CN106081611A - A kind of turnaround system automatically - Google Patents

A kind of turnaround system automatically Download PDF

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Publication number
CN106081611A
CN106081611A CN201610579155.4A CN201610579155A CN106081611A CN 106081611 A CN106081611 A CN 106081611A CN 201610579155 A CN201610579155 A CN 201610579155A CN 106081611 A CN106081611 A CN 106081611A
Authority
CN
China
Prior art keywords
axis
pcb board
slide block
rotating shaft
servomotor
Prior art date
Application number
CN201610579155.4A
Other languages
Chinese (zh)
Inventor
李愈明
邓朋飞
Original Assignee
中山市鑫光智能系统有限公司
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 中山市鑫光智能系统有限公司 filed Critical 中山市鑫光智能系统有限公司
Priority to CN201610579155.4A priority Critical patent/CN106081611A/en
Publication of CN106081611A publication Critical patent/CN106081611A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • 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
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28Testing of electronic circuits, e.g. by signal tracer
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28Testing of electronic circuits, e.g. by signal tracer
    • G01R31/2801Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
    • G01R31/2806Apparatus therefor, e.g. test stations, drivers, analysers, conveyors
    • G01R31/2808Holding, conveying or contacting devices, e.g. test adapters, edge connectors, extender boards

Abstract

The invention discloses a kind of turnaround system automatically, including U-bracket, being respectively equipped with on three limits of U-bracket and can be sequentially completed pcb board extraction, placement, extract back the left side mechanical hands of dress, right side mechanical hands, middle part mechanical hand again, described left side mechanical hands, right side mechanical hands, middle part mechanical hand are equipped with the moving structure of X-axis, Y-axis, Z-axis direction;In the region that U-bracket surrounds, it is respectively equipped with extraction pcb board platform, transition platform, dedusting spray code spraying apparatus, reclaims placement platform and for detecting the testing machine of pcb board quality, additionally, the pcb board after also including dedusting coding extracts testing machine detection and delivers to reclaim the six-joint robot of placement platform upon completion of the assays.The present invention has the advantages such as simple in construction, efficiency is high, effective.

Description

A kind of turnaround system automatically
[technical field]
The present invention is about the automatic turnaround system of one.
[background technology]
After pcb board is made at present, need to detect, and pcb board is when stacking, and is intended to place between two pcb boards There is sheet to separate, prevent from scratching.And current detection method, need artificial participation, it is impossible to accomplish full-automation.And this case is Automatically, during detection pcb board, it is used for extracting pcb board, after having detected, then pcb board is stacked up, and use six axles Robot carries out the extraction detection of pcb board, is automatically performed whole action.
[summary of the invention]
It is an object of the invention to overcome the deficiencies in the prior art and provide a kind of simple in construction, efficiency high, effective from Dynamic turnaround system.
For above-mentioned purpose, the present invention by the following technical solutions:
A kind of turnaround system automatically, it is characterised in that include U-bracket 1, be respectively equipped with on three limits of U-bracket 1 Pcb board can be sequentially completed extract, place, extract back the left side mechanical hands 2 of dress, right side mechanical hands 3, middle part mechanical hand 4 again, described Left side mechanical hands 2, right side mechanical hands 3, middle part mechanical hand 4 are equipped with the moving structure of X-axis, Y-axis, Z-axis direction;Enclose at U-bracket 1 Become region in be respectively equipped with extraction pcb board platform 15, transition platform 16, dedusting spray code spraying apparatus 17, reclaim placement platform 18 with And it is used for detecting the testing machine 19 of pcb board quality, additionally, the pcb board after also including dedusting coding extracts testing machine 19 Detection also delivers to reclaim the six-joint robot 20 of placement platform 18 upon completion of the assays.
