera body) and pallet 51 to be arranged in treating apparatus 71 ~ treating apparatus 79 integratedly some.
At this, in FIG, illustrate treating apparatus 71 ~ treating apparatus 79, but in the present embodiment, comprise and be positioned at housing 21 or arm robot 25 treating apparatus below, 16 treating apparatus be altogether made up of vertical 4 row × horizontal 4 row can be received.The respective longitudinal size of these 16 treating apparatus and lateral dimension are commonly formed, and are easy to the replacing carrying out treating apparatus.In addition, these 16 treating apparatus can load individually from the rear side of housing 21.Thereby, it is possible to adjustment needed for workpiece 11 (camera body), inspection item, freely carry out the restructuring of device.Such as, when using automatic processing device 1 in the production line of other products, the treating apparatus of needs can easily be changed.In addition, as mentioned above, the treating apparatus of the adjustment of more than 2, inspection item repetition also can be comprised in above-mentioned 16.
Arm robot 24 is when receiving idle signal from 16 treating apparatus (being treating apparatus 71 ~ treating apparatus 79 in Fig. 1) some, the pallet 51 that will be fixed with workpiece 11 (camera body) promotes from conveyer belt 23, and installs to the treating apparatus sending idle signal integratedly with pallet 51.At this, workpiece 11 (camera body) and pallet 51 are arranged on the treating apparatus predetermined in 16 treating apparatus (being treating apparatus 71 ~ treating apparatus 79 in FIG) by arm robot 24 integratedly.The treating apparatus of installation workpiece 11 (camera body) both can be 16 treating apparatus in 16, also can be 5 treating apparatus in 16.That is, both can be installed on whole treating apparatus, also can be installed on a part for multiple stage treating apparatus.In the present embodiment, being configured to can by the workpiece 11 (camera body) that is arranged on some treating apparatus relative to 15 the treating apparatus rotation of other in whole 16.
Workpiece 11 (camera body) and pallet 51, when receiving process settling signal from the treating apparatus (being treating apparatus 71 ~ treating apparatus 79 in FIG) being provided with workpiece 11 (camera body), are pulled down from this treating apparatus by arm robot 24 integratedly.Namely the workpiece 11 (camera body) pulled down and pallet 51 treating apparatus not installing this workpiece 11 (camera body) be installed to integratedly in above-mentioned 15 treating apparatus are outputed the treating apparatus of idle signal by arm robot 24.When do not exist do not install and output the treating apparatus of idle signal, arm robot 24 makes the workpiece 11 (camera body) pulled down and pallet 51 integratedly on return conveyer 23.Make the position on workpiece 11 (camera body) return conveyer 23 can be different from the position before lifting workpieces on conveyer belt 23 11 (camera body).
Arm robot 25 is shared with arm robot 24 and is carried out the operation identical with arm robot 24.That is, workpiece 11 (camera body) and pallet 51 are promoted integratedly, on this workpiece 11 (camera body) and pallet 51 to be arranged in treating apparatus 71 ~ treating apparatus 79 integratedly some.Workpiece 11 (camera body) and pallet 51, when receiving process settling signal from treating apparatus (being treating apparatus 71 ~ treating apparatus 79 in Fig. 1), are pulled down from this device by arm robot 25 integratedly.Namely the treating apparatus not installing this workpiece 11 (camera body) that the workpiece 11 (camera body) pulled down and pallet 51 are installed in above-mentioned 15 treating apparatus by arm robot 25 integratedly outputs on the treating apparatus of idle signal, or by itself and pallet 51 integratedly return conveyer 23.
So, the workpiece 11 (camera body) different from arm robot 24 is made to carry out operation as object by arm robot 25, thus with carry out compared with the situation of operation by means of only arm robot 24, as automatic processing device 1, processing speed improves.In addition, in FIG, conveyer belt 23 illustrate only 1 workpiece 11 (camera body), but in fact, be placed with multiple workpiece 11 (camera body).Multiple workpiece 11 (camera body) is carried out operation as object by arm robot 24 (25).
Workpiece 11 (camera body), when workpiece 11 (camera body) is not present in the movable range of arm robot 25, is carried to the movable range of arm robot 25, and stops temporarily by conveyer belt 23.
