CN107322581A - A kind of new structure of high-accuracy Z axis module - Google Patents
A kind of new structure of high-accuracy Z axis module Download PDFInfo
- Publication number
- CN107322581A CN107322581A CN201710641099.7A CN201710641099A CN107322581A CN 107322581 A CN107322581 A CN 107322581A CN 201710641099 A CN201710641099 A CN 201710641099A CN 107322581 A CN107322581 A CN 107322581A
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- Prior art keywords
- module
- camera
- suction nozzle
- axis
- fixed
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- 230000006698 induction Effects 0.000 claims description 17
- 230000006978 adaptation Effects 0.000 claims description 6
- 230000002787 reinforcement Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
The invention discloses a kind of new structure of high-accuracy Z axis module, it is desirable to provide the new structure of a kind of reasonable in design, accurate positioning and the high high-accuracy Z axis module of operating efficiency.The present invention includes Z axis linear motion module, the Z axis linear motion module includes Z axis linear electric motors and the line slideway pinboard being connected with the Z axis linear electric motors, CCD camera module and R axle electric rotating machine modules are provided with the line slideway pinboard, the CCD camera module is located at one end of the R axles electric rotating machine module, and the lower end of the R axles electric rotating machine module is provided with several suction nozzle modules.The present invention is applied to Electronic Testing, the technical field of semicon industry.
Description
Technical field
The present invention relates to a kind of new structure of high-accuracy Z axis module.
Background technology
Existing Z-axis mechanism mainly includes the mechanisms such as cylinder, suction nozzle and motor composition, gas in current automatic test industry
Cylinder is difficult to ensure that the linearity of Z axis and the levelness of suction nozzle end face when moving, and causes in accurate automated test device, Z
Axle stroke is not in place or linearity is poor.
The features such as other electronic product has small volume, light weight, existing Z-axis mechanism can not ensure to draw the seat of product
Mark is accurate.
Electronic product needs to keep direction consistent in by fetching process, and the coordinate and angle of positioning have certain accuracy
It is required that.Existing Z-axis mechanism, which acts and picked and placeed the deviation caused in compatible system running, makes it can not complete efficiently to take
Put.
The content of the invention
The technical problems to be solved by the invention be overcome the deficiencies in the prior art there is provided one kind it is reasonable in design, positioning
The new structure of the accurate and high high-accuracy Z axis module of operating efficiency.
The technical solution adopted in the present invention is：The present invention includes Z axis linear motion module, the Z axis linear motion mould
Group includes Z axis linear electric motors and the line slideway pinboard being connected with the Z axis linear electric motors, the line slideway pinboard
On be provided with CCD camera module and R axle electric rotating machine modules, the CCD camera module is located at the R axles electric rotating machine module
One end, the lower end of the R axles electric rotating machine module is provided with several suction nozzle modules.
Further, the Z axis linear motion module also includes motor fixing seat, bearing rib, line slideway one, Z axis
Module fixed block and R axle installing plates, the motor fixing seat are arranged at the upper end of the R axle installing plates, the R axle installing plates
Upper end both sides are provided with the bearing rib and are connected with the motor fixing seat, symmetrical on the end face of the R axle installing plates
Two line slideways one are provided with, the Z axis module fixed block adaptation is installed between two line slideways one, institute
The upper end that line slideway pinboard is arranged at the Z axis module fixed block is stated, the Z axis linear electric motors are arranged at the motor and consolidated
The upper end of reservation, and the drive rod of the Z axis linear electric motors is connected through the motor fixing seat with the Z axis module fixed block
Connect.
Further, the CCD camera module includes camera, camera holding block, light source, camera holder, camera mounting blocks, light
Source fixed seat and camera reinforcement, the camera holder are arranged on the line slideway pinboard, and the camera mounting blocks are set
In on the camera holder, the camera is arranged on the camera mounting blocks, and between the camera and the camera mounting blocks
It is provided with the camera and holds block tightly, the light source fixed seat is arranged on the camera holder and under the camera mounting blocks
End, the light source is arranged at the lower end of the light source fixed seat, and the light source is located at the underface of the camera, the light source
The two ends of fixed seat are provided with the camera reinforcement being connected with the light source.
