CN107196176A - Robot assisted connector assembles flexible manufacturing production line - Google Patents

Robot assisted connector assembles flexible manufacturing production line Download PDF

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Publication number
CN107196176A
CN107196176A CN201710491451.3A CN201710491451A CN107196176A CN 107196176 A CN107196176 A CN 107196176A CN 201710491451 A CN201710491451 A CN 201710491451A CN 107196176 A CN107196176 A CN 107196176A
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CN
China
Prior art keywords
fixed
contact
connector
cylinder
carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710491451.3A
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Chinese (zh)
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CN107196176B (en
Inventor
马金玉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wenzhou Vocational and Technical College
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Wenzhou Vocational and Technical College
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Filing date
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Application filed by Wenzhou Vocational and Technical College filed Critical Wenzhou Vocational and Technical College
Priority to CN201710491451.3A priority Critical patent/CN107196176B/en
Publication of CN107196176A publication Critical patent/CN107196176A/en
Application granted granted Critical
Publication of CN107196176B publication Critical patent/CN107196176B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/16Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for manufacturing contact members, e.g. by punching and by bending
    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve

Abstract

The present invention relates to the automated assembling equipment of electronic component, more specifically to a kind of Automated assembly pipelining equipment for output connector.Robot assisted connector assembles flexible manufacturing production line, including:Automatic clamping mechanism for fixing the connector, for driving the automatic clamping mechanism to carry out the traffic cycle of circular-rotation, carrier for carrying contact, carrier belt for conveying the carrier, the detent mechanism of precision positioning is realized to the carrier, swing arm manipulator for capturing the contact from the carrier, the contact aligning gear of position correction is realized to the contact, the contact is picked up from the contact aligning gear and the contact is assembled to the contact robot on the automatic clamping mechanism.Robot assisted connector of the present invention assembles flexible manufacturing production line, and using carrier belt realization is to the step-by-step movement feeding of contact and is accurately positioned, automated correction and the assembling of contact are realized using contact robot.

Description

Robot assisted connector assembles flexible manufacturing production line
Technical field
The present invention relates to the automated assembling equipment of electronic component, it is used for output connector more specifically to one kind Automated assembly pipelining equipment.
Background technology
Connector, contact are widely used in electronic product, because connector structure is compact, coating treatment is passed through on surface, It can not be realized and conveyed with vibrating disk.Because the electric and magnetic oscillation working method of vibrating disk, the surface quality of connector is necessarily injured.
The content of the invention
Flexible manufacturing production line is assembled object of the present invention is to provide a kind of robot assisted connector, in electronics production In the Automated assembly production of product, connector is output on conveyer belt in an orderly manner, so that the automation feed of connector is realized, Connector is assembled on automatic clamping mechanism by feeding robot;Then contact is after carrier belt is conveyed in place, by contact Contact is refilled and is fitted on automatic clamping mechanism by robot.Robot assisted connector of the present invention assembles flexible manufacturing production line, The order output to connector is realized, connector is adjusted to after predetermined angle, is placed on conveyer belt, utilize storage machine Structure and feed mechanism ensure that the smooth, controllable of connector moving process, and the pickup to connector is completed using feeding robot, Positioned and fixed using the achieve a butt joint centering of plug-in unit of automatic clamping mechanism;The step-by-step movement to contact is realized using carrier belt Feeding and it is accurately positioned, automated correction and the assembling of contact is realized using contact robot.
A kind of robot assisted connector assembles flexible manufacturing production line, including:Workbench, the storage for storing connector Material mechanism, the conveyer mechanism for conveying the connector, for by the connector put from the material storage mechanism to It is feed mechanism on the conveyer mechanism, the automatic clamping mechanism for fixing the connector, described automatic for driving Clamping device carries out the traffic cycle of circular-rotation, for driving dispenser that the traffic cycle angularly rotated, for general The connector grabs feeding robot on the automatic clamping mechanism, by the connector from the conveyer mechanism The shedding mechanism unloaded from the automatic clamping mechanism, the carrier for carrying contact, for conveying the carrier Carrier belt, the detent mechanism that precision positioning is realized to the carrier, the pendulum for capturing the contact from the carrier Arm manipulator, the contact aligning gear that position correction is realized to the contact, pick up from the contact aligning gear described touch The contact is simultaneously assembled to the contact robot on the automatic clamping mechanism by piece;
The conveyer mechanism is fixed on the top of the workbench, and the feed mechanism is arranged at the conveyer mechanism Top, the material storage mechanism is fixed on the top of the feed mechanism;The dispenser is fixed on the workbench, described big Rotating disk is fixed on the output flange of the dispenser, the feeding robot be located at the traffic cycle and conveyer mechanism it Between;The automatic clamping mechanism is fixed on the circumference of the traffic cycle, and the shedding mechanism is fixed on the workbench, described Shedding mechanism and the automatic clamping mechanism match;The carrier is equipped in the carrier belt, the carrier transmission One end of band close to the traffic cycle, the swing arm manipulator be located at the carrier belt and the contact aligning gear it Between;The contact aligning gear is located at the bottom of the contact robot, and the contact robot is located at the traffic cycle and touched Between piece aligning gear;
The carrier includes:Carrier body, positioning hole, contact die cavity, the load are particularly provided with the positioning hole and institute Contact die cavity is stated, the positioning hole position is equally spaced, for accommodating the contact die cavity of the contact into being equally spaced;
The both sides of the carrier belt are provided with:Side bearing, top bearing, the side bearing and the carrier Side matches, and the upper surface of the top bearing and the carrier matches.
Preferably, the detent mechanism includes:Locating support, positioning cylinder, alignment pin, the locating support are fixed on institute Workbench is stated, the cylinder block of the positioning cylinder is fixed on the locating support, and the alignment pin is fixed on the positioning cylinder Slide unit on, the alignment pin and the carrier match.