A kind of turnaround system automatically as above, it is characterised in that described left side mechanical hands 2, right side mechanical hands 3, middle part The structure of mechanical hand 4 is identical, and it all includes X axis guide rail 5, is provided with X-axis slide block 6 on X axis guide rail 5, at X-axis slide block 6 It is provided with the first drive mechanism 7;X-axis slide block 6 is provided with riser 8, riser 8 is provided with Z-axis direction guide rail 9, at Z-axis direction guide rail 9 are provided with Z axis slide block 10, are provided with the second drive mechanism 11 on Z axis slide block 10;Z axis slide block 10 is provided with cross bar 12, at horizontal stroke Bar 12 is provided with the Y-axis adjustable plate 13 of scalable Y-axis, is provided with and carries material arm 14 on Y-axis adjustable plate 13, is carrying material arm 14 lower end It is provided with the sucker structure that can draw pcb board.
A kind of turnaround system automatically as above, it is characterised in that described first drive mechanism 7 includes and is located at X-axis cunning The first driving motor 71 on block 6, is provided with belt 72 on X axis guide rail 5, and described first drives on the wheel output shaft of motor 71 It is connected with belt 72 and drives X-axis slide block 6 to slide;Described second drive mechanism 11 includes second be located on riser 8 and drives Galvanic electricity machine 111, second drives connection on the output shaft of motor 111 to have screw mandrel 112, described Z axis slide block 10 to be set on screw mandrel 112 And drive Z axis slide block 10 to slide by threaded engagement when being rotated by screw mandrel..
A kind of turnaround system automatically as above, it is characterised in that be provided with one on the cross bar 12 of described Z axis slide block 10 Row's positioning hole 101, described Y-axis adjustable plate 13 is optionally connected to corresponding positioning hole 101 and fixes.
A kind of turnaround system automatically as above, it is characterised in that described dedusting spray code spraying apparatus 17 includes being located at stand The conveyer belt 172 of the carried pcb board on 171, conveyer belt 172 is provided with pcb board can between the dust arrester that passes through 173, it is provided with the code spraying device 174 that identification code can be sprayed on pcb board on the side of dust arrester 173, stand 171 is provided with and drives The driving means 177 that dynamic code spraying device 174 moves;Described code spraying device 174 includes the column 175 being fixed on stand 171, vertical Post 175 is provided with carried sprayer for marking code 176.
Turnaround system automatically as above a kind of, it is characterised in that described dust arrester 3 across on conveyer belt 2, Dust arrester 3 is internal is provided with air lance, and the spout of air lance faces the pcb board from conveyer belt 2 process, outside air lance Connect high-pressure air pipe.
A kind of turnaround system automatically as above, it is characterised in that described driving means 177 includes and is located at stand 171 Upper rail 1771 and printed motor 1772, be provided with slide plate 1773 on guide rail 1771, and printed motor 1772 output shaft connects silk Bar, slide plate 1773 is socketed on screw mandrel and is driven it to move by screw mandrel, and described code spraying device 174 is fixed on slide plate 1773.
A kind of turnaround system automatically as above, it is characterised in that described six-joint robot 20 includes base 201, the end of at Seat 201 is provided with the first rotating disk 202, is provided with the first rotating shaft 203, is provided with driving first on base 201 on the first rotating disk 202 The first servomotor 204 that rotating shaft 203 rotates;It is provided with the second rotating disk 205 and the second servomotor in the first rotating shaft 203 upper end 2016, the second rotating disk 205 is connected with the second swing arm 206;End in the second swing arm 206 is provided with the 3rd rotating disk 207 With the 3rd servomotor 2017, being connected with the 3rd rotating shaft 208 at the 3rd rotating disk 207, the 3rd servomotor 2017 drives Three rotating shafts 208 rotate;Being provided with the 4th swing arm 209 in the 3rd rotating shaft 208, connecting at the 4th swing arm 209 end has the 4th rotating shaft 2010 the 4th servomotors 2011 rotated with driving the 4th rotating shaft 2010;It is hinged with the 5th swing arm at the 4th rotating shaft 2010 end 2012 the 5th servomotors 2013 swung with driving the 5th swing arm 2012, are provided with the 6th rotating shaft at the 5th swing arm 2012 end 2014 and drive the 6th axis of rotation the 6th servomotor 2015.
