CN107055076A - Robot assisted light emitting diode full-automatic testing streamline - Google Patents
Robot assisted light emitting diode full-automatic testing streamline Download PDFInfo
- Publication number
- CN107055076A CN107055076A CN201710109710.1A CN201710109710A CN107055076A CN 107055076 A CN107055076 A CN 107055076A CN 201710109710 A CN201710109710 A CN 201710109710A CN 107055076 A CN107055076 A CN 107055076A
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- China
- Prior art keywords
- light emitting
- emitting diode
- fixed
- testboards
- manipulator
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machine-building equipment, more specifically to the automated production equipment for electronic product.A kind of robot assisted light emitting diode full-automatic testing streamline, including：Workbench, manipulator, manipulator support, line slideway, displacement cylinder, feeding track, testboard, No. two testboards, No. three testboards, No. four testboards, the manipulator support is fixed on the workbench, the line slideway, the cylinder block of displacement cylinder are fixed on the manipulator support, the manipulator is movably connected on the line slideway, and the end of the piston rod of the displacement cylinder is fixed on the manipulator；The feeding track, testboard, No. two testboards, No. three testboards, No. four testboards are disposed with the juxtaposed positions of the manipulator.The invention provides a kind of robot assisted light emitting diode full-automatic testing streamline, light emitting diode for disposably capturing multiple same types, the multiple performance test completed on multiple testboards to light emitting diode is positioned over, full-automatic, unmanned operation is realized, operating efficiency is high.
Description
Technical field
The present invention relates to machine-building equipment, more specifically to the automated production equipment for electronic product.
Background technology
Existing manipulator is all motor driving, hydraulic oil cylinder driving, cylinder driving, still, the machine that a driver element drives
Tool hand can be only done the crawl to a light emitting diode.So as to cause the less efficient of manipulator.
The content of the invention
Object of the present invention is to provide a kind of robot assisted light emitting diode full-automatic testing streamline, for one
Secondary property captures the light emitting diode of multiple same types, is positioned over the multiple performance completed on multiple testboards to light emitting diode
The light emitting diode tested, is then positioned in hopper by test, realizes full-automatic, unmanned operation, and operating efficiency is high.
A kind of robot assisted light emitting diode full-automatic testing streamline, including：The big bottom plate, right of assembly foundation is provided
The test module that light emitting diode is tested, the hopper for collecting the light emitting diode, for capturing described luminous two
The duplex manipulator of pole pipe, the servo slide table for carrying the duplex manipulator carry out level slip,
The test module is fixed on the big bottom plate, and the servo slide table is arranged in the top of the test module, described
Duplex manipulator is fixed on the servo slide table, and the hopper is arranged in the bottom of the servo slide table；
The duplex manipulator includes：Horizontal slide plate, oscillating motor, swing rod, roller, pull-up spring, single side mechanical hand, the water
Flat runner is fixed on the servo slide table, and the oscillating motor is fixed on the horizontal slide plate, and the swing rod is fixed on the pendulum
The output shaft of dynamic motor, the swing rod is provided at both ends with the roller；The single side mechanical hand is fixed on the horizontal slide plate,
The quantity of the single side mechanical hand is two, including：Right side mechanical hand and left side mechanical hand；The elevator of the single side mechanical hand
The pull-up spring is provided between the horizontal slide plate, the pull-up spring, which exists, pulls up the single side mechanical hand
Trend；
The single side mechanical hand includes：Riser guide, elevator, Pneumatic paw, direct acting cylinder, sleeve, keep my fingers crossed, pull up bullet
Spring, push rod, lifting support, the riser guide are fixed on the horizontal slide plate, and the elevator is movably connected on the lifting
Guide rail, the Pneumatic paw is fixed on the elevator；The lifting support is fixed on the Pneumatic paw, the direct acting cylinder
Cylinder block be fixed on the lifting support, the sleeve is fixed on the lifting support, and the push rod is movably connected on described
Sleeve, the push rod is fixed on the end of the piston rod of the direct acting cylinder；It is provided with and keeps my fingers crossed on the Pneumatic paw；Institute
State the top that roller is affixed on the elevator；
The test module includes：Workbench, manipulator, manipulator support, line slideway, displacement cylinder, feeding track, No. one
Testboard, No. two testboards, No. three testboards, No. four testboards, the manipulator support are fixed on the workbench, described straight
Line guide rail, the cylinder block of displacement cylinder are fixed on the manipulator support, and the manipulator is movably connected on the line slideway,
The end of the piston rod of the displacement cylinder is fixed on the manipulator；Set gradually in the juxtaposed positions of the manipulator
State feeding track, testboard, No. two testboards, No. three testboards, No. four testboards；
The manipulator includes：For providing the support of support, for realizing the finger clamped to light emitting diode, being used for
The flexibility that drive the finger to realize the clamping cylinder of grasping movement, can adapt to light emitting diode appearance and size error automatically is pushed away
Force mechanisms, the oscillating deck for accommodating the flexible thrust mechanism；The quantity of the finger is two groups to ten groups, and the finger is lived
Dynamic to be connected to the support, the flexible thrust mechanism and the finger match；The oscillating deck passes through an articulate
The support is connected to, the cylinder block of the clamping cylinder is fixed on the support, the end of the piston rod of the clamping cylinder
Connecting plate is fixed on, the connecting plate is connected to the oscillating deck by No. two articulates；
The quantity of the finger is five groups, including：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters refer to.
Preferably, when the piston rod of the displacement cylinder is in retracted mode, a trumpeter refers to and the feeding rail
Road matches, and two trumpeter refers to match with a testboard, and three trumpeter refers to and No. two testboard phases
Match somebody with somebody, four trumpeter refers to match with No. three testboards, five trumpeter refers to match with No. four testboards；Work as institute
When the piston rod for stating displacement cylinder is in stretching state, a trumpeter refers to match with a testboard, described No. two
Finger and No. two testboards match, and three trumpeter refers to match with No. three testboards, four trumpeter refer to and
No. four testboards match.
