CN106907381A - A kind of large size special-shaped material mounting device and attachment control method - Google Patents
A kind of large size special-shaped material mounting device and attachment control method Download PDFInfo
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- CN106907381A CN106907381A CN201710187298.5A CN201710187298A CN106907381A CN 106907381 A CN106907381 A CN 106907381A CN 201710187298 A CN201710187298 A CN 201710187298A CN 106907381 A CN106907381 A CN 106907381A
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- 239000000463 material Substances 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000006835 compression Effects 0.000 claims description 20
- 238000007906 compression Methods 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005266 casting Methods 0.000 abstract description 2
- 238000002372 labelling Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/002—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by pressing the elements together so as to obtain plastic deformation
Abstract
The invention discloses a kind of large size special-shaped material mounting device, mounting device is made up of installation pedestal component, Mounted Device, visual identity component, the special-shaped part of material take-off assembly four, Mounted Device includes being arranged on drive component, the Z axis Mounted Device of spline mounting seat, it is arranged on the R axle rotary components on fixed seat at bottom, Z axis Mounted Device is fixed using the mistake positioning formula Z axis spline of sight alignment, is buffered using the various Z-directions based on single slide rail double-slider fixed form or the attachment structure of Stress control reduces due to the mounting angle error that rotating deviation is caused.The beneficial effects of the invention are as follows：Large size special-shaped material placement accuracy and attachment stability can be improved by using large size special-shaped material mounting head of the invention and supporting attachment control method, material casting rate is reduced, improved product attachment yield；Solve to replace artificial critical technological point with automation equipment, save artificial, reduction production cost, improve production efficiency.
Description
Technical field
The present invention relates to a kind of release loader of intelligence and feeding control way.
Background technology
Used by a kind of large size special-shaped material mounting head used the present invention relates to surface mount and mounting head attachment
Control method, especially for size between (30 × 30) mm to the special-shaped material between (120 × 120) mm sizes attachment.
Currently known placement equipment type has chip mounter class, labelling machine class etc., and the attachment of chip mounter class is with conventional resistive electricity
Based on tolerant material, its size is most of to be less than (10 × 10) mm；Then precision is relatively low for the attachment of labelling machine class, the common labelling machine in market
Operating accuracy is general in ± 0.1mm, and bigger its precision of material size is lower, it is time-consuming more long to mount, and product yield cannot
Ensure.For large size special-shaped material, such as special-shaped screening cover, mask frame, mobile phone waterproof apron, the patch of gate dust-proof cushion class
Dress, is also in the handwork stage substantially, and production cost is high, producing line efficiency is low.
The content of the invention
In order to solve the problems, such as that existing automation mounting technology is difficult suitable for the attachment of large size special-shaped material, the present invention is proposed
A kind of attachment control method of large size special-shaped material mounting head and corresponding large size special-shaped material, it is large size special-shaped to solve
The difficult function problem and solution placement accuracy suitable for automated production of material is not enough and the low technological problemses of product yield.This
Invention provides following technical scheme：
A kind of large size special-shaped material mounting device, it is characterised in that mounting device is by installation pedestal component, attachment group
Part, visual identity component, the part composition of special-shaped material take-off assembly four, wherein：
The Mounted Device includes being arranged on drive component, the Z axis Mounted Device of spline mounting seat, is arranged on bottom and fixes
R axle rotary components on seat, Z axis Mounted Device is fixed using the mistake positioning formula Z axis spline of sight alignment, R axle rotary components
Driven pulley and capstan drive ratio are 1:2；
Z axis Mounted Device includes：Active sliding block mechanism, driven sliding block mechanism, connect active sliding block mechanism and driven sliding block
The buffer spring of mechanism, wherein, the lifting of Z axis Mounted Device is driven by servomotor by Timing Belt, the direct-connected master of drive component
Movable slider mechanism, driven sliding block mechanism connection Mounted Device；When needing to be buffered as Z-direction, using banking stop to telescopic spring
It is limited, when needing to be used as Z-direction Stress control, amount of spring compression and compression zone is adjusted using pressure adjusting screw.
Z axis Mounted Device also includes pressure control spring and adjusting screw rod, and adjusting screw rod is coordinated by pressure control spring
Pressure needed for regulation and control compression zone.