A kind of turnaround system automatically as above, it is characterised in that described 6th rotating shaft 2014 is provided with absorption pcb board Suction cup carrier 2018, this suction cup carrier 2018 uses vac sorb.
Beneficial effects of the present invention has:
This case uses three mechanical hands such as left side mechanical hands, right side mechanical hands, middle part mechanical hand, complete pcb board and The extraction of the sheet between pcb board, the most first extracts sheet and sets aside, then extract pcb board go detection, the most not Disconnected palikinesia.After having detected, then sheet is extracted in materials vehicle, extract the most again pcb board in materials vehicle also It is placed in above sheet, the most constantly palikinesia.Additionally, utilize six-joint robot to carry out quality to the pcb board extracting coding Detection and after detection completes, pcb board is extracted and puts back in recovery placement platform.
[accompanying drawing explanation]
Fig. 1 is the schematic perspective view of the present invention.
Fig. 2 is left side mechanical hands, right side mechanical hands, the schematic perspective view of middle part mechanical hand.
Fig. 3-4 is the schematic perspective view of mechanical hand.
Fig. 5 is the schematic perspective view of dedusting spray code spraying apparatus.
Fig. 6-7 is the schematic perspective view of six-joint robot.
[detailed description of the invention]
With embodiment, the present invention is elaborated below in conjunction with the accompanying drawings:
As it can be seen, a kind of turnaround system automatically, including U-bracket 1, three limits of U-bracket 1 are respectively equipped with energy It is sequentially completed pcb board to extract, place, extract back the left side mechanical hands 2 of dress, right side mechanical hands 3, middle part mechanical hand 4 again.A described left side Side mechanical hand 2, right side mechanical hands 3, middle part mechanical hand 4 are equipped with the moving structure of X-axis, Y-axis, Z-axis direction.Surround at U-bracket 1 Region in be respectively equipped with extraction pcb board platform 15, transition platform 16, dedusting spray code spraying apparatus 17, reclaim placement platform 18 and It is used for detecting the testing machine 19 of pcb board quality, examines additionally, the pcb board after also including dedusting coding extracts testing machine 19 Survey and deliver to upon completion of the assays reclaim the six-joint robot 20 of placement platform 18.
Specifically, X-axis, the moving structure of Z axis all use motor automatically to drive.And the moving structure of Y-axis uses artificial Regulation, this can be arranged according to actual needs.This case uses three, left side mechanical hands, right side mechanical hands, middle part mechanical hand etc. Mechanical hand, completes the extraction to the sheet between pcb board and pcb board, is the most first extracted by sheet and set aside, then Extract pcb board and go detection, the most constantly palikinesia.After having detected, then sheet is extracted in materials vehicle, carry the most again Take pcb board and be placed in above sheet in materials vehicle, the most constantly palikinesia.
Specifically, described left side mechanical hands 2, right side mechanical hands 3, middle part mechanical hand 4 structure identical, it all includes X axis guide rail 5, is provided with X-axis slide block 6 on X axis guide rail 5, is provided with the first drive mechanism 7 on X-axis slide block 6.At X-axis slide block 6 are provided with riser 8, are provided with Z-axis direction guide rail 9 on riser 8, are provided with Z axis slide block 10 on Z-axis direction guide rail 9, at Z axis slide block 10 It is provided with the second drive mechanism 11.Being provided with cross bar 12 on Z axis slide block 10, the Y-axis being provided with scalable Y-axis on cross bar 12 is adjusted Joint plate 13, is provided with on Y-axis adjustable plate 13 and carries material arm 14, is provided with can draw the sucker structure of pcb board carrying material arm 14 lower end.Inhale Dish structure uses vac sorb mode to draw.