Further, the R axles electric rotating machine module includes R spindle motors, R spindle motors fixed seat, rotary fixing base, fixation
Side plate and support bar, the R spindle motors fixed seat are arranged on the line slideway pinboard, and the R spindle motors are arranged at institute
State in R spindle motor fixed seats, the upper end of the rotary fixing base is connected with the R spindle motors, under the rotary fixing base
End both sides are provided with the fixed side, and the support bar is arranged between two fixed sides, two fixations
Four suction nozzle modules are provided between side plate, the inner of each fixed side is respectively and fixedly provided with two suction nozzle moulds
Group.
Further, the suction nozzle module include suction nozzle motor, it is guide rail fixed plate, motor fixing plate, suction nozzle fixed seat, straight
Line guide rail two and suction nozzle, the suction nozzle motor are installed on the fixed side by the motor fixing plate, and the straight line is led
Rail two is installed on the fixed side by the guide rail fixed plate, and the suction nozzle fixed seat adaptation is installed on the straight line and led
On rail two, the drive rod of the suction nozzle motor is connected through the motor fixing plate with the suction nozzle fixed seat, the suction nozzle
Two suction nozzles are provided with fixed seat.
Further, the Z axis linear motion module also includes limit induction device installing plate and limit induction device, the R
The end face side of axle installing plate is provided with several limit induction device installing plates, and the limit induction device is arranged at the limit
On the inductor installing plate of position, and the limit induction device is located at one end of the line slideway one.
The beneficial effects of the invention are as follows：Because the present invention includes Z axis linear motion module, the Z axis linear motion module
On the line slideway pinboard being connected including Z axis linear electric motors and with the Z axis linear electric motors, the line slideway pinboard
CCD camera module and R axle electric rotating machine modules are provided with, the CCD camera module is located at the one of the R axles electric rotating machine module
End, the lower end of the R axles electric rotating machine module is provided with several suction nozzle modules, so the CCD camera mould in the present invention
Group is installed on the Z axis linear motion module jointly with the suction nozzle module and the R axles electric rotating machine module, in the Z
Axle linear motion module moves and entirely picked and placeed having between CCD camera module and the suction nozzle module described in action and fixes
Correlative positional relation, therefore by the CCD camera module carry out fine positioning obtain precision target coordinate can be with effective compensation
Pick and place the movement warp in action；The CCD camera module can be transported on Z axis linear motion module above and below progress simultaneously
It is dynamic, the focusing to different height made thing can be achieved, therefore can be compatible to different product or positioning height identification point；Inhaled described
Mouth module is arranged on the R axles electric rotating machine module, by the calculating of vision system, when the suction nozzle module draws product
Angle compensation is carried out, so that the angular deviation of compatible different product；The present invention has precision height, accurate positioning in summary.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the structural representation of Z axis linear motion module；
Fig. 4 is the rearview of Z axis linear motion module；
Fig. 5 is the structural representation of CCD camera module；
Fig. 6 is the side view of CCD camera module；
Fig. 7 is the structural representation of R axle electric rotating machine modules；
Fig. 8 is the front view of R axle electric rotating machine modules；
Fig. 9 is the structural representation of suction nozzle module.
Embodiment
As shown in Figures 1 to 9, in the present embodiment, the present invention includes Z axis linear motion module 1, the Z axis straight line fortune
Dynamic model group 1 includes Z axis linear electric motors 11 and the line slideway pinboard 12 being connected with the Z axis linear electric motors 11, described straight
CCD camera module 2 and R axle electric rotating machines module 3 are provided with line guide rail pinboard 12, the CCD camera module 2 is located at described
One end of R axle electric rotating machines module 3, the lower end of the R axles electric rotating machine module 3 is provided with four suction nozzle modules 4.
