CN105904478A - Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism - Google Patents

Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism Download PDF

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Publication number
CN105904478A
CN105904478A CN201610323728.7A CN201610323728A CN105904478A CN 105904478 A CN105904478 A CN 105904478A CN 201610323728 A CN201610323728 A CN 201610323728A CN 105904478 A CN105904478 A CN 105904478A
Authority
CN
China
Prior art keywords
robot
loading
feed
bin
checking
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.)
Pending
Application number
CN201610323728.7A
Other languages
Chinese (zh)
Inventor
刘勇
刘江辉
黎雪龙
朱辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kunshan Q Technology Co Ltd
Original Assignee
Kunshan Q Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kunshan Q Technology Co Ltd filed Critical Kunshan Q Technology Co Ltd
Priority to CN201610323728.7A priority Critical patent/CN105904478A/en
Publication of CN105904478A publication Critical patent/CN105904478A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Abstract

The invention discloses a mechanism for detecting feeding and discharging of an automatic robot and grippers for the mechanism. According to the technical scheme, the mechanism comprises a feeding mechanism, a discharging mechanism, a tray delivery mechanism, a robot mechanism and a product detection mechanism. The feeding mechanism comprises a feeding bin for containing product trays to be detected and a feeding recovery bin for containing empty trays. The discharging mechanism comprises a discharging bin for containing detected product trays and an empty tray discharging bin for containing empty trays to be picked up by the robot mechanism. The product detection mechanism is arranged on one side of the feeding mechanism and the discharging mechanism. The feeding mechanism and the discharging mechanism are arranged front and back in the horizontal direction. The tray delivery mechanism is arranged below the feeding mechanism and the discharging mechanism. The feeding bin and the empty tray discharging bin correspond in position and are both close to the product detection mechanism. The feeding recovery bin and the discharging bin correspond in position.