For the workpiece 11 (camera body) loaded integratedly with pallet 51 on conveyer belt 23, when completing adjustment, inspection in whole 15 treating apparatus predetermined, the pallet 51 of this workpiece 11 (camera body) is carried to and sends mouth 26 by conveyer belt 23.Be positioned at and send not shown operator Y outside mouth 26 after pulling down workpiece 11 (camera body) from the pallet 51 be handled upside down, only pallet 51 is dropped in housing 21 from pallet return port 32.In addition, operator Y will adjust, check that complete workpiece 11 (camera body) is carried to subsequent processing.
Conveyer belt 28 is driven by not shown motor, is carried by pallet 51 along arrow B direction.Pallet 51 is carried to outlet 29 by conveyer belt 28.Above-mentioned operator X takes out pallet 51 from outlet 29.New workpiece 11 (camera body) is fastened on the pallet 51 of taking-up by operator X.
Workpiece 11 (camera body) and pallet 51, when receiving anomaly detection signal from the treating apparatus (being treating apparatus 71 ~ treating apparatus 79 in Fig. 1) installing workpiece 11 (camera body) integratedly with pallet 51, are pulled down from this treating apparatus by arm robot 24 or arm robot 25 integratedly.The workpiece 11 (camera body) pulled down and pallet 51 are positioned on conveyer belt 27 by arm robot 24 or arm robot 25 integratedly.
Conveyer belt 27 is driven by not shown motor, is carried by pallet 51 along arrow C direction.Conveyer belt 27 is carried on conveyer belt 28 with pallet 51 integratedly by being detected abnormal workpiece 11 (camera body).Conveyer belt 28 will detect that abnormal workpiece 11 (camera body) and pallet 51 are carried to outlet 29 integratedly.Above-mentioned operator X takes out integratedly from outlet 29 and pallet 51 and detects abnormal workpiece 11 (camera body), and is rejected to beyond production line.
The series operation > of < automatic processing device
Above-mentioned automatic processing device 1 is configured to the running that can in series walk abreast.Fig. 6 is the figure for illustration of the state having linked 3 automatic processing devices 1.When the treating apparatus number adjusted 1 workpiece 11 (camera body), check is many (such as, the treating apparatus number needed exceedes 16 that can be accommodated in housing 21), or when wish increases the production number of workpiece 11 (camera body), preferred series operation.
As illustrated with reference to Fig. 1,3 automatic processing devices 1 have input port 22, outlet 29 respectively, send mouth 26 and pallet return port 32.For input port 22 and send mouth 26, the mouth 26 of sending of the automatic processing device 1 of upstream side is arranged on the position relative with the input port 22 of the automatic processing device 1 in downstream.Similarly, for pallet return port 32 and outlet 29, the outlet 29 of the automatic processing device 1 in downstream is arranged on the position relative with the pallet return port 32 of the automatic processing device 1 of upstream side.
According to Fig. 6, even if when making automatic processing device 1 with multiple stage series operation, the situation with respect to 1 automatic processing device 1 individual operation is not needed to increase operator, as long as be positioned at operator X outside the input port 22 of the automatic processing device 1 of upstream side and be positioned at the operator Y these two sent outside mouth 26 of automatic processing device 1 in downstream yet.
The situation > that the treating apparatus number that < adjusts 1 workpiece 11 (camera body), check is many
Such as, when the treating apparatus number used in adjust, checking is 30, complete adjustment by 10 treating apparatus, check in the automatic processing device 1 of upstream side, complete adjustment by other 10 treating apparatus, check in next automatic processing device 1, in the automatic processing device 1 of further downstream side, complete adjustment by remaining 10 treating apparatus, check, between multiple stage automatic processing device 1, share task in the above described manner.
Share task by combining identical automatic processing device 1, thus do not need the automatic processing device newly introducing more large-scale than automatic processing device 1 (receiving 30 treating apparatus), therefore, it is possible to suppress cost.