In the present embodiment, the Z axis linear motion module 1 is also led including motor fixing seat 13, bearing rib 14, straight line
Rail 1, Z axis module fixed block 16, R axle installing plates 17, limit induction device installing plate 18 and limit induction device 19, the motor
Fixed seat 13 is arranged at the upper end of the R axle installing plates 17, and the upper end both sides of the R axle installing plates 17 are provided with the support
Gusset 14 is connected with the motor fixing seat 13, and two straight lines are symmetrically arranged with the end face of the R axle installing plates 17
Guide rail 1, the adaptation of Z axis module fixed block 16 is installed between two line slideways 1, and the line slideway turns
Fishplate bar 12 is arranged at the upper end of the Z axis module fixed block 16, and the Z axis linear electric motors 11 are arranged at the motor fixing seat 13
Upper end, and the Z axis linear electric motors 11 drive rod pass through the motor fixing seat 13 and the phase of Z axis module fixed block 16
Connection, the end face side of the R axle installing plates 17 is provided with several limit induction device installing plates 18, the limit induction
Device 19 is arranged on the limit induction device installing plate 18, and the limit induction device 19 is located at the one of the line slideway 1
End.
In the present embodiment, the CCD camera module 2 include camera 21, camera hold tightly block 22, light source 23, camera holder 24,
Camera mounting blocks 25, light source fixed seat 26 and camera reinforcement 27, the camera holder 24 are arranged at the line slideway pinboard
On 12, the camera mounting blocks 25 are arranged on the camera holder 24, and the camera 21 is arranged on the camera mounting blocks 25,
And the camera holding block 22 is provided between the camera 21 and the camera mounting blocks 25, the light source fixed seat 26 is set
In on the camera holder 24 and positioned at the lower end of the camera mounting blocks 25, the light source 23 is arranged at the light source fixed seat 26
Lower end, and the light source 23 be located at the camera 21 underface, the two ends of the light source fixed seat 26 are provided with and institute
State the camera reinforcement 27 that light source 25 is connected.
In the present embodiment, the R axles electric rotating machine module 3 includes R spindle motors 31, R spindle motors fixed seat 32, rotation admittedly
Reservation 33, fixed side 34 and support bar 35, the R spindle motors fixed seat 32 are arranged on the line slideway pinboard 12,
The R spindle motors 31 are arranged in the R spindle motors fixed seat 32, the upper end of the rotary fixing base 33 and the R spindle motors
31 are connected, and the lower end both sides of the rotary fixing base 33 are provided with the fixed side 34, and the support bar 35 is arranged at
Between two fixed sides 34, four suction nozzle modules 4 are provided between two fixed sides 34, it is each described
The inner of fixed side 34 is respectively and fixedly provided with two suction nozzle modules 4.
In the present embodiment, the suction nozzle module 4 includes suction nozzle motor 41, guide rail fixed plate 42, motor fixing plate 43, suction
Mouth fixed seat 44, line slideway 2 45 and suction nozzle 46, the suction nozzle motor 41 are installed on described by the motor fixing plate 43
On fixed side 34, the line slideway 2 45 is installed on the fixed side 34 by the guide rail fixed plate 42, described
The adaptation of suction nozzle fixed seat 44 is installed on the line slideway 2 45, and the drive rod of the suction nozzle motor 41 is solid through the motor
Fixed board 43 is connected with the suction nozzle fixed seat 44, and two suction nozzles 46 are provided with the suction nozzle fixed seat 44.
In the present embodiment, the Z axis linear electric motors 11, the R spindle motors 31 and the suction nozzle motor 41 are miniature
Motor, ensures the perpendicularity and levelness of the suction nozzle module 4 using the excellent linearity of micromachine, so as to solve existing
The linearity of Z axis and the levelness of suction nozzle end face are difficult to ensure that in technology during cylinder moving, is caused in accurate automatic test
In equipment, Z axis stroke is not in place or the problems such as poor linearity.
In the present embodiment, the CCD camera module 2 and the suction nozzle module 4 and the R axles electric rotating machine module 3 are common
With being installed on the Z axis linear motion module 1, in Z axis linear motion module motion 1 and entirely pick and place described in action
There is fixed correlative positional relation between CCD camera module 2 and the suction nozzle module 4, therefore pass through the CCD camera mould
Group 2 carries out fine positioning acquisition precision target coordinate can pick and place the movement warp in action with effective compensation；While the CCD camera
Module 2 can be moved up and down on Z axis linear motion module 1, the focusing to different height made thing can be achieved, therefore
Can be compatible to different product or positioning height identification point, so as to solve existing Z-axis mechanism because of electronic product small volume, quality
The problem of coordinate for drawing product is accurate can not gently be ensured.