Description

Automatic machinery people loading and unloading testing agency and the paw for this mechanism
Technical field
The present invention relates to small-sized image pickup head and manufacture field, particularly to a kind of automatic machinery people's feeding, discharge function Testing agency and apply to the paw structure of this mechanism.
Background technology
At present, mobile lens, mobile phone module, part demand amount are increasing, and its quality requirements is increasingly stricter, Prior art, generally uses the mode of manual detection, but its work efficiency is low, and quality and instability thereof are existing There is enterprise, in order to meet market demands, product is carried out mass production, need to increase artificial quantity, but the most skilled work People's shortage, and cost of labor is higher, is difficult to meet technology on market and requires the demand of higher parts.
Therefore need a kind of new technical scheme to solve the problems referred to above.
Summary of the invention
The problem and shortage existed for above-mentioned prior art, it is an object of the invention to provide a kind of automatic machinery People feeding, discharge Function detection mechanism and apply to the paw structure of this mechanism, full to realize while low cost Foot stabilization of equipment performance.
For achieving the above object, the technical solution used in the present invention is a kind of automatic machinery people's loading and unloading inspection Survey mechanism, it is characterised in that: include feed mechanism, cutting agency, tray conveyor structure, robot mechanism and Product checking mechanism;
Described feed mechanism includes the loading bin for placing product charging tray to be detected and for placing sky charging tray Feeding recovery bin;
Described cutting agency includes that institute is treated in the blanking feed bin for placing the charging tray having detected rear product and placement State the blanking blank panel storehouse of the blank panel of robot mechanism pickup;
Described Product checking mechanism is arranged on the side of feed mechanism and cutting agency;
Arranging before and after feed mechanism and cutting agency level, this tray conveyor structure is arranged on feed mechanism and blanking The lower section of mechanism, and described loading bin position is corresponding with blanking blank panel position and is close to described Product checking Mechanism, described feeding recovery bin position is corresponding with blanking feed bin position.
As the further optimization of the present invention, it is provided with below loading bin of the present invention and drives loading bin Charging tray discharges charging tray to the inductive switch of tray conveyor structure.
As the further optimization of the present invention, Product checking mechanism of the present invention includes for testing product each The test board of performance.
As the further optimization of the present invention, robot mechanism of the present invention is six-joint robot.
As the further optimization of the present invention, present invention additionally comprises for obtaining positional information and passing to described product The CCD image mechanism of product testing agency, this CCD image mechanism is arranged under described feed mechanism and cutting agency Side.
As the further optimization of the present invention, cutting agency of the present invention also includes defective products recovering mechanism, This defective products recovering mechanism is arranged at described blanking blank panel storehouse near the side of Product checking mechanism.
As the further optimization of the present invention, robot mechanism of the present invention includes base, robot body And paw, this robot body is arranged on base, and paw is arranged on robot body by 6 shaft flanges, This paw is upper and lower stretching structure.
As the further optimization of the present invention, Product checking mechanism of the present invention is arranged in pairs in feed mechanism With the side of cutting agency, the base of this robot mechanism is positioned at the interposition of the Product checking mechanism being arranged in pairs Put.
As the further optimization of the present invention, paw of the present invention includes the jaw for gripping product and use In controlling the cylinder that moves up and down of jaw, described jaw includes some gripping finger in vertical Z-shaped, a pair Or the relative gripping finger of multipair opening direction constitutes a jaw.
The invention also discloses a kind of paw for automatic machinery people loading and unloading testing agency, including for pressing from both sides Taking the jaw of product and for controlling the cylinder that jaw moves up and down, described jaw includes some in vertical Z The gripping finger of font, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
Compared to existing technology, its advantage is the present invention: the present invention is integrated with high precision 16 axle robot system, CCD Image system, automatic loading and unloading system and automatic function detecting system, and then realize omnidistance unmanned automatization, By mechanism, module is taken, put material, it is ensured that homogeneity of product, be greatly improved production efficiency, reduce not Yields and production cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the feed mechanism of the present invention, cutting agency structure, tray conveyor structure, robot mechanism signal Figure;
Fig. 3 is the charging tray schematic diagram of the present invention;
Fig. 4 is the paw structural representation of the robot mechanism of the present invention;
Fig. 5 is the paw enlarged drawing of the present invention.