Preferably, the support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, institute
State matrix and be fixed on the base, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the two of described matrix
A hinge is provided with side, the side plate；The oscillating deck is connected to the side plate by an articulate.
Preferably, the finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, what the length referred to
One end is fixed with the left hand and referred to, and the other end that the length refers to is provided with the first bulb, and first bulb and the flexibility are pushed away
Force mechanisms match；One end of the brachydactylia is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, institute
State the second bulb and flexible thrust mechanism matches；The length is provided with convex platform on referring to, and the convex platform is movably connected on institute
The upper hopper chute of matrix is stated, spring on described is set in the upper hopper chute, the upper spring has the long sensing is described soft
Property thrust mechanism where direction promote trend；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on described
The gliding groove of matrix, sets the lower spring in the gliding groove, and the lower spring has the brachydactylia to the flexibility
The trend that direction where thrust mechanism is promoted.
Preferably, the flexible thrust mechanism includes：Push pedal, bottom plate, the first thrust spring, the second thrust spring, it is described
Push pedal is movably connected on the thrust surface that the restricted push pedal sliding position is set on the oscillating deck, the oscillating deck；It is described
Bottom plate is fixed on the oscillating deck, and first thrust spring, the second thrust spring are set between the push pedal and bottom plate；Institute
The central axis for stating the first thrust spring is first axle, and the central axis that the first axle and the length refer to is overlapped；It is described
The central axis of second thrust spring is second axis, the central axis coincidence of the second axis and the brachydactylia.
Preferably, feet is provided with the push pedal, feet direction where from the push pedal to the bottom plate extends,
There is gap between the bottom plate in the feet.
Preferably, the quantity of the feet is two, and the feet is disposed in proximity to first thrust spring, second pushed away
The position of power spring.
Preferably, the size in the gap is one millimeter to five millimeters.
Preferably, in the state of the finger does not capture light emitting diode, pretightning force of first thrust spring etc.
In the pretightning force of second thrust spring.
Preferably, in the state of the finger does not capture light emitting diode, the pretightning force of first thrust spring adds
Above the pretightning force sum of second thrust spring isFa, the thrust of the clamping cylinder isFb, the group number of the finger isN,
Then meet below equation：
。
Preferably, first bulb, the surface roughness of the second bulb are；The surface roughness of the push pedal
For。
Compared with conventional art, robot assisted light emitting diode full-automatic testing streamline of the present invention has following positive
Effect and beneficial effect：
Robot assisted light emitting diode full-automatic testing streamline of the present invention, for realizing that four roads are surveyed to the light emitting diode
Trial work make, the light emitting diode is captured from the feeding track, be then sequentially placed in a testboard,
No. two testboards, No. three testboards, complete test job on No. four testboards, the duplex is finally carried by the servo slide table
The light emitting diode is positioned in the hopper by manipulator.Robot assisted light emitting diode full-automatic testing stream of the present invention
Waterline, completes full-automatic, unmanned test, the collection to the light emitting diode, and operating efficiency is high.
Robot assisted light emitting diode full-automatic testing streamline of the present invention, is completed to the hair by the test module
The performance test of optical diode, the duplex manipulator grabs the light emitting diode for completing test, the servo slide table
Carry the duplex manipulator light emitting diode is classified and is positioned in the hopper according to test result.
The course of work and operation principle of the duplex manipulator are described below：
Including：Horizontal slide plate, oscillating motor, swing rod, roller, pull-up spring, single side mechanical hand, the horizontal slide plate are fixed on institute
State servo slide table,
The pull-up spring is provided between the elevator and the horizontal slide plate of the single side mechanical hand, the pull-up spring is deposited
In the trend for pulling up the single side mechanical hand.The swing rod is fixed on the output shaft of the oscillating motor, the swing rod
Be provided at both ends with the roller, the roller is affixed on the top of the elevator.The roller, which has, drives the unilateral machine
The trend that tool hand is moved downward.
The oscillating motor drives the swing rod to swing, and makes the roller drive the left side mechanical hand to move downward；Together
When, right side mechanical hand described in the pull-up Spring driving is moved upwards.Due to the oscillating motor have it is higher than cylinder anti-
Speed is answered, therefore, the duplex manipulator has high-speed motion performance.
The crawl process of the left side mechanical hand：It is described straight when the roller drives the left side mechanical hand to move downward
The piston rod of cylinder of taking offence is in retracted mode, and the sleeve and the body are in coaxially arranged posture, and the body enters
Into the sleeve, then, described keep my fingers crossed of Pneumatic paw driving is closed up, make described in keep my fingers crossed to secure the above and draw
Pin.
Because the light emitting diode has complex structure, including：Body and pin.In order to realize to the hair
The reliable crawl of optical diode could keep the single side mechanical hand grabbing, it is necessary to all positioned to the body and pin
The light emitting diode is set to keep the posture determined during taking.
The release process of the left side mechanical hand：Keep my fingers crossed and open described in the Pneumatic paw driving, make the intersection
Finger is separated from the pin；Then, the piston rod of the direct acting cylinder stretches out, and makes the push rod promote the body to leave institute
State sleeve.
Capture or put down simultaneously while the manipulator is used to realize to multiple light emitting diodes, mainly include：Branch
Frame, finger, clamping cylinder, flexible thrust mechanism, oscillating deck.The finger movement is connected to the support, the clamping cylinder
Piston rod stretch out and drive the oscillating deck to be swung around the first axle；The flexible thrust mechanism is swung with described
Plate turns an angle, and the flexible thrust mechanism driving length refers to, brachydactylia moves along a straight line along described matrix, so that institute
State that left hand refers to, the right hand refers to the crawl closed up and realized to light emitting diode.On the contrary, the piston rod of the clamping cylinder is retracted,
The oscillating deck is driven to be swung around the first axle；The flexible thrust mechanism drives the length to refer to, brachydactylia is described in
Matrix moves along a straight line, so that the left hand refers to, the right hand refers to and opens and put down grabbed light emitting diode.