Specifically, described first drive mechanism 7 includes the first driving motor 71 being located on X-axis slide block 6, in X-axis Direction guiding rail 5 is provided with belt 72, the wheel output shaft of described first driving motor 71 is connected with belt 72 and drives X-axis slide block 6 slide.
Specifically, described second drive mechanism 11 includes the second driving motor 111 being located on riser 8, and second drives Connecting on the output shaft of galvanic electricity machine 111 has screw mandrel 112, described Z axis slide block 10 are set on screw mandrel 112 and lead to when being rotated by screw mandrel Crossing threaded engagement drives Z axis slide block 10 to slide.
Specifically, the cross bar 12 of described Z axis slide block 10 is provided with row's positioning hole 101, and described Y-axis adjustable plate 13 is optional It is connected to corresponding positioning hole 101 with selecting and fixes.
Additionally, described dedusting spray code spraying apparatus 17 includes the conveyer belt 172 being located at the carried pcb board on stand 171, defeated Send with 172 be provided with pcb board can between the dust arrester 173 that passes through, being provided with on the side of dust arrester 173 can be by identification code It is sprayed on the code spraying device 174 of pcb board, stand 171 is provided with the driving means 177 driving code spraying device 174 to move;Described coding Device 174 includes the column 175 being fixed on stand 171, is provided with carried sprayer for marking code 176 on column 175.
More excellent, described dust arrester 3, across on conveyer belt 2, is provided with air lance, air inside dust arrester 3 The spout of jet pipe faces the pcb board from conveyer belt 2 process, the external high-pressure air pipe of air lance.
More excellent, described driving means 177 includes and is located at stand 171 upper rail 1771 and printed motor 1772, is leading Rail 1771 is provided with slide plate 1773, and printed motor 1772 output shaft connects has screw mandrel, slide plate 1773 to be socketed on screw mandrel and by silk Bar drives it to move, and described code spraying device 174 is fixed on slide plate 1773.
Additionally, described six-joint robot 20 includes base 201, base 201 is provided with the first rotating disk 202, at first turn Dish 202 is provided with the first rotating shaft 203, is provided with the first servomotor 204 driving the first rotating shaft 203 to rotate, then on base 201 First servomotor 204 drives the first rotating shaft 203 to rotate, and completes the motion in first joint.It is provided with in the first rotating shaft 203 upper end Second rotating disk 205 and the second servomotor 2016, is connected with the second swing arm 206 on the second rotating disk 205;Then the second servo Motor 2016 drives the second swing arm 206 to swing, and completes disarthrial motion.End in the second swing arm 206 is provided with the 3rd Rotating disk 207 and the 3rd servomotor 2017, be connected with the 3rd rotating shaft 208 at the 3rd rotating disk 207, the 3rd servomotor 2017 The 3rd rotating shaft 208 is driven to rotate;Complete the motion in the 3rd joint.3rd rotating shaft 208 is provided with the 4th swing arm 209, Four swing arm 209 ends connect the 4th servomotor 2011 having the 4th rotating shaft 2010 and driving the 4th rotating shaft 2010 to rotate;Complete The motion in the 4th joint.It is hinged with the 5th swing arm 2012 at the 4th rotating shaft 2010 end and drives the 5th swing arm 2012 to swing 5th servomotor 2013, the 5th servomotor 2013 drives the 5th swing arm 2012 to swing, and completes the motion in the 5th joint.? 5th swing arm 2012 end is provided with the 6th rotating shaft 2014 and drives the 6th servomotor 2015 of the 6th axis of rotation, completes the 6th The motion in individual joint.Up to six, the joint of the robot of this case, enables the robot of this case to make the action of complexity, substantially Upper all of action all can complete, and recycling sets the program write to control the action of robot afterwards.
More excellent, described 6th rotating shaft 2014 is provided with the suction cup carrier 2018 drawing pcb board, and this suction cup carrier 2018 uses very Suction is attached.