Preferably, the swing arm manipulator includes:Oscillating cylinder, up and down swing arm, slider cylinder, lower upper vacuum cup, institute The cylinder block for stating oscillating cylinder is fixed on the workbench, the output flange of the oscillating cylinder and is fixed with the swing arm, institute The bottom for stating swing arm is fixed with the slider cylinder up and down, and the vacuum cup up and down is fixed on the cunning of the slider cylinder up and down On platform.
Preferably, the contact aligning gear includes:Centering finger cylinder, centering finger, sucker base, the centering hand Finger is fixed on the centering finger cylinder, and the sucker base is located at the centre position of the centering finger, and the contact is inhaled Invest on the sucker base;
Preferably, the contact robot includes:Contact horizontal slide unit, contact longitudinal slide unit, contact sucker, centre are fixed Plate, low level spring, sliding panel, the contact horizontal slide unit are fixed on the workbench, and the contact longitudinal slide unit is fixed on institute On the slide unit for stating contact horizontal slide unit, the middle fixing plate is fixed on the slide unit of the contact longitudinal slide unit, described to slide Plate is movably connected on the middle fixing plate, and the low level spring is placed on the sliding panel, and the low level spring is located at described Between sliding panel and middle fixing plate, the low level spring has the trend for promoting the sliding panel to move downward;The contact Sucker is fixed on the sliding panel.
Preferably, the automatic clamping mechanism includes:Clamp bottom board, cam skateboard, clamp body, fixture cover plate, buffering elastic Spring, passive push pedal, the clamp bottom board are fixed on the traffic cycle, and the cam skateboard is movably connected on the clamp bottom board, The clamp body is fixed on the clamp bottom board;The passive push pedal is fixed on the end of the cam skateboard, in the fixture Buffer spring is provided between body and passive push pedal;The fixture cover plate is fixed with the top of the clamp body, in the folder The left centering block, right centering block are specifically connected between fixture cover plate;The left roller activity of the left centering block is even The left cam groove of the cam skateboard is connected to, meanwhile, the left roller is movably connected on the left side translot of the clamp bottom board; The right roller of the right centering block is movably connected on the right cam groove of the cam skateboard, meanwhile, the right roller activity is even It is connected to the right side translot of the clamp bottom board;The central shaft of the left cam groove and right cam groove on the cam skateboard Line is in a symmetrical arrangement, and the left side translot and right side translot are in a symmetrical arrangement on the central axis, the left side translot and X wire arrangement of the right side translot along the cam skateboard;The buffer spring is in pressured state, and the buffer spring is promoted The passive push pedal is moved to the direction away from the cam skateboard, and the left centering block and right centering block have center described in phase The trend of direction motion where axis.
Preferably, slide plate buffer is fixed with described cam skateboard one end, the slide plate buffer and the cam are slided Plate matches.
Preferably, the shedding mechanism includes:Discharging cylinder, active push pedal, the cylinder block of the discharging cylinder pass through branch Frame is fixed on the workbench, and the active push pedal is fixed on the slide unit of the discharging cylinder, the active push pedal and passive Push pedal matches.
Preferably, the feeding robot includes:Horizontal servo slide table, longitudinal slide unit, crawl cylinder, the horizontal servo Slide unit is fixed on the workbench, and the longitudinal slide unit is fixed on the slide unit of the horizontal servo slide table, the crawl cylinder On the slide unit for being fixed on the longitudinal slide unit.
Preferably, the feed mechanism includes:Feeding support, feeding fixed plate, feeding slide plate, slip side plate, straight line are led Rail, sliding block, active cylinder, secondary cylinder of taking offence, damper mount, damper, Internal baffle, outer baffle, the feeding support are fixed on The workbench, the feeding fixed plate is fixed on the top of the feeding support, and the bottom of the slip side plate is connected Line slideway is stated, the top of the feeding fixed plate is provided with the sliding block, and the line slideway is movably connected on the sliding block; The cylinder block of the active cylinder is fixed on the feeding fixed plate, and the end of the piston rod of the active cylinder is fixed on described Feeding slide plate;The cylinder block of described cylinder of taking offence is fixed on the feeding slide plate, the piston of described cylinder of taking offence with side plate is slided The end of bar is fixed on the damper mount, and the damper is fixed on the damper mount;The outer baffle is fixed on The end for sliding side plate, the Internal baffle is fixed on the outer baffle, is constituted between the Internal baffle and outer baffle lower logical Road, the lower channel is connected with the upper channel of the barrel;The damper is communicated in the lower channel and patched with described Part matches.
Preferably, the conveyer mechanism includes:Belt support, conveyer belt, transmission translator, the belt support The workbench is fixed on, the conveyer belt is movably connected on the belt support, and the output shaft of the transmission translator drives The dynamic conveyer belt is rotated.
Preferably, the material storage mechanism includes:Barrel, cartridge holder, the cartridge holder are fixed on the feed mechanism, The barrel is listed on the cartridge holder, and the barrel is communicated in the feed mechanism, and the barrel is located at the transmission Top with mechanism.
Preferably, in original state, the piston rod of the active cylinder is in retracted mode, the work of described cylinder of taking offence Stopper rod is in stretching state, and the connector is constrained on the side wall of the outer baffle by the damper;The connector position In the upper channel and lower channel, the bottom of the connector is located in the belt support;The conveyer belt is located at described Between connector and the feed mechanism.
Preferably, in feeding state, the piston rod of described cylinder of taking offence is in stretching state, and the damper will be described Connector is constrained on the side wall of the outer baffle;The piston rod of the active cylinder is in stretching state, the active cylinder Promote the Internal baffle and outer baffle to move horizontally, make to be located at the institute in the lower channel and in the belt support State connector and occur 90 degree of upsets, the connector is lain low on the conveyer belt.
Preferably, the barrel is arranged into vertical state, and the quantity of the barrel is eight.
Preferably, the material of the conveyer belt is quality of rubber materials.