A kind of method of the large size special-shaped material of use visual identity component recognition based on said apparatus, including one kind is regarded
Feel and know method for distinguishing, methods described is done two-dimentional capture contraposition or done two-dimentional capture using 2 points and aligned using point and angle, right
Large size special-shaped material after discharging determines visual identity position, specifically：
Visual identity component is to the point and angle (x, y, r) of material and the relative skew of the point and angle (X, Y, R) of suction nozzle
Amount (x-X, y-Y, r-R) carries out algorithm compensation, the feeding deviation for reducing special-shaped suction nozzle and special-shaped material, after feeding, vision
Recognizer component carries out the determination of visual identity position again to material, to the point in the point and angle (X, Y, R) of suction nozzle and area to be mounted
Relative displacement (x '-X, y '-Y, r '-R) with angle (x ', y ', r ') carries out algorithm compensation, and Mounted Device is mounted.
As the method that the another kind of said apparatus recognizes large size special-shaped material, 2 points to material of visual identity component
(x1, y1, x2, y2) enters with 2 points of relative displacements of (X1, Y1, X2, Y2) (x1-X1, y1-Y1, x2-X2, y2-Y2) of suction nozzle
Row algorithm compensation, after feeding, visual identity component carries out the determination of visual identity position again to material, to 2 points of suction nozzle (X1,
Y1, X2, Y2) with 2 points of relative displacements of (x1 ', y1 ', x2 ', y2 ') in area to be mounted (x1 '-X1, y1 '-Y1, x2 '-X2,
Y2 '-Y2) algorithm compensation is carried out, Mounted Device is mounted.
A kind of attachment control method of the mounting device based on the said equipment, including a kind of placement pressure control method, institute
Stating method Mounted Device control Z axis drives the electric current A of servomotor to carry out controlled motor output torque M to reach control placement pressure
F。
Concrete scheme is：Mounting device sets placement pressure F, pushes preset reference face automatically by mounting device and determines attachment
Face, stroke L is pushed by the correlation stroke inductor in Mounted Device and record, and during attachment control, stroke and electric current are while quilt
Setting, perform concatenating logic, as traveled distance l=L, actual pressure f ＜ F, attachment push completion, when traveled distance l ＜ L,
During actual pressure f=F, attachment pushes completion.
The control method of another placement pressure based on the said equipment, including：Mounting device is risen by controlling Z axis to mount
Drop highly controls the amount of spring compression based on the Stress control attachment structure of single slide rail double-slider fixed form to reach control
Placement pressure.
Such scheme is specifically：Mounted Device is right from small to large according to the pressure of amount of spring compression by pressure adjusting screw
Amount of spring compression is adjusted to 0 to H, and amount of spring compression is minimum pressure state when being 0, and decrement is that H is constantly maximum pressure
Power state, preset reference face is pushed by mounting device and determines attachment face automatically, and record pushes stroke L ', and now decrement is H, is closed
The limitation control of electric current A is closed, that to be reduced when determining and mount according to selected the elastic coefficient Q pushes stroke h, and work is at present
Pressure stroke is (L '-h), controls Z axis to push stroke by controlled motor pulse and then controls placement pressure.
Compared with prior art, the beneficial effects of the invention are as follows：Mounted by using large size special-shaped material of the invention
Head and supporting attachment control method can improve large size special-shaped material placement accuracy and attachment stability, reduce material casting rate, carry
High product mounts yield；Solve to replace artificial critical technological point with automation equipment, save artificial, reduction production cost, improve
Production efficiency.
Brief description of the drawings
Fig. 1 is a kind of structural perspective of large size special-shaped material mounting head of the present invention.
Fig. 2 is the structural perspective of Mounted Device in the specific embodiment of the invention.
Fig. 3 is the structural perspective of visual identity component in the specific embodiment of the invention.
Fig. 4 is present invention attachment control method another kind embodiment placement pressure control structure schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of large size special-shaped material mounting head of the present invention is main by installation pedestal component 1, Mounted Device
2nd, visual identity component 3, the part composition of special-shaped material take-off assembly 4 four, four parts are all modularized design, can individually into one
Body is assembled, changed, repaired；Wherein installation pedestal component 1 is mainly used in installing Mounted Device 2, and visual identity component 3 is used for
The installation of electricity piece and gas circuit valve etc.；Wherein Mounted Device is mainly used in feeding, contraposition, the attachment of large size special-shaped material；
Visual identity component 3 is mainly used in the capture and coordinate information input of large size special-shaped material；Special-shaped material take-off assembly is main
For installing the negative pressure suction nozzle for different special-shaped materials.