< is for increasing the situation > of the production number of workpiece 11 (camera body)
Such as, when the treating apparatus number used in adjust, checking is 15, in the automatic processing device 1 of upstream side, complete adjustment by 5 treating apparatus, check, in next automatic processing device 1, complete adjustment by other 5 treating apparatus, check, in the automatic processing device 1 of further downstream side, complete adjustment by remaining 5 treating apparatus, check, between multiple stage automatic processing device 1, share task in this way.
Share task by combining identical automatic processing device 1, thus do not need the automatic processing device newly introducing more large-scale than automatic processing device 1 (such as there are 6 arm robots), therefore, it is possible to suppress cost.
According to embodiment described above, following action effect can be obtained.
(1) in automatic processing device 1, the workpiece 11 (camera body) with the opening 15 entered for light beam is positioned on conveyer belt 23 integratedly with the pallet 51 fixing this workpiece 11 (camera body).Workpiece 11 (camera body) and pallet 51 promote from conveyer belt 23 by arm robot 24 or arm robot 25 integratedly, to workpiece 11 (camera body) being carried out to multiple treating apparatus 71 ~ 79 of adjustment process and check processing with the mode rotation workpiece 11 (camera body) successively with pallet 51 one, the workpiece 11 (camera body) making adjustment process and check processing complete and pallet 51 return conveyer 23 integratedly.Thereby, it is possible to obtain the good automatic processing device of ease of use 1.In addition, be not fixed on pallet 51 with workpiece 11 (camera body), but directly load on a moving belt, and promote from conveyer belt, situation about returning to conveyer belt compares, in automatic processing device 1, arm robot 24 or arm robot 25 grabbing workpiece 11 (camera body) carrying indirectly, thus the possibility that workpiece 11 (camera body) is caused damage or polluted can be reduced.
(2) arm robot 24 (25) makes the opening 15 of workpiece 11 (camera body) relative with treating apparatus 71 ~ 79 respectively, and during by workpiece 11 (camera body) relative to treating apparatus 71 ~ 79 successively rotation, via pallet 51, workpiece 11 (camera body) is installed on each treating apparatus in multiple treating apparatus 71 ~ 79.And the opening that multiple treating apparatus 71 ~ 79 has in the workpiece 11 (camera body) installed successively via pallet 51 and through hole 56 carry out adjustment process and check processing.Workpiece 11 (camera body) is installed to treating apparatus 71 ~ 79 via pallet 51 by arm robot 24 (25), thus, compared with workpiece 11 (camera body) not directly being installed to via pallet 51 situation of each treating apparatus in multiple treating apparatus 71 ~ 79, the possibility that workpiece 11 (camera body) is caused damage or polluted can be got rid of.
(3) each arm robot of arm robot 24 and 25 carries out workpiece 11 (camera body) and pallet 51 integratedly to the process of multiple treating apparatus 71 ~ 79 successively rotation respectively to multiple workpiece 11 (camera body), thus, each arm robot carries out each and pallet 51 of multiple workpiece 11 (camera body) integratedly relative to the operation of each movement and the operation of dismounting of multiple treating apparatus 71 ~ 79.That is, undertaken making the operation of multiple workpiece 11 (camera body) relative to the movement of multiple treating apparatus 71 ~ 79 and the operation of dismounting by arm robot 24 (25).Therefore, it is possible to realize such as with by multiple operator carrying out the workload same relative to the situation of the operation of 1 treating apparatus dismounting, 1 workpiece 11 (camera body) concurrently by 1 automatic processing device 1.
(4) due to by being placed with the conveyer belt 23 of workpiece 11 (camera body) with pallet 51 one, carry towards sending mouth 26, so the good automatic processing device of ease of use 1 can be obtained from input port 22 through the movable range of arm robot 24 (25).In addition, owing to not needing the necessary movable range expanding arm robot 24 (25) with Shangdi, so the cost being also related to arm robot 24 (25) reduces.