Compared with conventional art, robot assisted connector assembling flexible manufacturing production line of the present invention has following positive work With and beneficial effect:
Robot assisted connector of the present invention assembles flexible manufacturing production line, mainly includes:Workbench, conveyer mechanism, Material storage mechanism, feed mechanism, traffic cycle, dispenser, feeding robot, automatic clamping mechanism, shedding mechanism.The connector is first It is placed in the upper channel, is covered with the connector in the upper channel and lower channel.The feed mechanism is by the connector One by one it is positioned on the conveyer belt, and is conveyed the connector to next station from the conveyer mechanism; The shedding mechanism drives the automatic clamping machine to constitute open configuration, and the feeding robot is pressed from both sides from the conveyer mechanism Hold the connector and the connector is placed into the automatic clamping mechanism;Then, the shedding mechanism departs from institute Automatic clamping mechanism is stated, the connector is carried out Automatic-clamping by the automatic clamping mechanism;Then the traffic cycle will be described Automatic clamping mechanism is delivered to the bottom of the contact robot;The carrier is moved under the conveying of the carrier belt The bottom of the swing arm manipulator, the side bearing and top bearing correct the direction of motion of the carrier;The localization machine The alignment pin of structure is moved downward be inserted into the positioning hole after, the swing arm manipulator be adsorbed onto from the carrier it is described touch Piece, and the contact is positioned in the contact aligning gear;The centering finger of the contact aligning gear is described Closed up under the driving of centering finger cylinder, so that the contact is located at the centre position of the sucker base, then institute State sucker base and secure the above contact using vacuum suction mode, the centering finger departs from the contact;Then it is described to touch Piece longitudinal slide unit declines, and the contact sucker touches the contact, the low level spring can make the contact sucker with compared with The contact is touched for soft power, prevents from scratching the contact;Then the contact sucker suction is touched to described After piece, the contact is positioned in the automatic clamping mechanism.
Because the connector structure is complicated, surface is after coating treatment, if conveyed using vibrating disk, can be right The surface of the connector produces to scratch to wait and injured.Robot assisted connector of the present invention assembles flexible manufacturing production line, utilizes The barrel is as storage equipment, and the connector slowly declines along the upper channel;The conveyer belt is quality of rubber materials, described Connector is lain low and conveyed on the conveyer belt, in whole feeding process, and the connector will not be collided or rushed Hit, be effectively protected the surface quality of the connector, and feeding process is smooth, controllable, efficiency high;The feeding machine Enter to realize the crawl of the automation to the connector and carry;The automatic clamping mechanism can automatically be realized and connect to described The clamping of plug-in unit, and drive the automatic clamping mechanism to move in a circle by the traffic cycle, with realize more multistation from It is dynamic to be turned into industry;The contact aligning gear can correct the position of the contact, improve the precision of assembling;The contact robot By the cushioning effect of the low level spring, the surface of the contact can be protected not scratched by the contact sucker.
Brief description of the drawings
Fig. 1 is the structural representation that robot assisted connector of the present invention assembles flexible manufacturing production line;
Fig. 2,3,4,5,6,7,8,9,10 are the parts that robot assisted connector of the present invention assembles flexible manufacturing production line Structural representation;
Figure 11 is that the structure for the automatic clamping mechanism that machine of the present invention enters to aid in connector assembling flexible manufacturing production line is shown It is intended to;
Figure 12,13,14 be robot assisted connector of the present invention assembling flexible manufacturing production line automatic clamping mechanism and The structural representation of shedding mechanism;
Figure 15,16 are part-structure schematic diagrams that robot assisted connector of the present invention assembles flexible manufacturing production line.
1 workbench, 2 conveyer mechanisms, 3 material storage mechanisms, 4 feed mechanisms, 5 barrels, 6 cartridge holders, 7 feeding supports, on 8 Expect that side plate, 11 line slideways, 12 sliding blocks, 13 active cylinders, 14 cylinders of taking offence, 15 dampings are slided in fixed plate, 9 feeding slide plates, 10 Device support, 16 dampers, 17 Internal baffles, 18 outer baffles, 19 belt supports, 20 conveyer belts, 21 transmission translators, 22 are patched Part, 23 upper channels, 24 lower channels, 25 feeding robots, 26 automatic clamping mechanisms, 27 shedding mechanisms, 28 traffic cycles, 29 segmentations Device, 30 horizontal servo slide tables, 31 longitudinal slide units, 32 crawl cylinders, 33 clamp bottom boards, 34 cam skateboards, 35 fixture cover plates, 36 are slided Plate buffer, 37 buffer springs, 38 passive push pedals, 39 discharging cylinders, 40 active push pedals, 41 clamp bodies, 42 left centering blocks, 43 left sides In roller, 44 right centering blocks, 45 right rollers, 46 left cam grooves, 47 right cam grooves, 48 left side translots, 49 right side translots, 50 Heart axis, 51 x wires, 52 contacts, 53 contact aligning gears, 54 contact robots, 55 contact horizontal slide units, 56 contacts longitudinal direction Slide unit, 57 contact suckers, 58 middle fixing plates, 59 low level springs, 60 sliding panels, 61 centering finger cylinders, 62 centering fingers, 63 Sucker base, 64 swing arm manipulators, 65 carriers, 66 carrier belts, 67 oscillating cylinders, 68 swing arms, about 69 slider cylinders, 70 Vacuum cup, 71 detent mechanisms, 72 carrier bodies, 73 positioning holes, 74 side bearings, 75 top bearings, 76 locating supports, 77 on down Positioning cylinder, 78 alignment pins.
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 connector Flexible manufacturing production line is assembled, in the Automated assembly production of electronic product, connector is output on conveyer belt in an orderly manner, So as to realize the automation feed of connector, connector is assembled on automatic clamping mechanism by feeding robot;Then contact by After carrier belt conveying in place, contact is refilled by contact robot and is fitted on automatic clamping mechanism.Robot of the present invention is auxiliary Adjuvant grafting plug-in unit assembles flexible manufacturing production line, realizes the order output to connector, connector is adjusted into predetermined angle Afterwards, it is placed on conveyer belt, the smooth, controllable of connector moving process is ensure that using material storage mechanism and feed mechanism, utilizes Feeding robot completes pickup to connector, is positioned and fixed using the achieve a butt joint centering of plug-in unit of automatic clamping mechanism;Profit With carrier belt realization is to the step-by-step movement feeding of contact and is accurately positioned, the automation of contact is realized using contact robot Correction and assembling.