As shown in Fig. 2 Fig. 2 is the structural perspective of Mounted Device, Mounted Device 2 mainly includes being arranged on spline mounting seat
Driving structure, Z axis mounting structure, the R axle rotary components on fixed seat at bottom；
With continued reference to Fig. 2, by servomotor 220, lifting shaft Timing Belt 221, upper synchronizing wheel 222, lower synchronizing wheel 224, under
The driving structure of the composition of synchronizing wheel fixed seat 225；One end of spline mounting seat 21, servomotor are arranged on by servomotor 220
220 rotating shaft installs synchronizing wheel 222 through upper spline mounting seat 21, and the lower end of spline mounting seat 21 sets lower synchronizing wheel 224,
Lower synchronizing wheel 224 is fixed in spline mounting seat 21 by lower synchronizing wheel fixed seat 225, and upper synchronizing wheel 222 and lower synchronizing wheel 224 are logical
Cross lifting shaft Timing Belt 221 to drive, there is provided power.
Z axis mounting structure by sensing chip 231, slide rail limited block 242, correlation stroke inductor 23, active sliding block 24 and
Active sliding block mounting seat 241, Timing Belt clamping plate 223, at a high speed buffer spring 26, rotation gas-tpe fitting 271, lock-on connection 272, flower
Key end bearing mounting base 273, linear guides 243, bearing installs cover plate 274, splined end fixed seat 212, female rotating spline
Axle 27 is constituted.Wherein, active sliding block mechanism be made up of active sliding block 24 and active sliding block mounting seat 241, driven sliding block mechanism from
Movable slider 25 and driven sliding block mounting seat 251 are constituted, connection active sliding block mechanism and driven sliding block mechanism buffer spring 26, its
In, the lifting of Z axis Mounted Device is driven by servomotor 220 by Timing Belt 221, the direct-connected active sliding block mechanism of drive component,
Driven sliding block mechanism connects Mounted Device；When needing to be buffered as Z-direction, telescopic spring is limited using banking stop, when need
When being used as Z-direction Stress control, amount of spring compression and compression zone are adjusted using pressure adjusting screw.Tracheae is rotated at a high speed
Joint 271 is rotatably connected with female rotating splined shaft 27, and lock-on connection 272 is used to lock rotation gas-tpe fitting 271 at a high speed, spline end
End bearing mounting seat 273, bearing is installed cover plate 274, splined end fixed seat 212 and is combined for fixing female rotating splined shaft 27.
Female rotating splined shaft bearing 275 on fixed seat at bottom 29, rotary shaft driven pulley 281, rotary shaft synchronization
Constituted with 282, rotary shaft driving wheel 280, shaft rotating motor installing plate 283, inductive disks 284, correlation origin sensor 285
R axle rotational structures, wherein rotary shaft driven pulley 281, rotary shaft driving wheel 280 are driven by rotary shaft Timing Belt 282 and provide dynamic
Power.
Z axis mounting structure is driven to do vertical motion by driving structure, by female rotating splined shaft bearing duplex bearing about 85
The sight alignment formula of 2 points of single-bearing some fixing phase combinations for fixing the end bearing mounting base and between 94 flowers positioning is crossed to protect
Card Z axis running precision；Reduce angular error by increasing the rotation of R axles from driving shaft gearratio, it is ensured that single-point is aligned with angle
Attachment control mode and 2 points of high accuracy operations of contraposition attachment control mode.
As shown in figure 3, visual identity component includes mounting device CCD (32), the attachment dress installed in camera installing plate 31
CCD fixed seats 33, light source connecting plate 34, coaxial light source 35 is put to constitute, wherein, axis light, 35 can be equipped with various colour systems to match somebody with somebody
Close the capture identification of the special-shaped material of unlike material and color.Used as another embodiment, visual identity component removes above-mentioned configuration
Outer high resolution CCD, telecentric lens and the annular radiant of can also matching is used to improve visual identity precision.
A kind of method of the large size special-shaped material of use visual identity component recognition based on said apparatus, including one kind is regarded
Feel and know method for distinguishing, methods described is done two-dimentional capture contraposition or done two-dimentional capture using 2 points and aligned using point and angle, right
Large size special-shaped material after discharging determines visual identity position, specifically：
Visual identity component is to the point and angle (x, y, r) of material and the relative skew of the point and angle (X, Y, R) of suction nozzle
Amount (x-X, y-Y, r-R) carries out algorithm compensation, the feeding deviation for reducing special-shaped suction nozzle and special-shaped material, after feeding, vision
Recognizer component carries out the determination of visual identity position again to material, to the point in the point and angle (X, Y, R) of suction nozzle and area to be mounted
Relative displacement (x '-X, y '-Y, r '-R) with angle (x ', y ', r ') carries out algorithm compensation, and Mounted Device is mounted.