In the present embodiment, the suction nozzle module 4 is arranged on the R axles electric rotating machine module 3, passes through vision system
The calculating of i.e. described CCD camera module 2, angle compensation is carried out when the suction nozzle module 4 draws product, so that compatible different productions
The angular deviation of product, so that solving existing Z-axis mechanism acts and pick and place the deviation caused in compatible system running
Make the problem of it can not complete efficiently to pick and place.
In the present embodiment, four R spindle motors 31 are arranged on the R axles electric rotating machine module 3, and every
Two suction nozzles 46 are installed, this design can improve operating efficiency on the individual R spindle motors 31, compact conformation saves empty
Between；Other the design structure picks and places demand for electronic product, and being one group by four suction nozzles 46 is designed, but single
The suction nozzle 46 is independent control unit, can carry out repetitive extension, scene is picked and placeed applied to bulk article, so as to improve this hair
Bright operating efficiency and reduction time cost.
The present invention is applied to Electronic Testing, the technical field of semicon industry.
Although embodiments of the invention are described with practical solution, the limit to implication of the present invention is not constituted
System, for those skilled in the art, be all to the modification of its embodiment and with the combination of other schemes according to this specification
Obviously.
Claims (6)
1. a kind of new structure of high-accuracy Z axis module, including Z axis linear motion module（1）, the Z axis linear motion module
（1）Including Z axis linear electric motors（11）With with the Z axis linear electric motors（11）The line slideway pinboard being connected（12）, it is special
Levy and be：The line slideway pinboard（12）On be provided with CCD camera module（2）With R axle electric rotating machine modules（3）, it is described
CCD camera module（2）Positioned at the R axles electric rotating machine module（3）One end, the R axles electric rotating machine module（3）Lower end set
It is equipped with several suction nozzle modules（4）.
2. a kind of new structure of high-accuracy Z axis module according to claim 1, it is characterised in that：The Z axis straight line fortune
Dynamic model group（1）Also include motor fixing seat（13）, bearing rib（14）, line slideway one（15）, Z axis module fixed block（16）With
R axle installing plates（17）, the motor fixing seat（13）It is arranged at the R axle installing plates（17）Upper end, the R axle installing plates
（17）Upper end both sides be provided with the bearing rib（14）With the motor fixing seat（13）It is connected, the R axles are installed
Plate（17）End face on be symmetrically arranged with two line slideways one（15）, the Z axis module fixed block（16）Adaptation is installed
In two line slideways one（15）Between, the line slideway pinboard（12）It is arranged at the Z axis module fixed block
（16）Upper end, the Z axis linear electric motors（11）It is arranged at the motor fixing seat（13）Upper end, and the Z axis straight-line electric
Machine（11）Drive rod pass through the motor fixing seat（13）With the Z axis module fixed block（16）It is connected.
3. a kind of new structure of high-accuracy Z axis module according to claim 1, it is characterised in that：The CCD camera mould
Group（2）Including camera（21）, camera hold tightly block（22）, light source（23）, camera holder（24）, camera mounting blocks（25）, light source fixes
Seat（26）With camera reinforcement（27）, the camera holder（24）It is arranged at the line slideway pinboard（12）On, the camera
Mounting blocks（25）It is arranged at the camera holder（24）On, the camera（21）It is arranged at the camera mounting blocks（25）On, and institute
State camera（21）With the camera mounting blocks（25）Between be provided with the camera and hold block tightly（22）, the light source fixed seat（26）
It is arranged at the camera holder（24）Above and positioned at the camera mounting blocks（25）Lower end, the light source（23）It is arranged at the light
Source fixed seat（26）Lower end, and the light source（23）Positioned at the camera（21）Underface, the light source fixed seat（26）
Two ends be provided with and the light source（25）The camera reinforcement being connected（27）.