Detailed description of the invention
As it is shown in figure 1, a kind of automatic machinery people feeding, discharge Function detection mechanism of this enforcement includes feeder Structure 1-1, cutting agency 1-2, tray conveyor structure 5, robot mechanism 2 and Product checking mechanism 3;Feeding Mechanism 1-1 includes the loading bin 11 for placing product charging tray to be detected and for placing the feeding of sky charging tray Recovery bin 12;Cutting agency 1-2 includes blanking feed bin 13 He for placing the charging tray having detected rear product Place the blanking blank panel storehouse 14 of the blank panel treating that described robot mechanism 2 picks up;Product checking mechanism 3 is arranged on Feed mechanism 1-1 and the side of cutting agency 1-2.
Concrete, as in figure 2 it is shown, set before and after the feed mechanism 1-1 of the present embodiment and cutting agency 1-2 level Putting, this tray conveyor structure 5 is arranged on feed mechanism 1-1 and the lower section of cutting agency 1-2, and loading bin 11 positions are corresponding with position, blanking blank panel storehouse 14 and are close to described Product checking mechanism 3, feeding recovery bin 12 positions are corresponding with blanking feed bin 13 position, are provided with the material driving loading bin 11 below loading bin 11 Dish discharges charging tray to the inductive switch of tray conveyor structure.
The Product checking mechanism 3 of the present embodiment includes the test board for testing each performance of product.
For guaranteeing high accuracy, the robot mechanism 2 that the present embodiment uses is six-joint robot, this robot mechanism 2 include base 21, robot body 22 and paw 23, and this robot body 22 is arranged on base 21, Paw 23 is arranged on robot body 22 by 6 shaft flanges, and this paw 23 is upper and lower stretching structure.
As shown in Figure 4 and Figure 5, the paw 23 of the present embodiment includes the jaw 231 for gripping product and uses In controlling the cylinder 232 that jaw 231 moves up and down, the paw 23 of the present embodiment uses 6 jaws 231, This jaw 231 includes the gripping finger in vertical Z-shaped, and the gripping finger that one or more pairs of opening directions are relative constitutes a folder Pawl 231, runs to above feeding position after robot mechanism 2 receives feeding instruction, and cylinder 232 drives Corresponding jaw 231 stretches out, and PLC controls after gripping finger opens and be depressed into and reach feeding position, and gripping finger clamps, cylinder 232 drive jaw 231 to rise back in situ, it is achieved product grips.
For guaranteeing that robot mechanism 2 can be good with Product checking mechanism 3 cooperating, the present embodiment also includes For obtaining positional information and passing to the CCD image mechanism 4 of described Product checking mechanism 3, this CCD image Mechanism 4 is arranged on below described feed mechanism 1-1 and cutting agency 1-2.
The cutting agency 1-2 of the present embodiment also includes defective products recovering mechanism, and this defective products recovering mechanism is arranged at Described blanking blank panel storehouse 14 is near the side of Product checking mechanism 3.
Product checking mechanism 3 is arranged in pairs in feed mechanism 1-1 and the side of cutting agency 1-2, this machine The base 21 of robot mechanism 2 is positioned at the centre position of the Product checking mechanism 3 being arranged in pairs.
Charging tray to be measured is put into loading bin 11 by operator, as it is shown on figure 3, be placed with mould to be measured in this charging tray Group, the inductive switch below loading bin 11 discharges a charging tray to tray conveyor structure after having sensed charging tray 5, charging tray to be measured is sent to CCD image mechanism 4 and takes pictures by tray conveyor structure 5, CCD image mechanism 4 After taking pictures, charging tray location information data being sent the data processing terminal to product test mechanism 3, the present embodiment is adopted With PC, PC notifies that robot mechanism 2 carries out feeding, 3 in the present embodiment feeding dish after receiving data Material, move to product test mechanism 3 after robot mechanism 2 feeding and product put into product test mechanism 3 Test board in test, in test process, robot mechanism 2 runs in situ to carry out next round Product picks up, and robot mechanism 2 returns to original position notice CCD image mechanism 4 to take pictures, after end of taking pictures, Robot mechanism 2 picks up the transmission of 3 material again and tests, after last round of product test terminates, and robot mechanism Last round of product is taken out from test board and the next round product to be detected just picked up is put into test board by 2 In, now robot mechanism 2 is put into surveying product in corresponding charging tray according to test result, and above-mentioned charging tray can Including defective products charging tray and certified products charging tray, the certified products charging tray of the present embodiment is and is positioned at blanking blank panel storehouse The charging tray of 14, this charging tray is placed on the discharge position of robot mechanism 2 by tray conveyor structure, the most instead Multiple until all Product checking in a charging tray complete, after current charging tray has detected, feed mechanism automatically will Empty charging tray is sent to loading plate recovery bin 12 and reclaims, and after having reclaimed, feed mechanism goes a dish to be measured again Charging tray carries out, to CCD image mechanism 4, entrance subsequent cycle of taking pictures, and repeats above-mentioned action, until all products are surveyed Examination terminates.