Fig. 1 is the structural representation that robot assisted connector of the present invention assembles flexible manufacturing production line, Fig. 2,3,4,5, 6th, 7,8,9,10 be part-structure schematic diagram that robot assisted connector of the present invention assembles flexible manufacturing production line, and Figure 11 is this The structural representation of the automatic clamping mechanism of invention robot assisted connector assembling flexible manufacturing production line, Figure 12,13,14 are The automatic clamping mechanism of robot assisted connector assembling flexible manufacturing production line of the present invention and the structural representation of shedding mechanism, Figure 15,16 are part-structure schematic diagrams that robot assisted connector of the present invention assembles flexible manufacturing production line.
A kind of robot assisted connector assembles flexible manufacturing production line, including:Workbench 1, for storing connector 22 Material storage mechanism 3, the conveyer mechanism 2 for conveying the connector 22, for by the connector 22 from the storage machine Put on structure 3 feed mechanism 4 on the conveyer mechanism 2, the automatic clamping mechanism 26 for fixing the connector 22, For driving the automatic clamping mechanism 26 to carry out the traffic cycle 28 of circular-rotation, for driving the traffic cycle 28 to carry out isogonism Spend the dispenser 29 of rotation, for the connector 22 to be grabbed into the automatic clamping mechanism from the conveyer mechanism 2 Feeding robot 25 on 26, the shedding mechanism 27 for being unloaded the connector 22 from the automatic clamping mechanism 26, For carrying the carrier 65 of contact 52, the carrier belt 66 for conveying the carrier 65, realizing precision to the carrier 65 The detent mechanism 71 of positioning, the swing arm manipulator 64 for capturing the contact 52 from the carrier 65, to the contact 52 The contact aligning gear 53 of position correction is realized, the contact 52 is picked up from the contact aligning gear 53 and by the contact 52 are assembled to the contact robot 54 on the automatic clamping mechanism 26;
The conveyer mechanism 2 is fixed on the top of the workbench 1, and the feed mechanism 4 is arranged at the conveyer belt The top of mechanism 2, the material storage mechanism 3 is fixed on the top of the feed mechanism 4;The dispenser 29 is fixed on the work Platform 1, the traffic cycle 28 is fixed on the output flange of the dispenser 29, and the feeding robot 25 is located at the traffic cycle Between 28 and conveyer mechanism 2;The automatic clamping mechanism 26 is fixed on the circumference of the traffic cycle, the shedding mechanism 27 The workbench 1 is fixed on, the shedding mechanism 27 and the automatic clamping mechanism 26 match;The carrier 65 is equipped on institute State in carrier belt 66, one end of the carrier belt 66 is close to the traffic cycle 28,64, the swing arm manipulator Between the carrier belt 66 and the contact aligning gear 53;The contact aligning gear 53 is located at the contact machine The bottom of people 54, the contact robot 54 is located between the traffic cycle 28 and contact aligning gear 53;
The carrier 65 includes:It is provided with carrier body 72, positioning hole 73, contact die cavity 79, the carrier body 72 described Positioning hole 73 and the contact die cavity 79, the positioning hole 73 are equally spaced, and are touched for accommodating the described of the contact 52 Piece die cavity 79 is into being equally spaced;
The both sides of the carrier belt 66 are provided with:Side bearing 74, top bearing 75, the side bearing 74 and institute The side for stating carrier 65 matches, and the upper surface of the top bearing 75 and the carrier 65 matches.
More specifically, the detent mechanism 71 includes:Locating support 76, positioning cylinder 77, alignment pin 78, the positioning branch Frame 76 is fixed on the workbench 1, and the cylinder block of the positioning cylinder 77 is fixed on the locating support 76, the alignment pin 78 On the slide unit for being fixed on the positioning cylinder 77, the alignment pin 78 and the carrier 65 match.
More specifically, the swing arm manipulator 64 includes:Oscillating cylinder 67, up and down swing arm 68, slider cylinder 69, lower true Suction disk 70, the cylinder block of the oscillating cylinder 67 is fixed on the workbench 1, the output flange of the oscillating cylinder 67 admittedly The swing arm 68 is connected with, the bottom of the swing arm 68 is fixed with the slider cylinder 69 up and down, and the vacuum cup 70 up and down is consolidated It is connected on the slide unit of slider cylinder 69 up and down.
More specifically, the contact aligning gear 53 includes:Centering finger cylinder 61, centering finger 62, sucker base 63, The centering finger 62 is fixed on the centering finger cylinder 61, and the sucker base 63 is located at the centre of the centering finger 62 Position, the contact 52 is adsorbed on the sucker base 63;
More specifically, the contact robot 54 includes:Contact horizontal slide unit 55, contact longitudinal slide unit 56, contact sucker 57th, middle fixing plate 58, low level spring 59, sliding panel 60, the contact horizontal slide unit 55 are fixed on the workbench 1, described Contact longitudinal slide unit 56 is fixed on the slide unit of the contact horizontal slide unit 55, and the middle fixing plate 58 is fixed on the contact On the slide unit of longitudinal slide unit 56, the sliding panel 60 is movably connected on the middle fixing plate 58, and the low level spring 59 is placed on On the sliding panel 60, the low level spring 59 is located between the sliding panel 60 and middle fixing plate 58, the low level spring 59 have the trend for promoting the sliding panel 60 to move downward;The contact sucker 57 is fixed on the sliding panel 60.