The work process of this case: end is placed on extraction pcb board platform 15 through the pcb board of detection, and pcb board platform 15 has Two, it is respectively placed in the arranged on left and right sides of U-bracket 1, owing to all there being sheet to separate between pcb board, prevents scratch, Afterwards by left side mechanical hands 2, right side mechanical hands 3, the sheet that arranged on left and right sides is first extracted pcb board platform 15 extracts On transition platform 16.In the middle part of recycling, the pcb board on arranged on left and right sides pcb board platform 15 is extracted by mechanical hand 4 respectively afterwards Out, it is sequentially placed on the conveyer belt 2 of dedusting spray code spraying apparatus 17, makes pcb board pass through conveyer belt 2 and carry, make pcb board warp successively Cross dust arrester 173 and code spraying device 174.Make pcb board in advance through dedusting and spraying identification code.Six-joint robot 20 will remove afterwards Pcb board after dirt and spraying identification code extracts in testing machine 19 and detects.Equally, testing machine 19 also has two, its function Also being identical, it is respectively placed in the both sides of U-bracket.Pcb board is delivered to the detection of both sides by so six-joint robot 20 successively Machine 19 detects, and will deliver to, wherein in a testing machine, other a piece of pcb board be delivered to other one by the most a piece of pcb board Detect in platform testing machine.After having detected, then taken by the six-joint robot 20 successively pcb board from these two testing machine 19 Walking, and be put on recovery placement platform 18, equally, reclaiming placement platform 18 also has two, and six-joint robot 20 is successively from this Pcb board in two testing machine 19 is taken away and is sequentially placed on recovery placement platform 18.The most again by left side mechanical hands 2, the right side The sheet being placed on transition platform 16 is taken away by side mechanical hand 3 again, and places it on the PCB detected, successively Stack.This process forms a cycle, is so repeated continuously.

Claims (9)

1. an automatic turnaround system, it is characterised in that include U-bracket (1), sets on three limits of U-bracket (1) respectively Have can be sequentially completed pcb board extract, place, again extracts back fill left side mechanical hands (2), right side mechanical hands (3), middle part mechanical hand (4), described left side mechanical hands (2), right side mechanical hands (3), middle part mechanical hand (4) are equipped with the mobile knot of X-axis, Y-axis, Z-axis direction Structure;Extraction pcb board platform (15), transition platform (16), dedusting coding dress it is respectively equipped with in the region that U-bracket (1) surrounds Put (17), reclaim placement platform (18) and be used for detecting the testing machine (19) of pcb board quality, additionally, also include dedusting Pcb board after coding extracts testing machine (19) detection and delivers to reclaim six axle machines of placement platform (18) upon completion of the assays People (20).
The automatic turnaround system of one the most according to claim 1, it is characterised in that described left side mechanical hands (2), right side machine Tool hands (3), middle part mechanical hand (4) structure identical, it all includes X axis guide rail (5), is provided with X on X axis guide rail (5) Axle slide block (6), is provided with the first drive mechanism (7) on X-axis slide block (6);X-axis slide block (6) is provided with riser (8), at riser (8) it is provided with Z-axis direction guide rail (9), Z-axis direction guide rail (9) is provided with Z axis slide block (10), Z axis slide block (10) is provided with second Drive mechanism (11);Z axis slide block (10) is provided with cross bar (12), cross bar (12) is provided with the Y-axis regulation of scalable Y-axis Plate (13), is provided with on Y-axis adjustable plate (13) and carries material arm (14), is provided with can draw the sucker of pcb board carrying material arm (14) lower end Structure.
The automatic turnaround system of one the most according to claim 2, it is characterised in that described first drive mechanism (7) includes The first driving motor (71) being located on X-axis slide block (6), is provided with belt (72) on X axis guide rail (5), and described first drives It is connected with belt (72) on the wheel output shaft of motor (71) and drives X-axis slide block (6) to slide;Described second drive mechanism (11) Including the second driving motor (111) being located on riser (8), second drives connection on the output shaft of motor (111) to have screw mandrel (112), described Z axis slide block (10) is set in when screw mandrel (112) above and is rotated by screw mandrel and drives Z axis slide block by threaded engagement (10) slide..