Claims (10)

1. automatic machinery people loading and unloading testing agency, it is characterised in that: include feed mechanism, cutting agency, Tray conveyor structure, robot mechanism and Product checking mechanism;
Described feed mechanism includes the loading bin for placing product charging tray to be detected and for placing sky charging tray Feeding recovery bin;
Described cutting agency includes that institute is treated in the blanking feed bin for placing the charging tray having detected rear product and placement State the blanking blank panel storehouse of the blank panel of robot mechanism pickup;
Described Product checking mechanism is arranged on the side of feed mechanism and cutting agency;
Arranging before and after feed mechanism and cutting agency level, this tray conveyor structure is arranged on feed mechanism and blanking The lower section of mechanism, and described loading bin position is corresponding with blanking blank panel position and is close to described Product checking Mechanism, described feeding recovery bin position is corresponding with blanking feed bin position.
Automatic machinery the most according to claim 1 people loading and unloading testing agency, it is characterised in that: institute State and be provided with charging tray one charging tray of release driving loading bin below loading bin to the sensing of tray conveyor structure Switch.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that: Described Product checking mechanism includes the test board for testing each performance of product.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that: Described robot mechanism is six-joint robot.
Automatic machinery the most according to claim 1 and 2 people loading and unloading testing agency, it is characterised in that: Also include for obtaining positional information and passing to the CCD image mechanism of described Product checking mechanism, this CCD Image mechanism is arranged on below described feed mechanism and cutting agency.
Automatic machinery the most according to claim 1 people loading and unloading testing agency, it is characterised in that: institute Stating cutting agency and also include defective products recovering mechanism, this defective products recovering mechanism is arranged at described blanking blank panel storehouse and leans on The side of nearly Product checking mechanism.
Automatic machinery the most according to claim 4 people loading and unloading testing agency, it is characterised in that: institute Stating robot mechanism and include base, robot body and paw, this robot body is arranged on base, paw Being arranged on robot body by 6 shaft flanges, this paw is upper and lower stretching structure.
Automatic machinery the most according to claim 7 people loading and unloading testing agency, it is characterised in that: institute State Product checking mechanism and be arranged in pairs in the side of feed mechanism and cutting agency, the base position of this robot mechanism Centre position in the Product checking mechanism being arranged in pairs.
9. according to the automatic machinery people loading and unloading testing agency described in claim 7 or 8, it is characterised in that: Described paw includes the jaw for gripping product and for controlling the cylinder that jaw moves up and down, described folder Pawl includes that some gripping finger in vertical Z-shaped, the gripping finger that one or more pairs of opening directions are relative constitute a jaw.
10., for the paw of the automatic machinery people loading and unloading testing agency described in claim 1, its feature exists In: include the jaw for gripping product and for controlling the cylinder that jaw moves up and down, described jaw bag Including some gripping finger in vertical Z-shaped, the gripping finger that one or more pairs of opening directions are relative constitutes a jaw.
CN201610323728.7A 2016-05-17 2016-05-17 Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism Pending CN105904478A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610323728.7A CN105904478A (en) 2016-05-17 2016-05-17 Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610323728.7A CN105904478A (en) 2016-05-17 2016-05-17 Mechanism for detecting feeding and discharging of automatic robot and grippers for mechanism

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Publication Number Publication Date
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107096732A (en) * 2017-06-07 2017-08-29 嘉兴博信机器人科技有限公司 A kind of automatic detection device
CN107262390A (en) * 2017-05-27 2017-10-20 浙江银轮智能装备有限公司 Board-like automatic inspection line
CN109230230A (en) * 2018-07-24 2019-01-18 嘉善翔宇旅游用品有限公司 A kind of movement system of luggage accessory
CN109712924A (en) * 2018-12-29 2019-05-03 哈工大机器人(山东)智能装备研究院 A kind of infrared focal plane array chip automated test device
CN109896272A (en) * 2017-12-08 2019-06-18 泰科电子(上海)有限公司 Automatic feeding system
CN110451256A (en) * 2019-07-11 2019-11-15 大族激光科技产业集团股份有限公司 A kind of charging tray switching device
CN111606021A (en) * 2020-05-20 2020-09-01 博众精工科技股份有限公司 Feeding and discharging device
CN112478755A (en) * 2020-12-01 2021-03-12 群沃电子科技(苏州)有限公司 Full-automatic chip aging test and PCB shielding test feeding machine
CN112588592A (en) * 2020-12-01 2021-04-02 群沃电子科技(苏州)有限公司 Full-automatic chip aging test and PCB shielding test blanking machine