(5) arm robot 25 to move from arm robot 24 and the different workpiece 11 (camera body) of the workpiece 11 (camera body) installed to move to other treating apparatus and installs to treating apparatus.Specifically, as shown in Figure 8, carry out 1 workpiece 11A in multiple workpiece 11 (camera body) and pallet 51 after the process integratedly relative to multiple treating apparatus 71 ~ 79 successively rotation at arm robot 24, by conveyer belt 23, workpiece 11A has been carried to the movable range of arm robot 25.Meanwhile, by conveyer belt 23, the workpiece 11B in multiple workpiece 11 (camera body) is carried to the movable range of arm robot 24.Now, arm robot 25 carries out by workpiece 11A and pallet 51 integratedly relative to the process of multiple treating apparatus 71 ~ 79 successively rotation, and arm robot 24 carries out workpiece 11B and pallet 51 integratedly relative to the process of multiple treating apparatus 71 ~ 79 successively rotation.Therefore, to be moved and compared with the situation of installing to multiple treating apparatus by multiple workpiece with by means of only 1 arm robot, the processing speed of automatic processing device 1 improves.
(6) when making multiple stage automatic processing device 1 arranged side by side, 2 mutually adjacent automatic processing devices 1 are configured in mouth 26 mode relative with the input port 22 of another automatic processing device 1 i.e. automatic processing device 1 in downstream of sending of an automatic processing device 1 i.e. automatic processing device 1 of upstream side among 2 mutually adjacent automatic processing devices 1.Therefore, it is possible to automatically carry workpiece 11 (camera body) from the automatic processing device 1 of upstream side towards the automatic processing device 1 in downstream.
(7) pallet 51 comprises the tray seat 52 chimeric and fastening with the fuselage seat 13 of workpiece 11 (camera body).Fastening by the fuselage seat 13 of tray seat 52 and workpiece 11 (camera body), workpiece 11 (camera body) is fixed on pallet 51.Therefore, for the various workpiece 11 (camera body) with common fuselage seat 13, common treating apparatus can be utilized to implement adjustment process and/or check processing.
(8) when pallet 51 is included in that to be arranged on by workpiece 11 (camera body) in multiple treating apparatus 71 ~ 79 some upper by arm robot 24 or 25, the pallet connector 53 be combined with arm robot 24 or 25 to be undertaken promoting by arm robot 24 or 25.Pallet connector 53 is arranged on the face identical with tray seat 52.When workpiece 11 (camera body) is installed to treating apparatus 71 ~ 79 by arm robot 24 or 25, arm robot 24 or 25 can not contact with workpiece 11 (camera body).Therefore, common arm robot 24 or 25 can not make various types of workpiece 11 (camera body) damage or impurely move and dismounting to common treating apparatus.
(9) in pallet 51, when to be arranged on by workpiece 11 (camera body) in multiple treating apparatus 71 ~ 79 by arm robot 24 or 25 some upper for for the catcher support for the treatment of apparatus and the fixed tray 51 and incised notch portion 55 that arranges is formed in the face identical with tray seat 52, and in order to carry out location when being arranged on treating apparatus by workpiece 11 (camera body) by arm robot 24 or 25, pallet 51 is formed with the locating hole that the pilot pin for treating apparatus inserts.Therefore, various workpiece 11 (camera body), by common arm robot 24 or 25, does not contact with common treating apparatus and damages or be impurely mounted.
(10) Fig. 9 is in the automatic processing device 1 of present embodiment, when carrying out the predetermined processing of adjustment process and check processing etc. of multiple treating apparatus 71 ~ 79 pairs of workpiece 11 (camera body), represent by arm robot 24 and 25 respectively to the figure of the processing method of the above-mentioned automatic process that workpiece 11 (camera body) carries out as flow chart.When process starts automatically for this, in step S910, arm robot 24 and 25 is respectively to promote the workpiece 11 (camera body) with the opening 15 entered for light beam with the mode of pallet 51 one being fixed with workpiece 11 (camera body) from conveyer belt 23.In step S920, workpiece 11 (camera body) and pallet 51 process and multiple treating apparatus 71 ~ 79 rotation successively of predetermined processing of check processing etc. to carrying out adjusting to workpiece 11 (camera body) by arm robot 24 and 25 respectively integratedly.In step S930, arm robot 24 and 25 makes to complete the workpiece 11 (camera body) of afore mentioned rules process and pallet 51 return conveyer 23 integratedly respectively.
(the first variation)
In the above description, as the camera body of workpiece 11 exemplified with simple eye reflection-type, but it also can be the camera body of the simple eye type of non-reflective.