More specifically, the automatic clamping mechanism 26 includes:Clamp bottom board 33, cam skateboard 34, clamp body 41, clamp cover Plate 35, buffer spring 37, passive push pedal 38, the clamp bottom board 33 are fixed on the traffic cycle 28, and the cam skateboard 34 is lived Dynamic to be connected to the clamp bottom board 33, the clamp body 41 is fixed on the clamp bottom board 33;The passive push pedal 38 is fixed on The end of the cam skateboard 34, buffer spring 37 is provided between the clamp body 41 and passive push pedal 38;In the folder Specific 41 top is fixed with the fixture cover plate 35, is connected between the clamp body 41 and fixture cover plate 35 described Left centering block 42, right centering block 44;The left roller 43 of the left centering block 42 is movably connected on the left side of the cam skateboard 34 Cam path 46, meanwhile, the left roller 43 is movably connected on the left side translot 48 of the clamp bottom board 33;The right centering block 44 Right roller 45 be movably connected on the right cam groove 47 of the cam skateboard 34, meanwhile, the right roller 45 is movably connected on The right side translot 49 of the clamp bottom board 33;The left cam groove 46 and right cam groove 47 are on the cam skateboard 34 Central axis 50 is in a symmetrical arrangement, and the left side translot 48 and right side translot 49 are in a symmetrical arrangement on the central axis 50, The x wire 51 of the left side translot 48 and right side translot 49 along the cam skateboard 34 is arranged;The buffer spring 37 be in by Pressure condition, the buffer spring 37 promotes the passive push pedal 38 to be moved to the direction away from the cam skateboard 34, the left side Centering block 42 and right centering block 44 have the trend that the place direction of central axis 50 described in phase is moved.
More specifically, being fixed with slide plate buffer 36, the slide plate buffer 36 and institute in described one end of cam skateboard 34 Cam skateboard 34 is stated to match.
More specifically, the shedding mechanism 27 includes:Discharging cylinder 39, active push pedal 40, the gas of the discharging cylinder 29 Cylinder body is fixed on the workbench 1 by support, and the active push pedal 40 is fixed on the slide unit of the discharging cylinder 29, described Active push pedal 40 and passive push pedal 38 match.
More specifically, the feeding robot 25 includes:Horizontal servo slide table 30, longitudinal slide unit 31, crawl cylinder 32, institute State horizontal servo slide table 30 and be fixed on the workbench 1, the longitudinal slide unit 31 is fixed on the cunning of the horizontal servo slide table 30 On platform, the crawl cylinder 32 is fixed on the slide unit of the longitudinal slide unit 31.
More specifically, the feed mechanism 4 includes:Feeding support 7, feeding fixed plate 8, feeding slide plate 9, slip side plate 10th, line slideway 11, sliding block 12, active cylinder 13, secondary cylinder 14 of taking offence, damper mount 15, damper 16, Internal baffle 17, outer Baffle plate 18, the feeding support 7 is fixed on the workbench 1, and the feeding fixed plate 8 is fixed on the upper of the feeding support 7 Portion, the bottom of the slip side plate 10 is fixed with the line slideway 11, and the top of the feeding fixed plate 8 is provided with the cunning Block 12, the line slideway 11 is movably connected on the sliding block 12;The cylinder block of the active cylinder 13 is fixed on the feeding Fixed plate 8, the end of the piston rod of the active cylinder 13 is fixed on the feeding slide plate 9;The cylinder of described cylinder 14 of taking offence Body and slip side plate 10 are fixed on the feeding slide plate 9, and the end of the piston rod of described cylinder 14 of taking offence is fixed on the damping Device support 15, the damper 16 is fixed on the damper mount 15;The outer baffle 18 is fixed on the slip side plate 10 End, the Internal baffle 17 is fixed on the outer baffle 18, and lower channel 24 is constituted between the Internal baffle 17 and outer baffle 18, The lower channel 24 is connected with the upper channel 23 of the barrel 5;The damper 16 is communicated in the lower channel 24 and and institute Connector 22 is stated to match.
More specifically, the conveyer mechanism 2 includes:Belt support 19, conveyer belt 20, transmission translator 21, it is described Belt support 19 is fixed on the workbench 1, and the conveyer belt 20 is movably connected on the belt support 19, the transmission The output shaft of translator 21 drives the conveyer belt 20 to rotate.
More specifically, the material storage mechanism 3 includes:Barrel 5, cartridge holder 6, the cartridge holder 6 are fixed on described Expect mechanism 4, the barrel 5 is listed on the cartridge holder 6, and the barrel 5 is communicated in the feed mechanism 4, the barrel 5 Positioned at the top of the conveyer mechanism 2.
More specifically, in original state, the piston rod of the active cylinder 13 is in retracted mode, described cylinder of taking offence 14 piston rod is in stretching state, and the connector 22 is constrained on the side wall of the outer baffle 18 by the damper 16; The connector 22 is located in the upper channel 23, lower channel 24, and the bottom of the connector 22 is located at the belt support On 19;The conveyer belt 20 is located between the connector 22 and the feed mechanism 4.
More specifically, in feeding state, the piston rod of described cylinder 14 of taking offence is in stretching state, the damper 16 On the side wall that the connector 22 is constrained in the outer baffle 18;The piston rod of the active cylinder 13 is in stretching state, The active cylinder 13 promotes the Internal baffle 17 and outer baffle 18 to move horizontally, and makes to be located in the lower channel 24 and be located at 90 degree of upsets occur for the connector 22 in the belt support 19, the connector 22 is lain low in the conveyer belt On 20.
More specifically, the barrel 5 is arranged into vertical state, the quantity of the barrel 5 is eight.
More specifically, the material of the conveyer belt 20 is quality of rubber materials.