4. a kind of new structure of high-accuracy Z axis module according to claim 1, it is characterised in that：The R axles electric rotating
Machine module（3）Including R spindle motors（31）, R spindle motor fixed seats（32）, rotary fixing base（33）, fixed side（34）And support
Bar（35）, the R spindle motors fixed seat（32）It is arranged at the line slideway pinboard（12）On, the R spindle motors（31）If
It is placed in the R spindle motors fixed seat（32）On, the rotary fixing base（33）Upper end and the R spindle motors（31）It is connected,
The rotary fixing base（33）Lower end both sides be provided with the fixed side（34）, the support bar（35）It is arranged at two
The fixed side（34）Between, two fixed sides（34）Between be provided with four suction nozzle modules（4）, Mei Gesuo
State fixed side（34）The inner be respectively and fixedly provided with two suction nozzle modules（4）.
5. a kind of new structure of high-accuracy Z axis module according to claim 4, it is characterised in that：The suction nozzle module
（4）Including suction nozzle motor（41）, guide rail fixed plate（42）, motor fixing plate（43）, suction nozzle fixed seat（44）, line slideway two
（45）And suction nozzle（46）, the suction nozzle motor（41）Pass through the motor fixing plate（43）It is installed on the fixed side（34）
On, the line slideway two（45）Pass through the guide rail fixed plate（42）It is installed on the fixed side（34）On, the suction nozzle
Fixed seat（44）Adaptation is installed on the line slideway two（45）On, the suction nozzle motor（41）Drive rod pass through the motor
Fixed plate（43）With the suction nozzle fixed seat（44）It is connected, the suction nozzle fixed seat（44）On be provided with two suction nozzles
（46）.
6. a kind of new structure of high-accuracy Z axis module according to claim 2, it is characterised in that：The Z axis straight line fortune
Dynamic model group（1）Also include limit induction device installing plate（18）With limit induction device（19）, the R axle installing plates（17）End face one
Side is provided with several limit induction device installing plates（18）, the limit induction device（19）It is arranged at the limit induction device
Installing plate（18）On, and the limit induction device（19）Positioned at the line slideway one（15）One end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641099.7A CN107322581A (en) | 2017-07-31 | 2017-07-31 | A kind of new structure of high-accuracy Z axis module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641099.7A CN107322581A (en) | 2017-07-31 | 2017-07-31 | A kind of new structure of high-accuracy Z axis module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322581A true CN107322581A (en) | 2017-11-07 |
Family
ID=60227018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710641099.7A Pending CN107322581A (en) | 2017-07-31 | 2017-07-31 | A kind of new structure of high-accuracy Z axis module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322581A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337872A (en) * | 2018-03-22 | 2018-07-27 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision minitype suction nozzle module and its design method |
| CN110238818A (en) * | 2019-06-28 | 2019-09-17 | 珠海达明科技有限公司 | A kind of high-accuracy Z axis mould group that camera picks and places |
| CN112894862A (en) * | 2021-03-15 | 2021-06-04 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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| CN104646996A (en) * | 2015-02-27 | 2015-05-27 | 苏州博众精工科技有限公司 | Suction nozzle and pressing claw mechanism capable of moving in Z-axis direction |
| CN105197584A (en) * | 2015-07-10 | 2015-12-30 | 上海微松工业自动化有限公司 | Automatic feeding device with robots |
| CN207139801U (en) * | 2017-07-31 | 2018-03-27 | 珠海市运泰利自动化设备有限公司 | A kind of new structure of high-accuracy Z axis module |
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| JP2002009486A (en) * | 2000-06-21 | 2002-01-11 | Matsushita Electric Ind Co Ltd | Mounting device for electronic part |
| JP2010219306A (en) * | 2009-03-17 | 2010-09-30 | Samsung Techwin Co Ltd | Electronic component mounting apparatus and nozzle drive control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337872A (en) * | 2018-03-22 | 2018-07-27 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision minitype suction nozzle module and its design method |
| CN108337872B (en) * | 2018-03-22 | 2024-02-13 | 珠海市运泰利自动化设备有限公司 | High-precision miniature suction nozzle module and design method thereof |
| CN110238818A (en) * | 2019-06-28 | 2019-09-17 | 珠海达明科技有限公司 | A kind of high-accuracy Z axis mould group that camera picks and places |
| CN112894862A (en) * | 2021-03-15 | 2021-06-04 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
| CN112894862B (en) * | 2021-03-15 | 2024-05-14 | 宁波环甬润保涂层科技有限公司 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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Application publication date: 20171107 |
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