(the second variation)
Also can using interchangeable lenses 12 as workpiece 11.In adjustment in this case, inspection, such as, from the data etc. of the not shown signal terminal input regulation be arranged in lens mount 14, the information specified is obtained in this side of interchangeable lenses 12.
(the 3rd variation)
In addition, also can replace the camera body of lens changeable, using one-piece type for camera lens camera as workpiece 11.In this situation, the one-piece type camera of camera lens being in the midway stage of assembling procedure is fixed on pallet, and is installed to treating apparatus 71 ~ treating apparatus 79 integratedly with this pallet.In addition, camera both may be used for record and also may be used for monitoring, can also be as module lift-launch camera unit in the electronic device.
(the 4th variation)
In the above-described embodiment, exemplified with the automatic processing device 1 with 2 arm robots 24,25, but arm robot also can only have 1.Fig. 7 is the figure exemplified with the automatic processing device 1B only with 1 arm robot 25.Other structures except arm robot 25 are identical with automatic processing device 1.
(the 5th variation)
The quantity of the arm robot that 1 automatic processing device has is not limited to above-mentioned 1 or 2, and can be 3 or 4, also can be more than this quantity.In addition, the quantity that can be arranged on the treating apparatus on 1 automatic processing device is not limited to above-mentioned 16, and can be 4 or 10, also can be 20 or 30, can also be more than this quantity.
Above explanation only example, is at all not limited to the structure of above-mentioned embodiment.
The disclosure of following basis for priority application has been incorporated as citation.
No. 63385th, Japanese patent application 2013 (proposition on March 26th, 2013)
The explanation of Reference numeral
1 automatic processing device
11 workpiece (camera body)
12 interchangeable lenses
21 housings
22 input ports
23,27,28 conveyer belts
24,25 arm robots
26 send mouth
29 outlets
31 air cleaning machines
32 pallet return ports
51 pallets
52 tray seats
53 pallet connectors
54 locating holes
55 incised notch portions
56 through holes (opening)
71 ~ 79 treating apparatus
80 dismounting portions
Claims (11)
1. an automatic processing device, is characterized in that, has:
Multiple treating apparatus, it carries out predetermined processing to the Optical devices with the opening entered for light beam;
Mounting table, the pallet of described Optical devices with fixing described Optical devices loads by integratedly; And
Arm robot, described Optical devices and described pallet promote from described mounting table by integratedly, and by described Optical devices and described pallet integratedly relative to the rotation successively of described multiple treating apparatus, the described Optical devices and the described pallet that make to complete described predetermined processing return described mounting table integratedly.
2. automatic processing device as claimed in claim 1, is characterized in that,
Described arm robot makes the described opening of described Optical devices relative with each treating apparatus in described multiple treating apparatus, and during by described Optical devices relative to described multiple treating apparatus successively rotation, via described pallet, described Optical devices are installed to described each treating apparatus
The opening that described multiple treating apparatus has via described pallet carries out described predetermined processing to the described Optical devices installed successively.
3. automatic processing device as claimed in claim 2, is characterized in that,
Described arm robot carries out described Optical devices and described pallet integratedly to the process of described multiple treating apparatus successively rotation each of multiple Optical devices, thus, described arm robot carries out each and described pallet of described multiple Optical devices integratedly relative to the operation of each movement and the operation of dismounting of described multiple treating apparatus.
4. automatic processing device as claimed in claim 3, is characterized in that,
Also there is input port and send mouth,
Described mounting table has carries function as follows, described Optical devices and described pallet is carried towards described mouth of sending from described input port via the movable range of described arm robot integratedly.
5. automatic processing device as claimed in claim 4, is characterized in that,
Described arm robot comprises the first arm robot and the second arm robot,
Carry out the first Optical devices in described multiple Optical devices and described pallet after the process integratedly relative to described multiple treating apparatus successively rotation at described first arm robot, described first Optical devices are carried to the described movable range of described second arm robot by described mounting table, and when the second Optical devices in described multiple Optical devices are carried to the described movable range of described first arm robot by described mounting table, described second arm robot carries out described first Optical devices and described pallet integratedly relative to the process of described multiple treating apparatus successively rotation, and described first arm robot carries out described second Optical devices and described pallet integratedly relative to the process of described multiple treating apparatus successively rotation.