As the method that the another kind of said apparatus recognizes large size special-shaped material, 2 points to material of visual identity component
(x1, y1, x2, y2) enters with 2 points of relative displacements of (X1, Y1, X2, Y2) (x1-X1, y1-Y1, x2-X2, y2-Y2) of suction nozzle
Row algorithm compensation, after feeding, visual identity component carries out the determination of visual identity position again to material, to 2 points of suction nozzle (X1,
Y1, X2, Y2) with 2 points of relative displacements of (x1 ', y1 ', x2 ', y2 ') in area to be mounted (x1 '-X1, y1 '-Y1, x2 '-X2,
Y2 '-Y2) algorithm compensation is carried out, Mounted Device is mounted.
As shown in figure 4, be another embodiment of placement pressure control, i.e., using pressure adjusting screw to amount of spring compression
It is and compression zone is adjusted including slide rail limited block 242 installed in spline mounting seat 21, active sliding block mounting seat 241, linear
Sliding block 24 ', adjusting screw rod 51, pressure control spring 52, driven sliding block mounting seat 251, the Stress control of the composition of linear guides 243
Structure and by high speed rotation gas-tpe fitting 271, lock-on connection 272, splined end bearing mounting base 273, bearing install cover plate
274th, any fixed splined end structure of the use of female composition of rotating splined shaft 27.
Tackled by coordinating adjusting screw rod 51 to adjust required pressure and control compression zone from pressure control spring 52
Different abnormity materials and the attachment occasion of different pressures requirement, motor connection active sliding block mounting seat 241, when attachment is pushed
Splined end fixed structure is pressed by pressure control spring 52, controls to push stroke by controlled motor pulse, now passed
The size of the power in the attachment face of being delivered to is elastic force of the pressure control spring produced by compression.
A kind of attachment control method of the mounting device based on the said equipment, including a kind of placement pressure control method, institute
Stating method Mounted Device control Z axis drives the electric current A of servomotor to carry out controlled motor output torque M to reach control placement pressure
F。
Concrete scheme is：Mounting device sets placement pressure F, pushes preset reference face automatically by mounting device and determines attachment
Face, and record pushes stroke L, during attachment control, stroke and electric current are set simultaneously, concatenating logic are performed, as traveled distance l=
When L, actual pressure f ＜ F, attachment pushes completion, and as traveled distance l ＜ L, actual pressure f=F, attachment pushes completion.
Used as another embodiment of the invention, the principle of the control method of placement pressure is：Mounting device is by controlling Z
Axle mount adjustable height control the amount of spring compression of the Stress control attachment structure based on single slide rail double-slider fixed form come
Reach control placement pressure.
Specifically：Mounted Device passes through pressure of the pressure adjusting screw according to amount of spring compression from small to large to spring-compressed
Amount is adjusted to 0 to H, and amount of spring compression is minimum pressure state when being 0, and decrement is that H is constantly maximum pressure state, by
Mounting device pushes preset reference face and determines attachment face automatically, and record pushes stroke L ', and now decrement is H, closes electric current A's
Limitation control, that to be reduced when determining and mount according to selected the elastic coefficient Q pushes stroke h, and stroke is pushed during work is
(L '-h), is controlled Z axis to push stroke by controlled motor pulse and then controls placement pressure.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (8)
1. a kind of large size special-shaped material mounting device, it is characterised in that mounting device by installation pedestal component, Mounted Device,
Visual identity component, the part composition of special-shaped material take-off assembly four, wherein：
The Mounted Device includes being arranged on drive component, the Z axis Mounted Device of spline mounting seat, is arranged on fixed seat at bottom
R axle rotary components, Z axis Mounted Device fixed using the mistake positioning formula Z axis spline of sight alignment, R axle rotary components it is driven
Wheel and capstan drive ratio are 1:2；
Z axis Mounted Device includes：Active sliding block mechanism, driven sliding block mechanism, connect active sliding block mechanism and driven sliding block mechanism
Buffer spring, wherein, the lifting of Z axis Mounted Device driven by servomotor by Timing Belt, and the direct-connected active of drive component is slided
Block mechanism, driven sliding block mechanism connection Mounted Device；When needing to be buffered as Z-direction, telescopic spring is limited using banking stop
System, when needing to be used as Z-direction Stress control, is adjusted using pressure adjusting screw to amount of spring compression and compression zone.
2. a kind of large size special-shaped material mounting device according to claim 1, it is characterised in that Z axis Mounted Device is also
Including pressure control spring and adjusting screw rod, pressure and control needed for coordinating adjusting screw rod to adjust by pressure control spring are compressed
Scope.