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CN204286475U (en) * 2014-12-19 2015-04-22 深圳雷柏科技股份有限公司 Reversible platen and the robot charge system for PCBA test
CN204321585U (en) * 2014-11-19 2015-05-13 昆山丘钛微电子科技有限公司 A kind of full-automatic typesetting bench structure
CN105014682A (en) * 2015-08-21 2015-11-04 苏州博众精工科技有限公司 Clamping jaw assembly
CN205817893U (en) * 2016-05-17 2016-12-21 昆山丘钛微电子科技有限公司 Automatic machinery people loading and unloading testing agency and the paw for this mechanism

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Publication number Priority date Publication date Assignee Title
GB1070176A (en) * 1966-03-29 1967-06-01 Conco Engineering Works Inc Automatic warehousing system
CN103659802A (en) * 2013-11-29 2014-03-26 苏州博众精工科技有限公司 Grabbing mechanism
CN203608460U (en) * 2013-12-06 2014-05-21 深圳雷柏科技股份有限公司 Production line for individual board of PCBA multi-connected-board of mobile phone
CN203739113U (en) * 2013-12-06 2014-07-30 深圳雷柏科技股份有限公司 In-mold injection molding production equipment for sheet steel of mobile phone shell
CN103921394A (en) * 2014-03-27 2014-07-16 昆山艾博机器人系统工程有限公司 Automatic production and detection equipment of insert injection molding product
CN204321585U (en) * 2014-11-19 2015-05-13 昆山丘钛微电子科技有限公司 A kind of full-automatic typesetting bench structure
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CN205817893U (en) * 2016-05-17 2016-12-21 昆山丘钛微电子科技有限公司 Automatic machinery people loading and unloading testing agency and the paw for this mechanism

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107262390A (en) * 2017-05-27 2017-10-20 浙江银轮智能装备有限公司 Board-like automatic inspection line
CN107096732B (en) * 2017-06-07 2020-02-11 嘉兴博信机器人科技有限公司 Operation method of automatic detection device
CN107096732A (en) * 2017-06-07 2017-08-29 嘉兴博信机器人科技有限公司 A kind of automatic detection device
CN109896272B (en) * 2017-12-08 2021-01-29 泰科电子(上海)有限公司 Automatic feeding system
CN109896272A (en) * 2017-12-08 2019-06-18 泰科电子(上海)有限公司 Automatic feeding system
CN109230230A (en) * 2018-07-24 2019-01-18 嘉善翔宇旅游用品有限公司 A kind of movement system of luggage accessory
CN109230230B (en) * 2018-07-24 2020-04-24 嘉善翔宇旅游用品有限公司 Transfer system of case and bag accessory
CN109712924A (en) * 2018-12-29 2019-05-03 哈工大机器人(山东)智能装备研究院 A kind of infrared focal plane array chip automated test device
CN110451256A (en) * 2019-07-11 2019-11-15 大族激光科技产业集团股份有限公司 A kind of charging tray switching device
CN111606021A (en) * 2020-05-20 2020-09-01 博众精工科技股份有限公司 Feeding and discharging device
CN111606021B (en) * 2020-05-20 2021-10-15 博众精工科技股份有限公司 Feeding and discharging device
CN112478755A (en) * 2020-12-01 2021-03-12 群沃电子科技(苏州)有限公司 Full-automatic chip aging test and PCB shielding test feeding machine
CN112588592A (en) * 2020-12-01 2021-04-02 群沃电子科技(苏州)有限公司 Full-automatic chip aging test and PCB shielding test blanking machine

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CB03 Change of inventor or designer information

Inventor after: Liu Tongquan

Inventor after: Liu Yong

Inventor after: Liu Jianghui

Inventor after: Zhu Hui

Inventor before: Liu Yong

Inventor before: Liu Jianghui

Inventor before: Li Xuelong

Inventor before: Zhu Hui

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Application publication date: 20160831

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