The automatic turnaround system of one the most according to claim 2, it is characterised in that at the cross bar of described Z axis slide block (10) (12) be provided with row's positioning hole (101), described Y-axis adjustable plate (13) be optionally connected to corresponding positioning hole (101) and Fixing.
The automatic turnaround system of one the most according to claim 1, it is characterised in that described dedusting spray code spraying apparatus (17) includes The conveyer belt (172) of the carried pcb board being located on stand (171), conveyer belt (172) is provided with pcb board can between logical The dust arrester (173) crossed, is provided with the code spraying device that identification code can be sprayed on pcb board on the side of dust arrester (173) (174), stand (171) is provided with the driving means (177) of driving code spraying device (174) movement;Described code spraying device (174) includes There is the column (175) being fixed on stand (171), column (175) is provided with carried sprayer for marking code (176).
The automatic turnaround system of one the most according to claim 5, it is characterised in that described dust arrester (3) is across in conveying On band (2), being provided with air lance in dust arrester (3) inside, the spout of air lance faces from conveyer belt (2) process Pcb board, the external high-pressure air pipe of air lance.
The automatic turnaround system of one the most according to claim 5, it is characterised in that described driving means (177) includes and sets At stand (171) upper rail (1771) and printed motor (1772), guide rail (1771) is provided with slide plate (1773), printed motor (1772) output shaft connects has screw mandrel, slide plate (1773) are socketed on screw mandrel and are driven it to move by screw mandrel, described code spraying device (174) it is fixed on slide plate (1773).
8. according to a kind of turnaround system automatically described in claim 1 or 2 or 5, it is characterised in that described six-joint robot (20) Including base (201), base (201) is provided with the first rotating disk (202), the first rotating disk (202) is provided with the first rotating shaft (203), base (201) is provided with the first servomotor (204) driving the first rotating shaft (203) to rotate;In the first rotating shaft (203) upper end is provided with the second rotating disk (205) and the second servomotor (2016), is connected with on the second rotating disk (205) Two swing arms (206);End in the second swing arm (206) is provided with the 3rd rotating disk (207) and the 3rd servomotor (2017), the 3rd Rotating disk (207) is connected with the 3rd rotating shaft (208), and the 3rd servomotor (2017) drives the 3rd rotating shaft (208) to rotate;? Three rotating shafts (208) are provided with the 4th swing arm (209), and connecting at the 4th swing arm (209) end has the 4th rotating shaft (2010) and drive The 4th servomotor (2011) that 4th rotating shaft (2010) rotates;It is hinged with the 5th swing arm at the 4th rotating shaft (2010) end (2012) and drive the 5th servomotor (2013) that swings of the 5th swing arm (2012), it is provided with the at the 5th swing arm (2012) end Six rotating shafts (2014) and the 6th servomotor (2015) of driving the 6th axis of rotation.
The automatic turnaround system of one the most according to claim 8, it is characterised in that described 6th rotating shaft (2014) is provided with Drawing the suction cup carrier (2018) of pcb board, this suction cup carrier (2018) uses vac sorb.
CN201610579155.4A 2016-07-21 2016-07-21 A kind of turnaround system automatically CN106081611A (en)

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CN105600436A (en) * 2016-02-03 2016-05-25 广州市泰立机电设备有限公司 Automatic plate feeding and discharging system for double-faced AOI (Automated Optical Inspection) of circuit board and technological process of automatic plate feeding and discharging system
CN105702445A (en) * 2016-02-24 2016-06-22 长沙长泰机器人有限公司 Automatic laminated sheet assembly method and system
CN206108355U (en) * 2016-07-21 2017-04-19 中山市鑫光智能系统有限公司 Automatic turnaround system of efficient

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Application publication date: 20161109