6. automatic processing device as claimed in claim 5, is characterized in that,
The first automatic processing device and the second automatic processing device that are described automatic processing device configure adjacent to each other,
Mouth is sent relative with the described input port of described second automatic processing device described in described first automatic processing device.
7. a pallet, fixes and carries Optical devices, it is characterized in that,
There is the tray seat chimeric and fastening with the seat portion of described Optical devices.
8. pallet as claimed in claim 7, is characterized in that,
Also there is pallet connector, its by arm robot described Optical devices are arranged on the treating apparatus of predetermined processing is carried out to described Optical devices time, be combined with described arm robot to be undertaken promoting by described arm robot,
Described pallet connector is arranged on the face identical with described tray seat.
9. pallet as claimed in claim 8, is characterized in that,
When described Optical devices being arranged on described treating apparatus by described arm robot, the incised notch portion arranged to also fix described pallet for the catcher support of described treating apparatus is formed on the face identical with described tray seat, and in order to carry out location when being arranged on described treating apparatus by described Optical devices by described arm robot, be formed with the locating hole that the pilot pin for described treating apparatus inserts.
10. pallet as claimed in claim 7, is characterized in that,
Described Optical devices are camera bodies of camera,
The described seat portion of described Optical devices is fuselage seats of described camera body.
11. 1 kinds of automatic processing methods, is characterized in that,
The Optical devices with the opening entered for light beam are promoted integratedly with the pallet of fixing described Optical devices,
By described Optical devices and described pallet integratedly to the multiple treating apparatus rotation successively described Optical devices being carried out to predetermined processing,
The described Optical devices and the described pallet that make to complete described predetermined processing return integratedly.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810608694.5A CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
| CN201810606341.1A CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013063385 | 2013-03-26 | ||
| JP2013-063385 | 2013-03-26 | ||
| PCT/JP2014/058252 WO2014157189A1 (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method, and pallet |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Division CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201810608694.5A Division CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105263670A true CN105263670A (en) | 2016-01-20 |
| CN105263670B CN105263670B (en) | 2018-07-06 |
Family
ID=51624159
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
| CN201480030167.0A Active CN105263670B (en) | 2013-03-26 | 2014-03-25 | Automatic processing device, automatic processing method and pallet |
| CN201810608694.5A Active CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810606341.1A Pending CN108907701A (en) | 2013-03-26 | 2014-03-25 | fixed station |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810608694.5A Active CN108942205B (en) | 2013-03-26 | 2014-03-25 | Processing apparatus and automatic processing method |
Country Status (3)
| Country | Link |
|---|---|
| JP (3) | JP6337884B2 (en) |
| CN (3) | CN108907701A (en) |
| WO (1) | WO2014157189A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6220216B2 (en) * | 2013-10-15 | 2017-10-25 | 川崎重工業株式会社 | Camera inspection jig |
| JP2016203347A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system and robot |
| EP3290168A4 (en) * | 2015-04-28 | 2018-12-12 | Seiko Epson Corporation | Robot system and robot |