The finger includes：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters refer to.When the displacement
When the piston rod of cylinder is in retracted mode, a trumpeter refers to the light-emitting diodes grabbed on the feeding track
Pipe matches, and two trumpeter refers to the light emitting diode grabbed on a testboard, and three trumpeter refers to
The light emitting diode on No. two testboards is grabbed, four trumpeter, which refers to, to be grabbed positioned at described No. three tests
The light emitting diode on platform, five trumpeter refers to the light emitting diode grabbed on No. four testboards；
Then, the piston rod of the displacement cylinder stretches out, and action below will occur simultaneously：One trumpeter refers to described luminous two
Pole pipe is moved to from the feeding track on a testboard, and two trumpeter refers to the light emitting diode from described
It is moved on a number testboard on No. two testboards, three trumpeter, which refers to, tests the light emitting diode from described No. two
It is moved on platform on No. three testboards, four trumpeter refers to moves the light emitting diode from No. three testboards
Onto No. four testboards.
One light emitting diode of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, set
For five groups, then, then robot assisted light emitting diode full-automatic testing streamline of the present invention is made by a clamping cylinder
For power take-off unit, five light emitting diodes are disposably grabbed, so that operating efficiency is exponentially improved.
The course of work and operation principle of the finger are described below：
The finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, and the length refers to, brachydactylia moves along a straight line along described matrix.Institute
State and be provided with convex platform on long refer to, spring on described is set in the upper hopper chute, the upper spring has the long sensing
The trend that direction where the flexible thrust mechanism is promoted, so that first bulb is affixed on the outer surface of the push pedal.Institute
State and lower convex platform be provided with brachydactylia, the lower spring is set in the gliding groove, the lower spring have by the brachydactylia to
The trend that direction where the flexible thrust mechanism is promoted, so that second bulb is affixed on the outer surface of the push pedal.Institute
State oscillating deck and swing certain angle, the push pedal is swung around the first axle, thus drive the length to refer to, brachydactylia
Relative position change, cause the left hand to refer to, the right hand refers to and mutually closes up to capture light emitting diode or open to put
Lower light emitting diode.
The course of work and operation principle of the flexible thrust mechanism are described below：
In actual production link, because the light emitting diode being crawled has certain error in appearance and size, now
Assuming that the size of this error is one millimeter.In order that robot assisted light emitting diode full-automatic testing streamline of the present invention can
So that big and small light emitting diode to be captured simultaneously, prevent from that the big light emitting diode of appearance and size can only be grabbed, and
The small light emitting diode of appearance and size can not be grabbed.Therefore, the flexible thrust mechanism is devised, makes finger described in each group can
To adapt to the light emitting diode that each size is not waited automatically.
The push pedal is movably connected on the oscillating deck, and the bottom plate is fixed on the oscillating deck.At the push pedal and bottom
First thrust spring, the second thrust spring are set between plate；The central axis of first thrust spring is first axle,
The central axis that the first axle and the length refer to is overlapped；The central axis of second thrust spring is second axis, institute
The central axis for stating second axis and the brachydactylia is overlapped.First thrust spring, the second thrust spring promote described swing
Plate is affixed on the thrust surface.Be provided with feet in the push pedal, the feet has a gap between the bottom plate, it is described between
The size of gap is one millimeter to five millimeters.The length refers to, brachydactylia can promote the push pedal to be moved to direction where the bottom plate,
The distance of motion is the gap.When the finger grip is to the different light emitting diode of size, the gap can make institute
State finger and adapt to the error of light emitting diode dimensionally automatically, so that the finger can capture light emitting diode
Arrive.
It is now assumed that, the finger realizes the crawl to light emitting diode, the size of a light emitting diode be A, it is necessary to
Refer to the left hand, to refer to opening dimension be A apart from A to the right hand；The size of another light emitting diode is B, it is necessary to make described
Left hand refers to, to refer to opening dimension be B apart from B to the right hand.It is more than apart from A apart from B.The piston rod of the clamping cylinder stretches out, driving
The oscillating deck and push pedal rotate, and will now be described apart from A and how to be produced apart from B：
When the opening dimension that the left hand refers to, the right hand refers to is apart from A, top block is equal to underlay apart from the upper gap of the bottom plate
Lower gap of the pin pitch from the bottom plate.
When the opening dimension that the left hand refers to, the right hand refers to is apart from B, top block is equal to apart from the upper gap of the bottom plate
Zero, so that the swing of greater angle occurs for the push pedal, so that the left hand refers to, the right hand refers to can press from both sides tighter.
Brief description of the drawings
Fig. 1,2 be robot assisted light emitting diode full-automatic testing streamline of the present invention dimensional structure diagram；
Fig. 3,4 be robot assisted light emitting diode full-automatic testing streamline of the present invention duplex manipulator structural representation
Figure；
Fig. 5 be the duplex manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention in the loosened condition
Structural representation；
Fig. 6 is the duplex manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention under seized condition
Structural representation；
Fig. 7 is the structural representation of the test module of robot assisted light emitting diode full-automatic testing streamline of the present invention；
Fig. 8 is knot of the test module of robot assisted light emitting diode full-automatic testing streamline of the present invention in the case where overlooking visual angle
Structure schematic diagram；
Fig. 9 is the dimensional structure diagram of the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention；
Figure 10 is the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention cuing open in the loosened condition
Face structural representation；
Figure 11 is knot of the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention under seized condition
Structure schematic diagram；
Figure 12 is the structural representation of the oscillating deck of robot assisted light emitting diode full-automatic testing streamline of the present invention.