Below in conjunction with Fig. 1 to 13, robot assisted connector assembling flexible manufacturing production line of the present invention is further described Operation principle and the course of work:
Robot assisted connector of the present invention assembles flexible manufacturing production line, mainly includes:Workbench 1, conveyer mechanism 2nd, material storage mechanism 3, feed mechanism 4, traffic cycle 28, dispenser 29, feeding robot 25, automatic clamping mechanism 26, shedding mechanism 27th, swing arm manipulator 64, carrier 65, carrier belt 66, detent mechanism 71.The connector 22 is first placed in the upper channel 23 In, it is covered with the connector 22 in the upper channel 23 and lower channel 24.The feed mechanism 4 by the connector 22 one by one It is positioned on the conveyer belt 20, and is conveyed the connector 22 to next station from the conveyer mechanism 2;Institute State shedding mechanism 27 and drive the automatic clamping mechanism 26 into open configuration, the feeding robot 25 is from the conveyer mechanism The connector 22 is clamped on 2 and the connector 22 is placed into the automatic clamping mechanism 26;Then, the discharging Mechanism 27 departs from the automatic clamping mechanism 26, and the connector 22 is carried out Automatic-clamping by the automatic clamping mechanism 26;Connect The bottom that the automatic clamping mechanism 26 is delivered to the contact robot 54 by the traffic cycle 28;The carrier 65 is in institute The bottom of the swing arm manipulator 64, the side bearing 74 and top bearing 75 are moved under the conveying for stating carrier belt 66 Correct the direction of motion of the carrier 65;The alignment pin 78 of the detent mechanism 71, which is moved downward, to be inserted into the positioning hole 73 Afterwards, the swing arm manipulator 64 is adsorbed onto the contact 52 from the carrier 65, and the contact 52 is positioned over into described touch In piece aligning gear 53;The centering finger 62 of the contact aligning gear 53 is in described pair under the driving of finger cylinder 61 Closed up, so that the contact 52 is located at the centre position of the sucker base 63, then the sucker base 63 is utilized Vacuum suction mode secures the above contact 52, and the centering finger 62 departs from the contact 52;Then the contact is longitudinally sliding Platform 56 declines, and the contact sucker 57 touches the contact 52, the low level spring 59 can make the contact sucker 57 with More soft power touches the contact 52, prevents from scratching the contact 52;Then the contact sucker 57 is adsorbed To after the contact 52, the contact 52 is positioned in the automatic clamping mechanism 26.
Because the connector 22 is complicated, surface is after coating treatment, if conveyed using vibrating disk, meeting The surface of the connector 22 is produced to scratch to wait and injured.Robot assisted connector of the present invention assembles flexible manufacturing production line, By the use of the barrel 5 as storage equipment, the connector 22 slowly declines along the upper channel 23;The conveyer belt 20 is rubber Glue material matter, the connector 22 lies low and conveyed on the conveyer belt 20, in whole feeding process, and the connector 22 is not Can collide or impact, be effectively protected the surface quality of the connector 22, and feeding process it is smooth, controllable, Efficiency high;The feeding robot 25 realizes the crawl of the automation to the connector 22 and carried;The automatic clamping machine Structure 26 can automatically realize the clamping to the connector 22, and drive the automatic clamping mechanism by the traffic cycle 28 26 move in a circle, to realize the automated job of more multistation;The contact aligning gear 53 can correct the contact 52 Position, improve assembling precision;The contact robot 54 can protect institute by the cushioning effect of the low level spring 59 The surface for stating contact 52 is not scratched by the contact sucker 57.
Next the course of work and operation principle of the automatic clamping mechanism 26 described:
The cam skateboard 34 is movably connected on the clamp bottom board 33, and the clamp body 41 is fixed on the clamp bottom board 33;The passive push pedal 38 is fixed on the end of the cam skateboard 34, is set between the clamp body 41 and passive push pedal 38 It is equipped with buffer spring 37.The x wire 51 of the left side translot 48 and right side translot 49 along the cam skateboard 34 is arranged, described Left side translot 48 is used to guide the left centering block 42 to move along the place direction of x wire 51, and the right side translot 49 is used for The right centering block 44 is guided to be moved along the place direction of x wire 51.It is convex that the left roller 43 is movably connected on the left side Race 46, the right roller 45 is movably connected on the right cam groove 47.The buffer spring 37 is in pressured state, described Buffer spring 37 promotes the passive push pedal 38 to be moved to the direction away from the cam skateboard 34, and the left cam groove 46 drives The left centering block 42 is moved to move to the right place direction of centering block 44, meanwhile, the right cam groove 47 drives the right side Motion is trusted where centering block 44 to the left centering block 42, so as to realize by the left centering block 42 and right centering block 44 together The position motion intersected toward the central axis 50 and x wire 51.When the feeding robot 25 is clamped to the connector 22, and after the connector 22 is positioned on the clamp body 41, by the left centering block 42 and right centering block 44 described Under the driving of buffer spring 37, the clamping to the connector 22 is realized.Then, the dispenser 29 can drive described automatic Clamping device 26 moves to next station.
On the contrary, when the automatic clamping mechanism 26 needs to unclamp connector 22, the active push pedal 40 The passive push pedal 38 is promoted to move, the left cam groove 46 drives the left centering block 42 to away from the right centering block 44 Place direction is moved, meanwhile, the right cam groove 47 drives the right centering block 44 to where away from the left centering block 42 Motion is trusted, that is, is realized by the left centering block 42 and right centering block 44 together away from the central axis 50 and x wire 51 The position motion intersected, i.e.,:The left centering block 42 and right centering block 44 have unclamped the clamping to the connector 22.
Next the course of work and operation principle of the feed mechanism 4 described:
The feeding support 7, feeding fixed plate 8 are fixed on the workbench 1, and the cylinder block of the active cylinder 13 is connected In the feeding fixed plate 8;The cylinder block and feeding slide plate 9 of described cylinder 14 of taking offence are fixed on the slip side plate 10, described Internal baffle 17 and outer baffle 18 are fixed on the slip side plate 10, and the slip side plate 10 is movably connected on the feeding fixed plate 8.The lower channel 24 is connected with upper channel 23, and the connector 22 is arranged in the lower channel 24 and upper channel 23.