| JP6540196B2 (en) * | 2015-04-28 | 2019-07-10 | セイコーエプソン株式会社 | Robot system |
| JP2016203348A (en) * | 2015-04-28 | 2016-12-08 | セイコーエプソン株式会社 | Robot system |
| DE112017004086T5 (en) * | 2016-08-14 | 2019-05-16 | Life Robotics Inc. | Dishwashing system and robotic device |
| CN110091465B (en) * | 2018-01-31 | 2024-06-11 | 厦门科利捷自动化科技有限公司 | Automatic demolish metal insert waste material ultrasonic wave and shake and fall balance all-in-one |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1559015A (en) * | 2001-09-28 | 2004-12-29 | ����ɭ�绰�ɷ�����˾ | Method and an arrangement for manufacturing optical fiber assemblies |
| WO2005125181A1 (en) * | 2004-06-15 | 2005-12-29 | Renesas Technology Corp. | Process for manufacturing optical module and assembling apparatus |
| CN200962149Y (en) * | 2006-09-19 | 2007-10-17 | 郑鸿锜 | Improvement of lens ink-coating machine |
| CN101833962A (en) * | 2010-01-29 | 2010-09-15 | 东莞宏威数码机械有限公司 | Positioning device and positioning method of optical disc production line |
| CN101882449A (en) * | 2010-03-01 | 2010-11-10 | 东莞宏威数码机械有限公司 | Precision-locating optical disk production line assembly and locating method thereof |
| US20120260482A1 (en) * | 2010-07-12 | 2012-10-18 | Comau Inc. | Method and apparatus for assembling a clutch |
Family Cites Families (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6317628Y2 (en) * | 1979-11-05 | 1988-05-18 | ||
| JPS5786729U (en) * | 1980-11-17 | 1982-05-28 | ||
| JPH0537588Y2 (en) * | 1985-09-11 | 1993-09-22 | ||
| JPH02146304U (en) * | 1989-05-15 | 1990-12-12 | ||
| JPH04133527U (en) * | 1991-01-24 | 1992-12-11 | 旭光学工業株式会社 | robot equipment |
| GR1002574B (en) * | 1992-12-21 | 1997-02-06 | Johnson & Johnson Vision Products Inc. | Pallet for receiving and transporting opthalmic lens containers. |
| JPH0957666A (en) * | 1995-08-22 | 1997-03-04 | Sony Corp | Part supply discharge device and method |
| JPH09267840A (en) * | 1996-03-28 | 1997-10-14 | Minami:Kk | Pallet for load receiving |
| JP2001085135A (en) * | 1999-09-13 | 2001-03-30 | Auto Network Gijutsu Kenkyusho:Kk | Holding of connector during pressure connection and pressure connector |
| JP2001308003A (en) * | 2000-02-15 | 2001-11-02 | Nikon Corp | Exposure method and system, and method of device manufacturing |
| US20030234330A1 (en) * | 2002-01-07 | 2003-12-25 | Anders James K. | Mount for supporting a camera and a mirrored optic |
| JP2003330086A (en) * | 2002-05-09 | 2003-11-19 | Matsushita Electric Ind Co Ltd | Lens switching device and mobile information terminal device |
| JP3113512U (en) * | 2005-06-09 | 2005-09-08 | 株式会社メディアジョイ | Camera mounting device |
| TWI337594B (en) * | 2005-11-25 | 2011-02-21 | Hon Hai Prec Ind Co Ltd | Tray for loading lenses |
| CN101144888B (en) * | 2006-09-15 | 2011-03-23 | 鸿富锦精密工业（深圳）有限公司 | Fetching device and lens assembling machine possessing the fetching device and lens assemblage method |
| CN101201443B (en) * | 2006-12-12 | 2010-09-29 | 鸿富锦精密工业（深圳）有限公司 | Device and method for rotating-in lens cone |
| CN100592128C (en) * | 2006-12-25 | 2010-02-24 | 鸿富锦精密工业（深圳）有限公司 | Pallet |
| JP2008299224A (en) * | 2007-06-01 | 2008-12-11 | Kyoritsu Denki Kk | Vibration method for evaluating camera shake correcting function |
| US8390729B2 (en) * | 2007-09-05 | 2013-03-05 | International Business Machines Corporation | Method and apparatus for providing a video image having multiple focal lengths |
| JP4850811B2 (en) * | 2007-11-06 | 2012-01-11 | 東京エレクトロン株式会社 | Mounting table, processing apparatus and processing system |
| JP2010099755A (en) * | 2008-10-21 | 2010-05-06 | Olympus Corp | Production apparatus |
| JP2011150263A (en) * | 2010-01-25 | 2011-08-04 | Spice Corp | Movie photographing device |
| KR101478420B1 (en) * | 2010-03-11 | 2014-12-31 | 가부시키가이샤 야스카와덴키 | Positioning device, working system, and hot working apparatus |
| JP2012068316A (en) * | 2010-09-21 | 2012-04-05 | Maxell Finetech Ltd | Drive unit and method for manufacturing drive unit |
| CN202518515U (en) * | 2012-03-23 | 2012-11-07 | 江之源实业（苏州）有限公司 | Product packaging tray |