1 base, 2 side plates, 3 cover plates, 4 length refer to, 5 brachydactylias, 6 left hands refer to, 7 right hands refer to, 8 oscillating decks, 9 No. one
Hinge, 10 No. two hinges, 11 connecting plates, 12 clamping cylinders, 13 matrixes, spring, 15 lower springs, 16 first balls on 14
Head, 17 second bulbs, 18 push pedals, 19 bottom plates, 20 first thrust springs, 21 second thrust springs, 22 thrust surfaces, 23
Convex platform, 24 lower convex platforms, 25 upper hopper chutes, 26 gliding grooves, 27 flexible thrust mechanisms, 28 feets, 29 gaps, 30 first
Axis, 31 second axis, 32 top blocks, 33 bottom seat pads, gap, 35 times gaps, 36 manipulators, 37 straight lines are led on 34
Rail, 38 displacement cylinders, 39 workbench, 40 manipulator supports, 41 1 trumpeters refer to, 42 2 trumpeters refer to, 43 3 trumpeters refer to, 44
Four trumpeters refer to, 45 5 trumpeters refer to, 46 feeding tracks, No. 47 testboards, 48 No. two testboards, 49 No. three testboards, 50
No. four testboards, 51 light emitting diodes, 52 big bottom plates, 53 hoppers, 54 servo slide tables, 55 duplex manipulators, 56 levels
Slide plate, 57 oscillating motors, 58 swing rods, 59 rollers, 60 right side mechanical hands, 61 left side mechanical hands, 62 riser guides, 63
Elevator, 64 Pneumatic paws, 65 direct acting cylinders, 66 sleeves, 67 keep my fingers crossed, 68 pull-up springs, 69 push rods, 70 liters
Descending branch frame.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of robot assisted luminous two
Pole pipe full-automatic testing streamline, the light emitting diode for disposably capturing multiple same types, is positioned over multiple testboards
It is upper to complete to test the multiple performance of light emitting diode, then the light emitting diode tested is positioned in hopper, realized
Automatically, unmanned operation, operating efficiency is high；Robot assisted light emitting diode full-automatic testing streamline of the present invention, by one
Individual clamping cylinder realizes the crawl to multiple light emitting diodes as power output, and hair can be adapted to automatically by flexible thrust mechanism
The error of optical diode appearance and size, is captured, while realization by multigroup finger to light emitting diode by feeding track constantly
Output light emitting diode, is completed to light emitting diode by a testboard, No. two testboards, No. three testboards, No. four testboards
Performance test, grabbed the light emitting diode by test by duplex manipulator and be positioned in hopper.
Fig. 1,2 be robot assisted light emitting diode full-automatic testing streamline of the present invention dimensional structure diagram, figure
3rd, 4 be robot assisted light emitting diode full-automatic testing streamline of the present invention duplex manipulator structural representation, Fig. 5 is
The structural representation of the duplex manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention in the loosened condition
Figure, Fig. 6 is the duplex manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention under seized condition
Structural representation, Fig. 7 is that the structure of the test module of robot assisted light emitting diode full-automatic testing streamline of the present invention is shown
It is intended to, Fig. 8 is the test module of robot assisted light emitting diode full-automatic testing streamline of the present invention in the case where overlooking visual angle
Structural representation, Fig. 9 is the stereochemical structure of the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention
Schematic diagram, Figure 10 be the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention in the loosened condition
Cross-sectional view, Figure 11 is the manipulator of robot assisted light emitting diode full-automatic testing streamline of the present invention in crawl
Structural representation under state, Figure 12 is the oscillating deck of robot assisted light emitting diode full-automatic testing streamline of the present invention
Structural representation.
A kind of robot assisted light emitting diode full-automatic testing streamline, including：The big bottom plate 52 of offer assembly foundation,
The test module tested light emitting diode 51, the hopper 53 for collecting the light emitting diode 51, for capturing
State the duplex manipulator 55 of light emitting diode 51, the servo slide table for carrying the carry out of the duplex manipulator 55 level slip
54,
The test module is fixed on the big bottom plate 52, and the servo slide table 54 is arranged in the top of the test module,
The duplex manipulator 55 is fixed on the servo slide table 54, and the hopper 53 is arranged in the bottom of the servo slide table 54；
The duplex manipulator 55 includes：Horizontal slide plate 56, oscillating motor 57, swing rod 58, roller 59, pull-up spring 68, one side
Manipulator, the horizontal slide plate 56 is fixed on the servo slide table 54, and the oscillating motor 57 is fixed on the horizontal slide plate 56,
The swing rod 58 is fixed on the output shaft of the oscillating motor 57, and the swing rod 58 is provided at both ends with the roller 59；It is described
Single side mechanical hand is fixed on the horizontal slide plate 56, and the quantity of the single side mechanical hand is two, including：The He of right side mechanical hand 60
Left side mechanical hand 61；The pull-up spring is provided between the elevator 63 and the horizontal slide plate 56 of the single side mechanical hand
68, there is the trend for pulling up the single side mechanical hand in the pull-up spring 68；
The single side mechanical hand includes：Riser guide 62, elevator 63, Pneumatic paw 64, direct acting cylinder 65, sleeve 66, intersection
Finger 67, pull-up spring 68, push rod 69, lifting support 70, the riser guide 62 are fixed on the horizontal slide plate 56, the liter
Drop block 63 is movably connected on the riser guide 62, and the Pneumatic paw 64 is fixed on the elevator 63；The lifting support
70 are fixed on the Pneumatic paw 64, and the cylinder block of the direct acting cylinder 65 is fixed on the lifting support 70, the sleeve 66
The lifting support 70 is fixed on, the push rod 69 is movably connected on the sleeve 66, and the push rod 69 is fixed on the direct acting
The end of the piston rod of cylinder 65；It is provided with the Pneumatic paw 64 and keeps my fingers crossed 67；The roller 59 is affixed on the lifting
The top of block 63；
The test module includes：Workbench 39, manipulator 36, manipulator support 40, line slideway 37, displacement cylinder 38, give
Expect track 46, testboard 47, No. two testboards 48, No. three testboards 49, No. four testboards 50, the manipulator support 40
The workbench 39 is fixed on, the line slideway 37, the cylinder block of displacement cylinder 46 are fixed on the manipulator support 40, institute
State manipulator 36 and be movably connected on the line slideway 37, the end of the piston rod of the displacement cylinder 46 is fixed on the machinery
Hand 36；The feeding track 46, testboard 47, No. two testboards are disposed with the juxtaposed positions of the manipulator 36
48th, No. three testboards 49, No. four testboards 50；
The manipulator includes：For providing the support of support, for realizing the finger clamped to light emitting diode 51, use
In driving the finger to realize the clamping cylinder 12 of grasping movement, the appearance and size error of light emitting diode 51 can be adapted to automatically
Flexible thrust mechanism 27, the oscillating deck 8 for accommodating the flexible thrust mechanism 27；The quantity of the finger is two groups to ten
Group, the finger movement is connected to the support, and the flexible thrust mechanism 27 and the finger match；The oscillating deck 8
The support is movably connected on by a hinge 9, the cylinder block of the clamping cylinder 12 is fixed on the support, the clamping
The end of the piston rod of cylinder 12 is fixed on connecting plate 11, and the connecting plate 11 is movably connected on institute by No. two hinges 10
State oscillating deck 8；
The quantity of the finger is five groups, including：One trumpeter, which refers to 41, two trumpeters and refers to 42, three trumpeters and refer to 43, four trumpeters, refers to 44, five
Trumpeter refers to 45.