The cylinder block of described cylinder 14 of taking offence is fixed on the feeding slide plate 9, and described cylinder 14 of taking offence is slider cylinder.Institute The end for stating the piston rod of secondary cylinder 14 of taking offence is fixed on the damper mount 15, and the damper 16 is fixed on the damper Support 15, the damper 16 is communicated in the lower channel 24 and matched with the connector 22.When described cylinder 14 of taking offence Piston rod be in stretching state when, the connector 22 is constrained on the side wall of the outer baffle 18 by the damper 16, Prevent the connector 22 from continuing slide downward;When the piston rod of described cylinder 14 of taking offence is in retracted mode, the damping Device 16 departs from the contact with the connector 22, and the connector 22 has the trend of slide downward.
The feed mechanism 4 is in original state, and the piston rod of the active cylinder 13 is in retracted mode, and described time dynamic The piston rod of cylinder 14 is in stretching state, and the connector 22 is constrained in the side wall of the outer baffle 18 by the damper 16 On;The connector 22 is located in the upper channel 23, lower channel 24, and the bottom of the connector 22 is located at the conveyer belt branch On frame 19;The conveyer belt 20 is located between the connector 22 and the feed mechanism 4.
Then, the feed mechanism 4 enters feeding state.The piston rod of described cylinder 14 of taking offence is in stretching state, institute Damper 16 is stated to be constrained in the connector 22 on the side wall of the outer baffle 18;The piston rod of the active cylinder 13 is in Stretching state, the active cylinder 13 promotes the Internal baffle 17 and outer baffle 18 to move horizontally, and makes to be located at the lower channel The connector 22 in 24 and in the belt support 19 occurs 90 degree and overturn, make the connector 22 lie low in On the conveyer belt 20.The connector 22 is delivered to next station by the conveyer belt 20.
Then, the feed mechanism 4 enters feeding reset state.The piston rod of the active cylinder 13 is in retraction shape State, the active cylinder 13 promotes the Internal baffle 17 and outer baffle 18 to move horizontally, and is located at the lower channel 24 described The top of belt support 19.The piston rod of described cylinder 14 of taking offence is in retracted mode, and the damper 16 departs from and described The contact of connector 22, the connector 22 declines and touches the belt support 19.
Finally it is pointed out that above example is only robot assisted connector assembling flexible manufacturing production line of the present invention More representational example.Obviously, robot assisted connector assembling flexible manufacturing production line of the present invention is not limited to above-mentioned implementation Example, can also there is many deformations.Every technology reality that flexible manufacturing production line is assembled according to robot assisted connector of the present invention Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to robot assisted of the present invention Connector assembles the protection domain of flexible manufacturing production line.

Claims (10)

1. a kind of robot assisted connector assembles flexible manufacturing production line, it is characterised in that including:Workbench, for storing The material storage mechanism of connector, the conveyer mechanism for conveying the connector, for by the connector from the storage machine The feed mechanism on the conveyer mechanism, the automatic clamping mechanism for fixing the connector are put on structure, for driving The dynamic automatic clamping mechanism carries out the traffic cycle of circular-rotation, the segmentation for driving the traffic cycle angularly to be rotated Device, for the connector is grabbed from the conveyer mechanism feeding robot on the automatic clamping mechanism, will The shedding mechanism that the connector is unloaded from the automatic clamping mechanism, the carrier for carrying contact, for conveying The carrier belt of the carrier, the detent mechanism that precision positioning is realized to the carrier, for capturing institute from the carrier The swing arm manipulator of stating contact, the contact aligning gear that position correction is realized to the contact, from the contact aligning gear Pick up the contact and the contact is assembled to the contact robot on the automatic clamping mechanism;
The conveyer mechanism is fixed on the top of the workbench, and the feed mechanism is arranged at the upper of the conveyer mechanism Portion, the material storage mechanism is fixed on the top of the feed mechanism;The dispenser is fixed on the workbench, the traffic cycle On the output flange for being fixed on the dispenser, the feeding robot is located between the traffic cycle and conveyer mechanism;Institute State automatic clamping mechanism to be fixed on the circumference of the traffic cycle, the shedding mechanism is fixed on the workbench, the discharging Mechanism and the automatic clamping mechanism match;The carrier is equipped in the carrier belt, the carrier belt One end is located between the carrier belt and the contact aligning gear close to the traffic cycle, the swing arm manipulator; The contact aligning gear is located at the bottom of the contact robot, and the contact robot is located at the traffic cycle and contact school Between positive mechanism;
The carrier includes:Carrier body, positioning hole, contact die cavity, the load are particularly provided with the positioning hole and described tactile Piece die cavity, the positioning hole position is equally spaced, for accommodating the contact die cavity of the contact into being equally spaced;
The both sides of the carrier belt are provided with:Side bearing, top bearing, the side of the side bearing and the carrier Match, the upper surface of the top bearing and the carrier matches.
2. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that described fixed Position mechanism includes:Locating support, positioning cylinder, alignment pin, the locating support are fixed on the workbench, the positioning cylinder Cylinder block be fixed on the locating support, the alignment pin is fixed on the slide unit of the positioning cylinder, the alignment pin and The carrier matches.
3. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that the pendulum Arm manipulator includes:Oscillating cylinder, up and down swing arm, slider cylinder, lower upper vacuum cup, the cylinder block of the oscillating cylinder are connected In being fixed with the swing arm on the workbench, the output flange of the oscillating cylinder, the bottom of the swing arm is fixed with described Slider cylinder up and down, the vacuum cup up and down is fixed on the slide unit of slider cylinder up and down.
4. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that described to touch Piece aligning gear includes:Centering finger cylinder, centering finger, sucker base, the centering finger are fixed on the centering finger Cylinder, the sucker base is located at the centre position of the centering finger, and the contact is adsorbed on the sucker base.
5. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that described to touch Piece robot includes:Contact horizontal slide unit, contact longitudinal slide unit, contact sucker, middle fixing plate, low level spring, sliding panel, institute State contact horizontal slide unit and be fixed on the workbench, the contact longitudinal slide unit is fixed on the slide unit of the contact horizontal slide unit On, the middle fixing plate is fixed on the slide unit of the contact longitudinal slide unit, and the sliding panel is movably connected on the centre Fixed plate, the low level spring is placed on the sliding panel, the low level spring be located at the sliding panel and middle fixing plate it Between, the low level spring has the trend for promoting the sliding panel to move downward;The contact sucker is fixed on the sliding panel.
6. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that it is described from Dynamic clamping device includes:Clamp bottom board, cam skateboard, clamp body, fixture cover plate, buffer spring, passive push pedal, the fixture bottom Plate is fixed on the traffic cycle, and the cam skateboard is movably connected on the clamp bottom board, and the clamp body is fixed on the folder Has bottom plate;The passive push pedal is fixed on the end of the cam skateboard, is provided between the clamp body and passive push pedal Buffer spring;The fixture cover plate is fixed with the top of the clamp body, it is movable between the clamp body and fixture cover plate It is connected with the left centering block, right centering block;The left roller of the left centering block is movably connected on the left side of the cam skateboard Cam path, meanwhile, the left roller is movably connected on the left side translot of the clamp bottom board;The right roller of the right centering block is lived The dynamic right cam groove for being connected to the cam skateboard, meanwhile, the right roller is movably connected on the right side of the clamp bottom board Translot;The left cam groove and right cam groove are in a symmetrical arrangement on the central axis of the cam skateboard, the left side Translot and right side translot are in a symmetrical arrangement on the central axis, and the left side translot and right side translot are along the cam skateboard X wire arrangement;The buffer spring is in pressured state, and the buffer spring promotes the passive push pedal to away from described The direction motion of cam skateboard, direction motion becomes where the left centering block and right centering block have central axis described in phase Gesture.
7. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that on described Material mechanism includes:Feeding support, feeding fixed plate, feeding slide plate, slide side plate, it is line slideway, sliding block, active cylinder, secondary dynamic Cylinder, damper mount, damper, Internal baffle, outer baffle, the feeding support are fixed on the workbench, and the feeding is consolidated Fixed board is fixed on the top of the feeding support, and the bottom of the slip side plate is fixed with the line slideway, and the feeding is consolidated The top of fixed board is provided with the sliding block, and the line slideway is movably connected on the sliding block;The cylinder block of the active cylinder The feeding fixed plate is fixed on, the end of the piston rod of the active cylinder is fixed on the feeding slide plate;It is described time to take offence The cylinder block and slip side plate of cylinder are fixed on the feeding slide plate, and the end of the piston rod of described cylinder of taking offence is fixed on the resistance Buddhist nun's device support, the damper is fixed on the damper mount;The outer baffle is fixed on the end of the slip side plate, institute State Internal baffle and be fixed on the outer baffle, lower channel, the lower channel and the material are constituted between the Internal baffle and outer baffle The upper channel of cylinder is connected;The damper is communicated in the lower channel and matched with the connector.
8. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that the biography Tape-feed includes:Belt support, conveyer belt, transmission translator, the belt support is fixed on the workbench, described Conveyer belt is movably connected on the belt support, and the output shaft of the transmission translator drives the conveyer belt to rotate.
9. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that the storage Material mechanism includes:Barrel, cartridge holder, the cartridge holder are fixed on the feed mechanism, and the barrel is listed in the material On tube stent, the barrel is communicated in the feed mechanism, and the barrel is located at the top of the conveyer mechanism.
10. robot assisted connector according to claim 1 assembles flexible manufacturing production line, it is characterised in that first During beginning state, the piston rod of the active cylinder is in retracted mode, and the piston rod of described cylinder of taking offence is in stretching state, institute State damper the connector is constrained on the side wall of the outer baffle;The connector is located at the upper channel and lower channel In, the bottom of the connector is located in the belt support;The conveyer belt is located at the connector and the feeder Between structure.
CN201710491451.3A 2017-06-12 2017-06-12 Robot assisted connector assembles flexible manufacturing production line Active CN107196176B (en)

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CN107324043A (en) * 2017-06-12 2017-11-07 温州职业技术学院 Robot assisted connector assembles flexible manufacturing production line
CN108393663A (en) * 2018-02-27 2018-08-14 温州市贝佳福自动化技术有限公司 The full-automatic method of manufacturing technology of connector
CN109605030A (en) * 2018-12-29 2019-04-12 深圳市海之诚自动化技术有限公司 A kind of production line for automatically assembling
CN111285313A (en) * 2018-12-10 2020-06-16 上海宝群医疗科技有限公司 Ampoule bottle processing equipment
CN111285312A (en) * 2018-12-10 2020-06-16 宝群电子科技(上海)有限公司 Penicillin bottle treatment equipment
CN111571214A (en) * 2020-04-28 2020-08-25 温州职业技术学院 Rear assembling device for flashlight

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CN205355513U (en) * 2016-01-19 2016-06-29 东莞市益诚自动化设备有限公司 Obviously adorn automatic kludge of five -hole socket
CN107324043A (en) * 2017-06-12 2017-11-07 温州职业技术学院 Robot assisted connector assembles flexible manufacturing production line

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CN103474862A (en) * 2013-09-12 2013-12-25 惠州市星宝机械设备有限公司 Automatic assembly production line of wall socket
CN105514760A (en) * 2015-12-24 2016-04-20 东莞市益诚自动化设备有限公司 Five-hole socket automatic assembly machine
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Publication number Priority date Publication date Assignee Title
CN107324043A (en) * 2017-06-12 2017-11-07 温州职业技术学院 Robot assisted connector assembles flexible manufacturing production line
CN108393663A (en) * 2018-02-27 2018-08-14 温州市贝佳福自动化技术有限公司 The full-automatic method of manufacturing technology of connector
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CN111285312A (en) * 2018-12-10 2020-06-16 宝群电子科技(上海)有限公司 Penicillin bottle treatment equipment
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CN111571214A (en) * 2020-04-28 2020-08-25 温州职业技术学院 Rear assembling device for flashlight
CN111571214B (en) * 2020-04-28 2020-11-17 温州职业技术学院 Rear assembling device for flashlight

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