3. a kind of method of the large size special-shaped material of use visual identity component recognition, it is characterised in that know including a kind of vision
Method for distinguishing, methods described is done two-dimentional capture contraposition or is done two-dimentional capture using 2 points and aligned using point and angle, to discharging
Large size special-shaped material afterwards determines visual identity position, specifically：
Visual identity component is to the point and angle (x, y, r) of material and the relative displacement (x- of the point of suction nozzle and angle (X, Y, R)
X, y-Y, r-R) algorithm compensation is carried out, the feeding deviation for reducing special-shaped suction nozzle and special-shaped material, after feeding, visual identity group
Part carries out the determination of visual identity position again to material, to the point and angle in the point and angle (X, Y, R) of suction nozzle and area to be mounted
The relative displacement (x '-X, y '-Y, r '-R) of (x ', y ', r ') carries out algorithm compensation, and Mounted Device is mounted.
4. method according to claim 3, it is characterised in that visual identity component to 2 points of material (x1, y1, x2,
Y2) 2 points of relative displacements of (X1, Y1, X2, Y2) (x1-X1, y1-Y1, x2-X2, y2-Y2) with suction nozzle carry out algorithm benefit
Repay, after feeding, visual identity component carries out the determination of visual identity position again to material, to 2 points of suction nozzle (X1, Y1, X2,
Y2) with 2 points of relative displacements of (x1 ', y1 ', x2 ', y2 ') (x1 '-X1, y1 '-Y1, x2 '-X2, y2 '-Y2) in area to be mounted
Algorithm compensation is carried out, Mounted Device is mounted.
5. the attachment control method of a kind of mounting device, it is characterised in that including a kind of placement pressure control method, methods described
Mounted Device control Z axis drive the electric current A of servomotor to carry out controlled motor output torque M to reach control placement pressure F.
6. method according to claim 5, it is characterised in that specifically：Mounting device sets placement pressure F, by mounting
Device pushes preset reference face and determines attachment face automatically, the correlation stroke inductor in Mounted Device and record push stroke L,
During attachment control, stroke and electric current are set simultaneously, perform concatenating logic, as traveled distance l=L, actual pressure f ＜ F, patch
Load pressure to complete, as traveled distance l ＜ L, actual pressure f=F, attachment pushes completion.
7. method according to claim 5, it is characterised in that the control method of the placement pressure is：Mounting device leads to
Control Z axis attachment adjustable height is crossed to control the spring pressure of the Stress control attachment structure based on single slide rail double-slider fixed form
Contracting amount reaches control placement pressure.
8. method according to claim 7, it is characterised in that Mounted Device is by pressure adjusting screw according to spring-compressed
The pressure of amount is adjusted to 0 to H to amount of spring compression from small to large, and amount of spring compression is minimum pressure state, decrement when being 0
For H is constantly maximum pressure state, push preset reference face automatically by mounting device and determine attachment face, record pushes stroke
L ', now decrement is H, closes the limitation control of electric current A, to be reduced when determining and mount according to selected the elastic coefficient Q
Push stroke h, stroke is pushed during work for (L '-h), control Z axis to push stroke and then control by controlled motor pulse
Placement pressure.
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| CN201710187298.5A CN106907381A (en) | 2017-03-27 | 2017-03-27 | A kind of large size special-shaped material mounting device and attachment control method |
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| CN201710187298.5A CN106907381A (en) | 2017-03-27 | 2017-03-27 | A kind of large size special-shaped material mounting device and attachment control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108223521A (en) * | 2018-02-01 | 2018-06-29 | 北极光电(深圳)有限公司 | A kind of more membrane combination attachment mechanisms |
| CN109640616A (en) * | 2019-01-11 | 2019-04-16 | 博众精工科技股份有限公司 | High-speed, high precision mounting head |
| CN113573564A (en) * | 2021-07-20 | 2021-10-29 | 深圳德森精密设备有限公司 | Mounter and mounting method |
| CN113650224A (en) * | 2021-08-30 | 2021-11-16 | 佛山市合宏泰业科技有限公司 | Feeding module of double-slider |
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| CN108223521A (en) * | 2018-02-01 | 2018-06-29 | 北极光电(深圳)有限公司 | A kind of more membrane combination attachment mechanisms |
| CN109640616A (en) * | 2019-01-11 | 2019-04-16 | 博众精工科技股份有限公司 | High-speed, high precision mounting head |
| CN113573564A (en) * | 2021-07-20 | 2021-10-29 | 深圳德森精密设备有限公司 | Mounter and mounting method |
| CN113650224A (en) * | 2021-08-30 | 2021-11-16 | 佛山市合宏泰业科技有限公司 | Feeding module of double-slider |
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