More specifically, when the piston rod of the displacement cylinder 46 is in retracted mode, a trumpeter refers to 41 and described
Feeding track 46 matches, two trumpeter refer to 42 and a testboard 47 match, three trumpeter refers to 43 and described
No. two testboards 48 match, four trumpeter refer to 44 and No. three testboards 49 match, five trumpeter refers to 45 and institute
No. four testboards 50 are stated to match；When the piston rod of the displacement cylinder 46 is in stretching state, a trumpeter refers to 41 Hes
A number testboard 47 matches, two trumpeter refer to 42 and No. two testboards 48 match, three trumpeter refers to 43
Match with No. three testboards 49, four trumpeter refer to 44 and No. four testboards 50 match.
More specifically, the support includes：Base 1, side plate 2, cover plate 3, matrix 13, the finger movement are connected to described
Matrix 13, described matrix 13 is fixed on the base 1, and the cover plate 3 is fixed on the top of described matrix 13, and the side plate 2 is consolidated
It is connected on the both sides of described matrix 13, the side plate 2 and is provided with a hinge 9；The oscillating deck 8 passes through described No. one hinge
Chain 9 is movably connected on the side plate 2.
More specifically, the finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, upper spring 14, lower spring 15,
One end that the length refers to 4 is fixed with the left hand and refers to 6, and the other end that the length refers to 4 is provided with the first bulb 16, first ball
First 16 and the flexible thrust mechanism 27 match；One end of the brachydactylia 5 is fixed with the right hand and refers to 7, the brachydactylia 5 it is another
One end is provided with the second bulb 17, and second bulb 17 and flexible thrust mechanism 27 match；The length refers to be provided with 4
Boss 23, the convex platform 23 is movably connected on the upper hopper chute 25 of described matrix 13, is set in the upper hopper chute 25 on described
Spring 14, the upper spring 14 has refers to 4 trend promoted to the flexible place direction of thrust mechanism 27 by the length；It is described
Lower convex platform 24 is provided with brachydactylia 5, the lower convex platform 24 is movably connected on the gliding groove 26 of described matrix 13, in the gliding groove
The lower spring 15 is set in 26, and the lower spring 15 has the brachydactylia 5 to the flexible place direction of thrust mechanism 27
The trend of promotion.
More specifically, the flexible thrust mechanism 27 includes：Push pedal 18, bottom plate 19, the first thrust spring 20, the second thrust
Spring 21, the push pedal 18, which is movably connected on the oscillating deck 8, the oscillating deck 8, sets the restricted push pedal 18 to slide
The thrust surface 22 of position；The bottom plate 19 is fixed on the oscillating deck 8, and described is set between the push pedal 18 and bottom plate 19
One thrust spring 20, the second thrust spring 21；The central axis of first thrust spring 20 is first axle 30, described first
The central axis that axis 30 and the length refer to 4 is overlapped；The central axis of second thrust spring 21 is second axis 31, described
The central axis of second axis 31 and the brachydactylia 5 is overlapped.
More specifically, be provided with feet 28 in the push pedal 18, the feet 28 is from the push pedal 18 to the bottom plate 19
Place direction extends, and the feet 28 has gap 29 between the bottom plate 19.
More specifically, the quantity of the feet 28 is two, the feet 28 is disposed in proximity to first thrust spring
20th, the position of the second thrust spring 21.
More specifically, the size in the gap 29 is one millimeter to five millimeters.
More specifically, in the state of the finger does not capture light emitting diode 51, first thrust spring 20 it is pre-
Clamp force is equal to the pretightning force of second thrust spring 21.
More specifically, in the state of the finger does not capture light emitting diode 51, first thrust spring 20 it is pre-
Clamp force is plus the pretightning force sum of second thrust spring 21Fa, the thrust of the clamping cylinder 12 isFb, the finger
Group number beN, then below equation is met：。
More specifically, first bulb 16, the surface roughness of the second bulb 17 are；The table of the push pedal 18
Surface roughness is。
Below in conjunction with Fig. 1 to 6, robot assisted light emitting diode full-automatic testing streamline of the present invention is further described
Operation principle and the course of work：
Robot assisted light emitting diode full-automatic testing streamline of the present invention, for realizing four roads to the light emitting diode 51
Test job, the light emitting diode 51 is captured from the feeding track 46, is then sequentially placed in described No. one
Testboard 47, No. two testboards 48, No. three testboards 49, test job is completed on No. four testboards 50, finally by the servo
Slide unit 54 carries the duplex manipulator 55 and the light emitting diode 51 is positioned in the hopper 53.Robot of the present invention is auxiliary
Light emitting diode full-automatic testing streamline is helped, full-automatic, unmanned test to the light emitting diode 51, receipts are completed
Collection, operating efficiency is high.
Robot assisted light emitting diode full-automatic testing streamline of the present invention, is completed to the hair by the test module
The performance test of optical diode 51, the duplex manipulator 55 grabs the light emitting diode 51 for completing test, described to watch
Take slide unit 54 and carry the duplex manipulator 55 and the light emitting diode 51 is classified according to test result and institute is positioned over
State in hopper 53.
The course of work and operation principle of the duplex manipulator 55 are described below：
Including：Horizontal slide plate 56, oscillating motor 57, swing rod 58, roller 59, pull-up spring 68, single side mechanical hand, the level are slided
Plate 56 is fixed on the servo slide table 54,
The pull-up spring 68, the pull-up are provided between the elevator 63 and the horizontal slide plate 56 of the single side mechanical hand
There is the trend for pulling up the single side mechanical hand in spring 68.The swing rod 58 is fixed on the output of the oscillating motor 57
Axle, the swing rod 58 is provided at both ends with the roller 59, and the roller 59 is affixed on the top of the elevator 63.The roller
59 have the trend for driving the single side mechanical hand to move downward.
The oscillating motor 57 drives the swing rod 58 to swing, and makes the roller 59 drive the left side mechanical hand 61 downward
Motion；Meanwhile, the pull-up spring 68 drives the right side mechanical hand 60 motion upwards.Due to the oscillating motor 57 have than
The higher reaction speed of cylinder, therefore, the duplex manipulator 55 have high-speed motion performance.
The crawl process of the left side mechanical hand 61：When the roller 59 drives the left side mechanical hand 61 to move downward,
The piston rod of the direct acting cylinder 65 is in retracted mode, and the sleeve 66 and the body 71 are in coaxially arranged posture,
The body 71 is entered in the sleeve 66, then, and the Pneumatic paw 64 drives described keep my fingers crossed 67 to close up, and makes described
Keep my fingers crossed and 67 secure the above pin 72.
Because the light emitting diode 51 has complex structure, including：Body 71 and pin 72.In order to realize pair
The reliable crawl of the light emitting diode 51 could keep the list, it is necessary to all positioned to the body 71 and pin 72
Side manipulator makes the light emitting diode 51 keep the posture determined during crawl.
The release process of the left side mechanical hand 61：The Pneumatic paw 64 drives described keep my fingers crossed 67 to open, and makes institute
State to keep my fingers crossed and 67 be separated from the pin 72；Then, the piston rod of the direct acting cylinder 65 stretches out, and promotes the push rod 69
The body 71 leaves the sleeve 66.
Capture or put down simultaneously while the manipulator 36 is used to realize to multiple light emitting diode 51, main bag
Include：Support, finger, clamping cylinder 12, flexible thrust mechanism 27, oscillating deck 8.The finger movement is connected to the support, institute
The piston rod for stating clamping cylinder 12 stretches out and drives the oscillating deck 8 to be swung around the first axle 9；The flexible thrust
Mechanism 27 turns an angle with the oscillating deck 8, and the flexible thrust mechanism 27 drives the length to refer to 4, brachydactylia 5 along the base
Body 13 moves along a straight line, and refers to 7 so that the left hand refers to the 6, right hand and closes up and realize the crawl to light emitting diode 51.Conversely
Ground, the piston rod of the clamping cylinder 12 is retracted, and drives the oscillating deck 8 to be swung around the first axle 9；The flexibility
Thrust mechanism 27 drives the length to refer to 4, brachydactylia 5 and moved along a straight line along described matrix 13, so that the left hand refers to the 6, right hand and refers to 7
Open and put down grabbed light emitting diode 51.
The finger includes：One trumpeter, which refers to 41, two trumpeters and refers to 42, three trumpeters and refer to 43, four trumpeters and refer to 44, five trumpeters, refers to 45.
When the piston rod of the displacement cylinder 46 is in retracted mode, a trumpeter refers to 41 and grabbed positioned at the feeding track 46
On the light emitting diode 51 match, two trumpeter refers to 42 and grabs the hair on a testboard 47
Optical diode 51, three trumpeter refers to 43 and grabs the light emitting diode 51 on No. two testboards 48, described
Four trumpeters refer to 44 and grab the light emitting diode 51 on No. three testboards 49, and five trumpeter refers to 45 and grabbed
The light emitting diode 51 on No. four testboards 50；
Then, the piston rod of the displacement cylinder 46 stretches out, and action below will occur simultaneously：One trumpeter refers to 41 by the hair
Optical diode 51 is moved to from the feeding track 46 on a testboard 47, and two trumpeter refers to 42 will be described luminous
Diode 51 is moved to from a testboard 47 on No. two testboards 48, and three trumpeter refers to 43 will be described luminous
Diode 51 is moved to from No. two testboards 48 on No. three testboards 49, and four trumpeter refers to 44 will be described luminous
Diode 51 is moved to from No. three testboards 49 on No. four testboards 50.
One light emitting diode 51 of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, set
It is set to five groups, then, then robot assisted light emitting diode full-automatic testing streamline of the present invention is by a clamping cylinder
12 as power take-off unit, five light emitting diodes 51 is disposably grabbed, so that operating efficiency is exponentially carried
It is high.
The course of work and operation principle of the finger are described below：
The finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, the length refers to 4, brachydactylia 5 and done directly along described matrix 13
Line is moved.The length, which refers to, is provided with convex platform 23 on 4, spring 14 on described, the upper spring are set in the upper hopper chute 25
14 by the length with 4 trend promoted to the flexible place direction of thrust mechanism 27 are referred to, so that first bulb 16
It is affixed on the outer surface of the push pedal 18.Lower convex platform 24 is provided with the brachydactylia 5, the lower bullet is set in the gliding groove 26
Spring 15, the lower spring 15 has the trend for promoting the brachydactylia 5 to the flexible place direction of thrust mechanism 27, so that
Second bulb 17 is affixed on the outer surface of the push pedal 18.The oscillating deck 8 swings certain angle, make the push pedal 18 around
The first axle 9 is swung, so that the relative position for driving the length to refer to 4, brachydactylia 5 changes, causes the left hand
Refer to the 6, right hand to refer to 7 and mutually close up to capture light emitting diode 51 or open to put down light emitting diode 51.
The course of work and operation principle of the flexible thrust mechanism 27 are described below：
It is existing because the light emitting diode 51 being crawled has certain error in appearance and size in actual production link
Assuming that the size of this error is one millimeter.In order that robot assisted light emitting diode full-automatic testing streamline of the present invention
Big and small light emitting diode 51 can simultaneously be captured, prevent that the big light emitting diode of appearance and size can only be grabbed
51, and the small light emitting diode 51 of appearance and size can not be grabbed.Therefore, the flexible thrust mechanism 27 is devised, makes each group
The finger can adapt to the light emitting diode 51 that each size is not waited automatically.
The push pedal 18 is movably connected on the oscillating deck 8, and the bottom plate 19 is fixed on the oscillating deck 8.Pushed away described
First thrust spring 20, the second thrust spring 21 are set between plate 18 and bottom plate 19；In first thrust spring 20
Heart axis is first axle 30, and the central axis that the first axle 30 and the length refer to 4 is overlapped；Second thrust spring 21
Central axis be second axis 31, the central axis of the second axis 31 and the brachydactylia 5 is overlapped.The first thrust bullet
Spring 20, the second thrust spring 21 promote the oscillating deck 8 to be affixed on the thrust surface 22.Feet 28 is provided with the push pedal 18,
There is gap 29 in the feet 28, the size in the gap 29 is one millimeter to five millimeters between the bottom plate 19.It is described
Length, which refers to 4, brachydactylia 5, can promote the push pedal 18 to be moved to the place direction of bottom plate 19, and the distance of motion is the gap 29.
When the finger grip is to the different light emitting diode 51 of size, it is luminous that the gap 29 can be such that the finger adapts to automatically
The error of diode 51 dimensionally, so that the finger can grab light emitting diode 51.
It is now assumed that, the finger realizes the crawl to light emitting diode 51, and the size of a light emitting diode 51 is A,
It is A apart from A to need to make the left hand to refer to the 6, right hand to refer to 7 opening dimensions；The size of another light emitting diode 51 is B, is needed
It is B apart from B to make the left hand refer to the 6, right hand to refer to 7 opening dimensions.It is more than apart from A apart from B.The piston of the clamping cylinder 12
Bar stretches out, and drives the oscillating deck 8 and push pedal 18 to rotate, will now be described apart from A and how to be produced apart from B：
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from A, top block is apart from upper gap 34 of the bottom plate 19 etc.
In bottom seat pad 33 apart from the lower gap 35 of the bottom plate 19.
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from B, top block is apart from the upper gap of the bottom plate 19
34 are equal to zero, so that the swing of greater angle occurs for the push pedal 18, refer to 7 so that the left hand refers to the 6, right hand and can press from both sides
It is tighter.
Finally it is pointed out that above example is only robot assisted light emitting diode full-automatic testing flowing water of the present invention
The more representational example of line.Obviously, robot assisted light emitting diode full-automatic testing streamline of the present invention is not limited to above-mentioned
Embodiment, can also there is many deformations.Every foundation robot assisted light emitting diode full-automatic testing streamline of the present invention
Any simple modification, equivalent variations and modification that technical spirit is made to above example, are considered as belonging to machine of the present invention
The protection domain of people's additional LEDs full-automatic testing streamline.
Claims (9)
1. a kind of robot assisted light emitting diode full-automatic testing streamline, it is characterised in that including：Assembly foundation is provided
Big bottom plate, the test module tested light emitting diode, the hopper for collecting the light emitting diode, for capturing
The duplex manipulator of light emitting diode, the servo slide table for carrying the duplex manipulator carry out level slip are stated,
The test module is fixed on the big bottom plate, and the servo slide table is arranged in the top of the test module, described
Duplex manipulator is fixed on the servo slide table, and the hopper is arranged in the bottom of the servo slide table；
The duplex manipulator includes：Horizontal slide plate, oscillating motor, swing rod, roller, pull-up spring, single side mechanical hand, the water
Flat runner is fixed on the servo slide table, and the oscillating motor is fixed on the horizontal slide plate, and the swing rod is fixed on the pendulum
The output shaft of dynamic motor, the swing rod is provided at both ends with the roller；The single side mechanical hand is fixed on the horizontal slide plate,
The quantity of the single side mechanical hand is two, including：Right side mechanical hand and left side mechanical hand；The elevator of the single side mechanical hand
The pull-up spring is provided between the horizontal slide plate, the pull-up spring, which exists, pulls up the single side mechanical hand
Trend；
The single side mechanical hand includes：Riser guide, elevator, Pneumatic paw, direct acting cylinder, sleeve, keep my fingers crossed, pull up bullet
Spring, push rod, lifting support, the riser guide are fixed on the horizontal slide plate, and the elevator is movably connected on the lifting
Guide rail, the Pneumatic paw is fixed on the elevator；The lifting support is fixed on the Pneumatic paw, the direct acting cylinder
Cylinder block be fixed on the lifting support, the sleeve is fixed on the lifting support, and the push rod is movably connected on described
Sleeve, the push rod is fixed on the end of the piston rod of the direct acting cylinder；It is provided with and keeps my fingers crossed on the Pneumatic paw；Institute
State the top that roller is affixed on the elevator；
The test module includes：Workbench, manipulator, manipulator support, line slideway, displacement cylinder, feeding track, No. one
Testboard, No. two testboards, No. three testboards, No. four testboards, the manipulator support are fixed on the workbench, described straight
Line guide rail, the cylinder block of displacement cylinder are fixed on the manipulator support, and the manipulator is movably connected on the line slideway,
The end of the piston rod of the displacement cylinder is fixed on the manipulator；Set gradually in the juxtaposed positions of the manipulator
State feeding track, testboard, No. two testboards, No. three testboards, No. four testboards；
The manipulator includes：For providing the support of support, for realizing the finger clamped to light emitting diode, being used for
The flexibility that drive the finger to realize the clamping cylinder of grasping movement, can adapt to light emitting diode appearance and size error automatically is pushed away
Force mechanisms, the oscillating deck for accommodating the flexible thrust mechanism；The quantity of the finger is two groups to ten groups, and the finger is lived
Dynamic to be connected to the support, the flexible thrust mechanism and the finger match；The oscillating deck passes through an articulate
The support is connected to, the cylinder block of the clamping cylinder is fixed on the support, the end of the piston rod of the clamping cylinder
Connecting plate is fixed on, the connecting plate is connected to the oscillating deck by No. two articulates；
The flexible thrust mechanism includes：Push pedal, bottom plate, the first thrust spring, the second thrust spring, the push pedal are flexibly connected
In the thrust surface that the restricted push pedal sliding position is set on the oscillating deck, the oscillating deck；The bottom plate is fixed on institute
Oscillating deck is stated, first thrust spring, the second thrust spring are set between the push pedal and bottom plate；The first thrust bullet
The central axis of spring is first axle, and the central axis that the first axle and the length refer to is overlapped；Second thrust spring
Central axis be second axis, the central axis of the second axis and the brachydactylia is overlapped.
2. robot assisted light emitting diode full-automatic testing streamline according to claim 1, it is characterised in that described
Finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, and one end that the length refers to is fixed with the left hand
Refer to, the other end that the length refers to is provided with the first bulb, and first bulb and the flexible thrust mechanism match；It is described short
One end of finger is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, and second bulb and flexibility are pushed away
Force mechanisms match；The length is provided with convex platform on referring to, and the convex platform is movably connected on the upper hopper chute of described matrix, in institute
State and the upper spring is set in upper hopper chute, the upper spring, which has, pushes away direction where the long sensing flexible thrust mechanism
Dynamic trend；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on the gliding groove of described matrix, under described
The lower spring is set in chute, and the lower spring has promote direction where the brachydactylia to the flexible thrust mechanism
Trend.
3. robot assisted light emitting diode full-automatic testing streamline according to claim 2, it is characterised in that described
The quantity of finger is five groups, including：One trumpeter refers to, two trumpeters refer to, three trumpeters refer to, four trumpeters refer to, five trumpeters refer to；
When the piston rod of the displacement cylinder is in retracted mode, a trumpeter refers to match with the feeding track, institute
State two trumpeters and refer to and match with a testboard, three trumpeter refers to match with No. two testboards, described No. four
Finger and No. three testboards match, and five trumpeter refers to match with No. four testboards；When the displacement cylinder
Piston rod be in stretching state when, a trumpeter refers to match with a testboard, two trumpeter refer to it is described
No. two testboards match, and three trumpeter refers to match with No. three testboards, and four trumpeter refers to and described No. four surveys
Test stand matches；
The support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, and described matrix is connected
In the base, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the both sides of described matrix, the side plate
On be provided with a hinge；The oscillating deck is connected to the side plate by an articulate.
4. robot assisted light emitting diode full-automatic testing streamline according to claim 1, it is characterised in that described
Feet is provided with push pedal, feet direction where from the push pedal to the bottom plate extends, and the feet is apart from the bottom
There is gap between plate.
5. robot assisted light emitting diode full-automatic testing streamline according to claim 4, it is characterised in that described
The quantity of feet is two, and the feet is disposed in proximity to first thrust spring, the position of the second thrust spring.
6. robot assisted light emitting diode full-automatic testing streamline according to claim 4, it is characterised in that described
The size in gap is one millimeter to five millimeters.
7. robot assisted light emitting diode full-automatic testing streamline according to claim 2, it is characterised in that in institute
State in the state of finger do not capture light emitting diode, the pretightning force of first thrust spring is equal to second thrust spring
Pretightning force.
8. robot assisted light emitting diode full-automatic testing streamline according to claim 2, it is characterised in that
The finger is not captured in the state of light emitting diode, and the pretightning force of first thrust spring adds second thrust spring
Pretightning force sum beFa, the thrust of the clamping cylinder isFb, the group number of the finger isN, then below equation is met：
。
9. robot assisted light emitting diode full-automatic testing streamline according to claim 2, it is characterised in that described
First bulb, the surface roughness of the second bulb are；The surface roughness of the push pedal is。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109710.1A CN107055076A (en) | 2017-02-28 | 2017-02-28 | Robot assisted light emitting diode full-automatic testing streamline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109710.1A CN107055076A (en) | 2017-02-28 | 2017-02-28 | Robot assisted light emitting diode full-automatic testing streamline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107055076A true CN107055076A (en) | 2017-08-18 |
Family
ID=59622203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710109710.1A Withdrawn CN107055076A (en) | 2017-02-28 | 2017-02-28 | Robot assisted light emitting diode full-automatic testing streamline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107055076A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109244006A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | Chip manufacturing assembly line with intelligent sorting |
| CN110967611A (en) * | 2019-12-25 | 2020-04-07 | 金鹏飞 | Novel diode detects device |
-
2017
- 2017-02-28 CN CN201710109710.1A patent/CN107055076A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109244006A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | Chip manufacturing assembly line with intelligent sorting |
| CN109244006B (en) * | 2018-09-01 | 2020-10-16 | 温州市科泓机器人科技有限公司 | Chip manufacturing assembly line with intelligent sorting function |
| CN110967611A (en) * | 2019-12-25 | 2020-04-07 | 金鹏飞 | Novel diode detects device |
| CN110967611B (en) * | 2019-12-25 | 2021-10-22 | 金鹏飞 | Novel diode detects device |
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Application publication date: 20170818 |