-
2014
- 2014-03-25 CN CN201810606341.1A patent/CN108907701A/en active Pending
- 2014-03-25 WO PCT/JP2014/058252 patent/WO2014157189A1/en active Application Filing
- 2014-03-25 CN CN201480030167.0A patent/CN105263670B/en active Active
- 2014-03-25 JP JP2015508541A patent/JP6337884B2/en active Active
- 2014-03-25 CN CN201810608694.5A patent/CN108942205B/en active Active
-
2018
- 2018-05-10 JP JP2018091667A patent/JP6601532B2/en active Active
-
2019
- 2019-10-09 JP JP2019185899A patent/JP6870713B2/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1559015A (en) * | 2001-09-28 | 2004-12-29 | ����ɭ�绰�ɷ�����˾ | Method and an arrangement for manufacturing optical fiber assemblies |
| WO2005125181A1 (en) * | 2004-06-15 | 2005-12-29 | Renesas Technology Corp. | Process for manufacturing optical module and assembling apparatus |
| CN200962149Y (en) * | 2006-09-19 | 2007-10-17 | 郑鸿锜 | Improvement of lens ink-coating machine |
| CN101833962A (en) * | 2010-01-29 | 2010-09-15 | 东莞宏威数码机械有限公司 | Positioning device and positioning method of optical disc production line |
| CN101882449A (en) * | 2010-03-01 | 2010-11-10 | 东莞宏威数码机械有限公司 | Precision-locating optical disk production line assembly and locating method thereof |
| US20120260482A1 (en) * | 2010-07-12 | 2012-10-18 | Comau Inc. | Method and apparatus for assembling a clutch |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108907701A (en) | 2018-11-30 |
| CN108942205B (en) | 2020-11-27 |
| JP6870713B2 (en) | 2021-05-12 |
| JPWO2014157189A1 (en) | 2017-02-16 |
| JP6601532B2 (en) | 2019-11-06 |
| JP6337884B2 (en) | 2018-06-06 |
| JP2020078863A (en) | 2020-05-28 |
| JP2018158440A (en) | 2018-10-11 |
| CN108942205A (en) | 2018-12-07 |
| WO2014157189A1 (en) | 2014-10-02 |
| CN105263670B (en) | 2018-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105263670A (en) | Automatic processing device, automatic processing method, and pallet | |
| KR101479857B1 (en) | Automated inspection system for automobile parts | |
| US8302291B2 (en) | Component mounting system | |
| KR101219782B1 (en) | Mobile Camera Lens Inspection System | |
| CN213891320U (en) | Vehicle-mounted central control screen production line | |
| CN101710486A (en) | Automatic alignment system and method thereof, and test system of display device and method thereof | |
| CN103582410A (en) | Element installing system, element installing device and element testing device | |
| JP2006339238A (en) | Substrate conveyance device, visual inspection device, manufacturing method of electronic device, and visual inspection method thereof | |
| CN102089130A (en) | Device and method for sawing electronic components | |
| EP3383159B1 (en) | Optimization device for component mounting line and optimization method for component mounting line | |
| CN212674058U (en) | CCD quick size detection mechanism | |
| CN111928777A (en) | CCD quick size detection mechanism | |
| EP3723357A1 (en) | Imaging unit and component mounting machine | |
| KR101488160B1 (en) | Vision inspection apparatus comprising cooling part for pcb substrate | |
| CN103238379A (en) | Process machine, in particular for treating and/or inspecting substrates | |
| EP3562290A1 (en) | Mounting device, setting device, mounting system, mounting method, and setting method | |
| KR101347811B1 (en) | Inspecting and marking apparatus for mobile phone parts | |
| CN219142686U (en) | Circuit board safety high-precision automatic vision detection equipment | |
| CN217110821U (en) | Gap detection device | |
| CN104751258A (en) | Product mixed-processing system and product mixed-processing method | |
| KR102106321B1 (en) | Inspection apparatus with wireless-stage | |
| KR0130867B1 (en) | Method and system for automatic inspection of printed circuit | |
| CN215976144U (en) | Crystal bar splicing system | |
| KR20160142042A (en) | rotary display testing device, and method for testing | |
| NL2002495C2 (en) | TRUCK EQUIPPED WITH A PNEUMATIC SYSTEM. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |