CN108300971A - vacuum coating production line - Google Patents
vacuum coating production line Download PDFInfo
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- CN108300971A CN108300971A CN201810396260.3A CN201810396260A CN108300971A CN 108300971 A CN108300971 A CN 108300971A CN 201810396260 A CN201810396260 A CN 201810396260A CN 108300971 A CN108300971 A CN 108300971A
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- Prior art keywords
- pallet
- arm
- main shaft
- workpiece
- production line
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C14/00—Coating by vacuum evaporation, by sputtering or by ion implantation of the coating forming material
- C23C14/0021—Reactive sputtering or evaporation
- C23C14/0036—Reactive sputtering
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C14/00—Coating by vacuum evaporation, by sputtering or by ion implantation of the coating forming material
- C23C14/22—Coating by vacuum evaporation, by sputtering or by ion implantation of the coating forming material characterised by the process of coating
- C23C14/34—Sputtering
- C23C14/35—Sputtering by application of a magnetic field, e.g. magnetron sputtering
- C23C14/352—Sputtering by application of a magnetic field, e.g. magnetron sputtering using more than one target
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C14/00—Coating by vacuum evaporation, by sputtering or by ion implantation of the coating forming material
- C23C14/22—Coating by vacuum evaporation, by sputtering or by ion implantation of the coating forming material characterised by the process of coating
- C23C14/50—Substrate holders
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Physical Vapour Deposition (AREA)
Abstract
The present invention provides vacuum coating production lines, including PVD Tumble-plating devices, outdoor robot and shelf area, PVD Tumble-plating devices include coating chamber and canyon, outdoor robot, which can integrate, carries workpiece and operation PVD two kinds of functions of Tumble-plating device, intelligence degree is high, and reducing robot type and quantity during realization is intelligentized, cost is lower.Moreover, the workpiece to small size is no longer needed to make fixture or hanger in PVD Tumble-plating devices, also no longer needs to carry out clamping to small size workpiece, directly a large amount of small size workpiece can be placed in pallet and carry out vacuum coating, it is not only at low cost but also efficient.
Description
Technical field
The present invention relates to plated film fields, in particular to vacuum coating production line.
Background technology
To change the surface characteristic, such as color, anti-corrosive properties etc. of workpiece, the surface of workpiece is needed to make film layer.PVD
(Physical Vapor Deposition)-physical vapour deposition (PVD) refers to and realizes that substance shifts using physical process, by atom or
Molecule is transferred to the process on substrate surface by source, its effect be can make it is certain have specific characteristics can (intensity height, wearability,
Thermal diffusivity, rotproofness etc.) particle be sprayed on the lower parent of performance so that parent have better performance.PVD is because needing
It makes under vacuum, therefore also referred to as vacuum coating.In vacuum coating industry, in the prior art, workpiece mainly passes through folder
Tool or hanger load, and useful load is little, and cost is higher.For small-sized part, due to the external surface area mistake of parts
It is small, it is difficult to be loaded with fixture or hanger.Even some outer surface comparison rules or workpiece have the hole convenient for suspension just
Miniature workpiece, these miniature parts of carry are also very time-consuming one by one in coating chamber, cause workpiece load with take out efficiency pole
It is low.
In addition, the existing fields PVD, coating machine and workpiece handling are mostly manual operations, automation is insufficient.
Invention content
For overcome the deficiencies in the prior art, the present invention provides vacuum coating production lines, are asked for solving aforementioned techniques
At least one of topic.
Specifically, its technical solution is as follows：
A kind of vacuum coating production line, including PVD Tumble-plating devices, outdoor robot and shelf area, the outdoor robot
Including robot body, wheel group, navigation arrangement and bionic arm component, the robot body is in body structure, the machinery
Arm component includes the first bionic arm and second bionic arm, and first bionic arm and second bionic arm are set
It sets at the top of the robot body, the front-end configuration of first bionic arm has the first manipulator, and described second is bionical
The front-end configuration of arm has the second manipulator；
The PVD Tumble-plating devices include coating chamber, and magnetic control target assembly, the first pallet, second are provided in the coating chamber
Pallet, mechanical arm, main shaft and multiple lower lifting support columns, first pallet and second pallet are configured to mutually buckle
Merge locking, first pallet is detachably connected with the main shaft and can be with the main axis, the tail end of the mechanical arm
It is fixed on the side wall of the coating chamber, the head end of the mechanical arm is configured to pick up and move first pallet and institute
State the second pallet；
It is configured that first pallet can be placed at the top of the robot body.
In a preferred embodiment, the navigation arrangement includes multiple obstacles for being distributed in the robot body surrounding
Radar.
In a preferred embodiment, first bionic arm and second bionic arm respectively include sequentially hinged
Multiple arm monomers, be provided between the adjacent arm monomer for make being capable of phase between the adjacent arm monomer
To the servo motor of rotation, when servo motor starts, rotor drive one in the adjacent arm monomer relative to
Another is rotated, and is provided with self-locking mechanism on the output shaft of servo motor so that when servo motor is stopped, adjacent is described
It is kept fixed between arm monomer.
In a preferred embodiment, the PVD Tumble-plating devices further include canyon, the coating chamber and the canyon
Between be isolated by partition board, the main shaft that the coating chamber is extended to from the canyon, the canyon are equipped on the partition board
It is inside provided with device of rotation driving, the main shaft is configured to being rotated by the device of rotation driving；
Also there is upper translation platform in the coating chamber, rise descending branch dagger, the lower lifting support column setting described
The bottom of coating chamber simultaneously is configured to stretch vertically, and the magnetic control target assembly includes target case and the bottom surface by the target case
The multiple targets stretched out are fixed on the rising descending branch dagger at the top of the target case, and the rising descending branch dagger is fixed on
The upper translation platform, the upper translation platform are fixed on the top of the coating chamber.
In a preferred embodiment, the canyon is provided with L-type support frame, and the L-type support frame includes horizontal segment
And vertical section, the horizontal segment are fixed on the partition board, the main shaft is rotationally threaded through in the vertical section.
In a preferred embodiment, the main shaft has counterweight ring positioned at the indoor one end of the equipment.
In a preferred embodiment, the counterweight ring is coaxially fixed on the main shaft, the peripheral surface of the counterweight ring
Several demarcation pieces are provided with, are fixed in the vertical section for photoelectric sensor, the photoelectric sensor and the calibration
Piece coordinates to detect the rotational angle of the main shaft.
In a preferred embodiment, the mechanical arm includes multiple sequentially hinged cradle heads, adjacent described turn
Engaging portion between movable joint is provided with the servo motor for enabling the adjacent cradle head to relatively rotate；
It is also equipped with servo motor between the cradle head and the side wall of the coating chamber of tail end, makes to be located at tail
The cradle head at end can rotate relative to the coating chamber.
In a preferred embodiment, first pallet has locked groove, and the locked groove includes the straight slot being linked together
And trench segment, the end peripheral surface of the main shaft are symmetrically provided with lock pillar, the lock pillar enters the ditch from the straight slot
First pallet described in when slot section is removably joined together with the main shaft.
In a preferred embodiment, the front of first pallet is crowning, and the front of second pallet is recessed
The face of falling into, when first pallet and second pallet snap together, the crowning and the concave face are in outer edge
Mutually abut；
It is provided with quick-locking device between first pallet and second pallet.
The present invention at least has the advantages that：
The vacuum coating production line includes that PVD Tumble-plating devices, outdoor robot and shelf area, outdoor robot include machine
Human body, wheel group, navigation arrangement and bionic arm component, robot body are in body structure, and robot assemblies include first imitative
Green hand's arm and the second bionic arm, the first bionic arm and the second bionic arm are arranged imitative at the top of robot body, first
The front-end configuration of green hand's arm has the first manipulator, the front-end configuration of the second bionic arm to have the second manipulator, robot body
Top is configured that the first pallet can be placed.Outdoor robot, which can collect, as a result, carries two kinds of workpiece and operation PVD Tumble-plating devices
For function in one, intelligence degree is high, and reduces robot type and quantity during realization is intelligentized, and cost is more
It is low.
And in coating chamber, the workpiece of multiple small sizes can be placed on to the first pallet and carry out first time Vacuum Deposition
Then second pallet can be fastened on the first pallet by film using mechanical arm, clamp between the first pallet and the second pallet
Workpiece, after main axis makes the first pallet and the second pallet exchange position up and down, workpiece is located in the second pallet, and workpiece it
Preceding lower surface becomes upper surface, after taking the first pallet away using mechanical arm, carries out plated film to workpiece again, workpiece can be made to obtain
The surface PVD layer that must be completed.Compared with prior art, it is no longer necessary to make fixture or hanger to the workpiece of small size, also not
It needs to carry out clamping to small size workpiece again, directly a large amount of small size workpiece can be placed in pallet and carry out vacuum coating,
It is not only at low cost but also efficient so that PVD Tumble-plating devices provided by the invention and method are on the whole compared with the existing technology
With significant progress.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the schematic diagram of vacuum coating production line in the embodiment of the present invention 1；
Fig. 2 is the oblique view of transfer robot in the embodiment of the present invention 1
Fig. 3 is the first status diagram in PVD Tumble-plating devices in the embodiment of the present invention 1；
Fig. 4 is second of status diagram in PVD Tumble-plating devices in the embodiment of the present invention 1；
Fig. 5 is the third status diagram in PVD Tumble-plating devices in the embodiment of the present invention 1；
Fig. 6 is the 4th kind of status diagram in PVD Tumble-plating devices in the embodiment of the present invention 1；
Fig. 7 is the connection diagram of the first pallet and main shaft in the embodiment of the present invention 1；
Fig. 8 is the oblique view of the first manipulator in the embodiment of the present invention 1；
Fig. 9 is the explosive view of the first manipulator in the embodiment of the present invention 1；
Figure 10 is the structural schematic diagram in PVD Tumble-plating devices in the embodiment of the present invention 2.
Main element symbol description：
1-PVD Tumble-plating devices；2- coating chambers；3- partition boards；31- robot bodies；32- wheel groups；34- obstacle radars；35-
One bionic arm；The second bionic arms of 36-；The first manipulators of 1000-；The second manipulators of 2000-；351- First arm monomers；
Arm monomer in 352- first；353- the first tail arm monomers；The first arm monomers of 361- second；Arm monomer in 362- second；363- thirds
Tail arm monomer；4- canyons；5- rises descending branch dagger；The first pallets of 6-；61- locating slots；62- connecting shafts；63- locked grooves；7-
Two pallets；8-L type supporting racks；9- main shafts；91- lock pillars；10- counterweight rings；11- driving motors；12- gear drives；Under 13-
Lift support column；14- target casees；16- targets；17- mechanical arms；18- photoelectric sensors；19- demarcation pieces；20- electromagnetic assemblies；
25- handles；3000- third manipulators；1100- installation pedestals；1110- base enclosures；1120- backboards；1130- side plates；The bottoms 1140-
Plate；1200- clamp drive mechanisms；The first sliding blocks of 1310-；The second sliding blocks of 1320-；1410- first clamping plates；1420- second clamping plates；
Gap is clamped in 1510- first；Gap is clamped in 1520- second；Gap is clamped in 1530- thirds；The first fixed seats of 1610-；1620-
Two fixed seats；The front ends 1700- camera；1800- through slots；1900- columns.
Specific implementation mode
Hereinafter, various embodiments of the present invention will be described more fully.The present invention can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that：There is no various embodiments of the present invention are limited to spy disclosed herein
Determine the intention of embodiment, but should invention is construed as cover to fall into the spirit and scope of various embodiments of the present invention
All adjustment, equivalent and/or alternative.
The term used in various embodiments of the present invention is used only for the purpose of describing specific embodiments and not anticipates
In limitation various embodiments of the present invention.As used herein, singulative is intended to also include plural form, unless context is clear
Chu it is indicated otherwise.Unless otherwise defined, otherwise all terms (including technical terms and scientific terms) used herein have
There is meaning identical with the normally understood meaning of various embodiments of the present invention one skilled in the art.The term
(term such as limited in the dictionary generally used) is to be interpreted as having and situational meaning in the related technical field
Identical meaning and the meaning that Utopian meaning or too formal will be interpreted as having, unless in the various of the present invention
It is clearly defined in embodiment.
Embodiment 1
As shown in Figure 1, present embodiments providing a kind of vacuum coating production line comprising PVD Tumble-plating devices 1, outdoor unit
Device people and shelf area (not shown).
Outdoor robot as one preferred, as shown in Fig. 2, outdoor robot include robot body 31, wheel group 32,
Navigation arrangement and robot assemblies, robot body 31 are in body structure, and robot assemblies include the first bionic arm 35 and the
Two bionic arms 36, the first bionic arm 35 and the second bionic arm 36 are arranged bionical at the top of robot body 31, first
The front-end configuration of arm 35 has the first manipulator 1000, the front-end configuration of the second bionic arm 36 to have the second manipulator 2000.When
Outdoor machine man-hour, the first bionic arm 35, the first manipulator 1000, the second bionic arm 36 and the second manipulator 2000
Both hands and the both arms work for simulating people, to be clamped, move the first pallet 6.Navigation arrangement as one preferred comprising setting
In the multiple obstacle radars 34 and laser or vision positioning module of 31 surrounding of robot body (especially edges and corners).
Wherein, the first bionic arm 35 includes sequentially arm monomer 352 and the in hinged First arm monomer 351, first
One tail arm monomer 353, the first arm monomer 351 vertical and hinged (pivot center is vertically) are arranged in robot body 31
Top, the first manipulator 1000 be arranged on the first tail arm monomer 353.Second bionic arm 36 includes sequentially hinged second
Arm monomer 362 and the second tail arm monomer 363 in first arm monomer 361, second, 361 vertical and hinged (rotation axis of the second arm monomer
Line is vertically) it is arranged at the top of robot body 31, the second manipulator 2000 is arranged on the second tail arm monomer 363.
Engaging portion in First arm monomer 351, first between arm monomer 352 and the first tail arm monomer 353 is provided with adjacent for making
The servo motor that can relatively rotate of monomer, when servo motor starts, rotor drives a phase in adjacent monomer
For another rotation.Preferably, it is provided with self-locking mechanism on the output shaft of servo motor so that servo motor is stopped
When, it is kept fixed between adjacent monomer.
As a result, outdoor robot can either both arms cooperation replace manual operation PVD Tumble-plating devices, and carrying workpiece can be played
Effect, can integrate and carry workpiece and operation PVD two kinds of functions of Tumble-plating device, intelligence degree is high, and is realizing
Reduce robot type and quantity during intelligentized, cost is lower.
PVD Tumble-plating devices 1 in the present embodiment can be used for preparing PVD decorative coveringns on small size workpiece surface, wherein
It is particularly suitable for the small size workpiece in the fields such as electronic product, toy, high-end pipeline, for example, small size workpiece can be button.
Compared with prior art, it is no longer necessary to make fixture or hanger to the workpiece of small size, also no longer need to small size workpiece
Clamping is carried out, directly a large amount of small size workpiece can be placed in pallet and carry out vacuum coating, it is not only at low cost, but also efficiency
It is high so that PVD Tumble-plating devices 1 provided by the invention and method have significant progress compared with the existing technology on the whole.
Specifically, also referring to 3- Fig. 6, which includes coating chamber 2 and canyon 4, coating chamber 2 and is set
It is isolated by partition board 3 between standby room 4, the main shaft 9 for extending to coating chamber 2 from canyon 4 is equipped on partition board 3, is arranged in canyon 4
There are device of rotation driving, main shaft 9 to be configured to being rotated by device of rotation driving.Rotation as one preferred is driven
Dynamic device comprising the output shaft of driving motor 11, driving motor 11 is connect by gear traditional mechanism 12 with spindle drive.
Wherein, coating chamber 2 is the main body of PVD Tumble-plating devices 1, internal (not show in figure configured with device for vacuum generation
Go out), device for vacuum generation is used to generate vacuum environment in coating chamber 2 so that the coating of workpiece surface can be in vacuum condition
In workpiece surface, device for vacuum generation includes vacuum pump outside coating chamber 2 and stretches into the pumping of coating chamber 2 lower physical vapour deposition (PVD)
Air pipe.Correspondingly, the configuration of coating chamber 2 in the present embodiment has family a (not shown) to open and close coating chamber 2, just
In placement, takes out workpiece and coating chamber 2 is safeguarded.
As shown in Figure 1, being provided with translation platform in coating chamber 2, rising descending branch dagger, magnetic control target assembly, the first pallet
6, the second pallet 7, mechanical arm 17 and multiple lower lifting support columns 13.Wherein, the first pallet 6 and the second pallet 7 are plate-like knots
Structure, such as square disk-like structure, the first pallet 6 and the second pallet 7 are configured to mutually fasten and lock.
The front of fastening locking mode as one preferred, the first pallet 6 is crowning, and the front of the second pallet 7 is
When concave face, the first pallet 6 and the second pallet 7 snap together, crowning and concave face are mutually abutted in outer edge.This
When, workpiece is then clamped in the gap between the front of the first pallet 6 and the front of the second pallet 7.
In the present embodiment, quick-locking device is provided between the first pallet 6 and the second pallet 7.As a result, when the first pallet
6 and second pallet 7 and when clamping workpiece, can quick locking the first pallet 6 and the second pallet 7, prevent the first pallet 6 and second
Workpiece turning between the two is detached and prevented both when pallet 7 rotates upwardly and downwardly.
Quick-locking device as one preferred, be embedded in it is multiple in the first pallet 6 and/or the second pallet 7
Magnet (not shown), when the first pallet 6 and the second pallet 7 close to when, fit closely both under the magnetic force.Magnet
Work can be generated in the state of non-contact, even if the size of workpiece changes so that the front of the first pallet 6 and second
Gap length between the front of pallet 7 changes, and magnet can be still applicable in.
It is made of a good sheet metal of elasticity for quickly folder as another preferred quick-locking device, including
U-shaped bending part, pipe clamp portion and opening portion, U-shaped bending part are flexible bending part in the middle part of steel disc；Pipe clamp portion is rolled over by U-shaped
Two arc-shaped intermediate plates made of turn of bilge extends to both ends；An elongated slot is respectively provided in the middle part of two intermediate plates, respectively one end of the elongated slot
U-shaped bending part is extended to, the other end extends to opening portion, and each intermediate plate is divided into upper clip and lower clamping piece by each elongated slot；Two intermediate plate phases
To setting, a cylindrical space is respectively formed between two lower clamping pieces between two upper clips；Opening portion is divided by the end of two intermediate plates
Not turned-out flue.Correspondingly, the back of the first pallet 6 and the second pallet 7 is respectively arranged with the arc coordinated with elongated slot
Item, when arc strip is located in elongated slot, the first pallet 6 and the second pallet 7 are clamped.Due to quickly press from both sides can flexible deformation, even if
The size of workpiece changes so that the gap length between the front of the first pallet 6 and the front of the second pallet 7 changes,
Quickly folder can be still applicable in.
Preferably, as shown in fig. 7, the front of the first pallet 6 has multiple locating slots 61 for placing workpiece, due to fixed
The positioning action of position slot 61 can prevent workpiece from rolling when workpiece is clamped between the first pallet 6 and the second pallet 7
Dynamic or sliding.
In the present embodiment, the first pallet 6 is detachably connected and can be rotated with main shaft 9 with main shaft 9.It is as one preferred can
The end of dismantling connection mode, the first pallet 6 is extended with connector sleeve 62, and it includes connecting to have locked groove 63, locked groove 63 on connector sleeve 62
The end peripheral surface of the straight slot and trench segment being integrated, main shaft 9 is symmetrically provided with lock pillar 91, and lock pillar 91 enters from straight slot
The first pallet 6 is removably joined together with main shaft 9 when trench segment.At this point, a part for main shaft 9 is set in connector sleeve 62
Interior, lock pillar 91 is limited in trench segment, when main shaft 9 rotates, drives the rotation of the first pallet 6, when the first pallet 6 rotates
When 180 degree, the first pallet 6 is located at the surface of the second pallet 7, i.e. the first pallet 6 and the second about 7 pallet exchange position.
In the present embodiment, the tail end of mechanical arm 17 is fixed on the side wall of coating chamber 2, and the head end of mechanical arm 17 is configured to
It enough picks up and moves the first pallet 6 and the second pallet 7.Mechanical arm 17 as one preferred, mechanical arm 17 include it is multiple sequentially
Hinged cradle head, illustratively, as shown in Fig. 2, the quantity of cradle head is 4.Knot between adjacent cradle head
Conjunction portion is provided with the servo motor for enabling adjacent cradle head to relatively rotate, when servo motor starts, rotor
One in adjacent cradle head is driven to be rotated relative to another.Preferably, it is provided on the output shaft of servo motor certainly
Latch mechanism so that when servo motor is stopped, be kept fixed between adjacent cradle head.
In the present embodiment, the cradle head of 17 head end of mechanical arm is provided with electromagnetic assembly 20, the back of the first pallet 6
And second the back of pallet 7 be provided with ferromagnetic section, can back electromagnetic assembly 20 coordinate with ferromagnetic section so that mechanical arm
17 can capture, move the first pallet 6 and the second pallet 7.In another way, the back of the first pallet 6 and the second pallet 7
Back integrally be made of ferromagnetic material so that mechanical arm 17 can be from the back of the first pallet 6 and the back of the second pallet 7
Any position fix and capture, move.
It is preferably located between the cradle head of tail end and the side wall of coating chamber 2 and is also equipped with servo motor, make to be located at tail
The cradle head at end can rotate relative to coating chamber 2.Preferably, it is provided with self-locking mechanism on the output shaft of servo motor, made
Servo motor when being stopped, be kept fixed between adjacent cradle head.
In the present embodiment, magnetic control target assembly includes multiple targets of target case 145 and the bottom surface stretching by target case 145
16.When power is initiated, electronics accelerates to collide with ar atmo during flying to workpiece under the action of electric field, ionizes out
A large amount of argon ion and electronics, electronics fly to workpiece, and argon ion accelerates to bombard target 16 under the action of electric field, sputters a large amount of
16 atom of target, target atom (or molecule) is deposited on outer surface of workpiece and forms film layer, and the frequency range of sputtering voltage is in 30
~60KHz ranges.
Correspondingly, at least one set of supply air line (not shown) is additionally provided in coating chamber 2, for providing magnetron sputtering
Working gas needed for plated film, such as argon gas.Preferably, supply air line further includes the pipeline for providing oxygen, for making from target
The ion and oxygen of 16 volatilizations, which react after forming oxide, is deposited on workpiece surface, plays anti-corrosion, coloring and other effects.
In the present embodiment, the top of target case 145, which is fixed on, rises descending branch dagger, rises descending branch dagger and is fixed on translation
Platform (not shown), upper translation platform are fixed on the top of coating chamber 2.Wherein, rise descending branch dagger and be internally provided with liquid
Pressure driving or electric cylinders driving or linear motor driving rise descending branch when the top of target case 145, which is fixed on, rises descending branch dagger
Dagger can drive 145 oscilaltion of target case.Upper translation platform, is two-stage platform, and first order platform is lifted on coating chamber 2
Top, second level platform is lifted on first order platform, and the moving direction of first order platform and second level platform is vertical, first
The concrete structure of grade platform and second level platform can refer to CN200780005282.2 or other embodiment, in the present embodiment not
Further describe.
It is fixed on due to the top of target case 145 and rises descending branch dagger, and rising descending branch dagger is fixed on to translate and put down
Platform so that magnetic control target assembly can not only lift, but also can translate, thus in plated film, target 16 can move up and down or since
The mode of flyback retrace can adjust target 16 at a distance from workpiece in this way, and lead under the premise of not increasing by 16 quantity of target
It crosses and moves the sputtering range that the mode of target case 145 makes the workpiece in the first pallet 6 and the second pallet 7 that can be located at target 16
It is interior.
Moreover, because the top of target case 145, which is fixed on, rises descending branch dagger, and rising descending branch dagger is fixed on and puts down
Move platform so that when the crawl of mechanical arm 17, mobile first pallet 6 or the second pallet 7, target case 145 can accordingly be moved to rise
Go out space, convenient for minimizing coating chamber 2.
In the present embodiment, the quantity of lower lifting support column 13 is multiple, such as four, six or eight, lower lifting supports
Column 13 is arranged in the bottom of coating chamber 2 and is configured to flexible vertically.Specifically, lower lifting support column 13 is internally provided with liquid
Pressure driving or electric cylinders driving or linear motor driving, to realize lifting.
Preferably, canyon 4 is provided with L-type support frame 8, and L-type support frame 8 includes horizontal segment and vertical section, and horizontal segment is solid
Due to partition board 3, main shaft 9 is rotationally threaded through in vertical section.Due to being provided with L-type support frame 8, main shaft 9 can be auxiliarily fixed,
Keep main shaft 9 more stable, and since the horizontal segment of L-type support frame 8 is fixed on partition board 3, the bottom wall of canyon 4 is fixed on supporting rack
Or side wall is compared, and the occupancy of the important spaces such as the bottom of canyon 4 can be avoided, and improves space utilization efficiency.
Preferably, main shaft 9 has counterweight ring 10 in one end in canyon 4.As a result, when main shaft 9 and the first pallet 6
When connection, the setting for configuring ring avoids the serious energy imbalance of 9 both ends of main shaft appearance, avoids the drive mechanism on main shaft 9
Premature breakdown.
Preferably, counterweight ring 10 is coaxially fixed on main shaft 9, and the peripheral surface of counterweight ring 10 is provided with several demarcation pieces
19, it is fixed in vertical section for photoelectric sensor 18, photoelectric sensor 18 coordinates with demarcation piece 19 to detect the rotation of main shaft 9
Angle.Compared with existing angle measurement unit (such as code-disc), detected using photoelectric sensor 18 to mark in example the present embodiment
For stator 19 to detect the rotational angle of main shaft 9, structure is more simple and reliable, is hardly damaged, cost is lower.
In the present embodiment, the first manipulator 1000, the structure composition of the second manipulator 2000 are preferably identical, in order to safeguard
And reduce control difficulty.As shown in Figure 8, Figure 9, by taking the first manipulator 1000 as an example, installation pedestal 1100 as one preferred,
It includes base enclosure 1110, backboard 1120 and side plate 1130.The main body of base enclosure 1110 is U-shaped structure, when clamp drive mechanism 1200
When being arranged in installation pedestal 1100, base enclosure 1110 can cover on clamp drive mechanism 1200, the surface of left, lower three sides.The back of the body
Plate 1120 is arranged at the back of base enclosure 1110, and the side for the side that is open in base enclosure 1110 is arranged in side plate 1130, and base enclosure 1110 is just
Face is provided with opening, is stretched out for the output end for clamp drive mechanism 1200.
In the present embodiment, clamp drive mechanism 1200 is for providing the power that each clamping plate moves along a straight line.As one kind
Preferred clamp drive mechanism 1200, clamp drive mechanism 1200 include electric cylinders, and the primary structure of electric cylinders includes driving motor, passes
Motivation structure, the linear guide and sliding block.Wherein, driving motor is preferably servo motor or stepper motor, due to using servo motor
Or driving motor of the stepper motor as electric cylinders, the output quantity of driving motor, such as turn of motor output shaft can be accurately controlled
Dynamic angle, and then accurately control the displacement of sliding block.Wherein, transmission mechanism is preferably leading screw or tooth band, their input terminal with
Gear engagement in driving motor output shaft, their output end linear movement output.Slide sliding block and transmission mechanism in the block
Output end connects, it is thus possible to move along a straight line.Sliding sliding block in the block is arranged in the linear guide so that sliding block is in the linear guide
Limitation under can only linearly move.
Preferably, the quantity of clamping plate is two, is first clamping plate 1410 and second clamping plate 1420 respectively, and sliding block includes first
Sliding block 1310 and the second sliding block 1320.Wherein, first clamping plate 1410 is fixed on the first sliding block 1310, and second clamping plate 1420 is fixed
On the second sliding block 1320, the shape of first clamping plate 1410 and second clamping plate 1420 matches, for example, therebetween have it is rectangular,
The gap of the shapes such as arc can form therebetween clamping when mutually closing up for first clamping plate 1410 and second clamping plate 1420
Gap.
Preferably, the first fixed seat 1610 is fixedly connected in first clamping plate 1410, the first fixed seat 1610 and first is slided
It is fixedly connected by fasteners such as bolts between block 1310.It is fixedly connected with the second fixed seat 1620 in second clamping plate 1420, second
It is fixedly connected by fasteners such as bolts between fixed seat 1620 and the second sliding block 1320.
Further preferably, the quantity that gap is clamped be it is multiple, multiple clamping gaps edges from the one end of clamping plate far from sliding block to
It is respectively set close to one end of sliding block.Further preferably, it is interconnected between adjacent clamping gap.Thereby, it is possible to same
Manipulator can adapt to the clamping work of the base material of sizes, and compared with finger type manipulator, and the structure of manipulator is more
It is simple and reliable.
Further preferably, clamping gap includes that the first clamping gap 1510, second is clamped between gap 1520 and third clamping
Gap 1530.Wherein, the first clamping gap 1510 is formed by one end of the separate sliding block of first clamping plate 1410 and second clamping plate 1420,
In the first clamping gap 1510, the mating surface of first clamping plate 1410 and second clamping plate 1420 and base material 2 or other parts to be held
The plane being mutually parallel for a pair.
Further preferably, the one end of first clamping plate 1410 and second clamping plate 1420 far from sliding block all has a protrusion, the
One clamping gap 1510 is formed by plane opposite between protrusion.By separate sliding in first clamping plate 1410 and second clamping plate 1420
One end setting protrusion of block, can not only play the role of forming the first clamping gap 1510, additionally it is possible to anthropomorphic using embossed mould
Finger such as executes pressing, stirs, twists at the actions.
Wherein, one end shape close to sliding block of the gap 1530 by first clamping plate 1410 and second clamping plate 1420 is clamped in third
At, in third clamping gap 1530, the cooperation of first clamping plate 1410 and second clamping plate 1420 and base material 2 or other parts to be held
Face is a pair of plane being mutually parallel.
Further preferably, in third clamping gap 1530, first clamping plate 1410 and second clamping plate 1420 and base material 2 or its
Spacing between the mating surface of its part to be held is more than first clamping plate 1410 and second clamping plate 1420 in the first clamping gap 1510
With the spacing between the mating surface of base material 2 or other parts to be held.Thus, it is possible to utilize first clamping plate 1410 and second clamping plate
1420 root clamping needs the base material 2 of larger chucking power or other parts to be held.
It should be noted that in the present embodiment, in the first clamping gap 1510 and in third clamping gap 1530, the
Spacing between the mating surface of one clamping plate 1410 and second clamping plate 1420 and base material 2 or other parts to be held refers to first clamping plate
1410 with the contact surface of the contact surface of base material 2 or other parts to be held to second clamping plate 1420 and base material 2 or other parts to be held
Distance.
Wherein, the second clamping gap 1520 is located at the first clamping gap 1510 and third is clamped between gap 1530 and difference
Gap 1530 is clamped in the first clamping gap 1510 of connection and third, in the second clamping gap 1520, first clamping plate 1410 and the
Second splint 1420 includes that gap 1510 is clamped to third along from first in a pair of of spacing with the mating surface of base material 2 or other parts to be held
Clamping 1530 direction of the gap plane that gradually increased inclined-plane, a pair are mutually parallel and a pair of of cambered surface.
It should be noted that in the present embodiment, in the second clamping gap 1520, inclined-plane in first clamping plate 1410 with
Inclined-plane in second clamping plate 1420, plane, the cambered surface being mutually parallel all are arranged in pairs, when in first clamping plate 1410 inclined-plane with
When base material 2 or other part contacts to be held, the inclined-plane on the second clamping piece is also contacted with base material 2 or other parts to be held, mutually
Parallel plane, cambered surface are also to use same pairing mechanism, are no longer further discussed below in the present embodiment.
In the present embodiment, due to the second clamping 1520 first clamping plate 1410 of gap and second clamping plate 1420 and base material 2 or
The mating surface of other parts to be held had both included that 1530 direction of gap is clamped along from the first clamping gap 1510 to third in a pair of of spacing
Gradual increased inclined-plane, and include a pair of plane being mutually parallel and a pair of of cambered surface, thus the second clamping gap 1520 can be used
In fixture, there are many base material 2 of shape, either storage box is round or rectangular, regular or irregular.With existing skill
Multiple sets of fixtures are set in art or the first manipulator 1000 is designed to that imitative finger shape is compared, greatly simplify structure, and
It is easy to position, control program is simple, and service life is long.
Further preferably, through slot 1800, through slot 1800 are both provided in first clamping plate 1410 and second clamping plate 1420
Through first clamping plate 1410 and second clamping plate 1420, can be used in wearing cable, column class object.
Further preferably, the outer surface of first clamping plate 1410 and second clamping plate 1420 is both provided with column 1900, column
1900 are extended perpendicularly out by a side external surface of first clamping plate 1410 and second clamping plate 1420, can be used in executing positioning, suspension, by
The actions such as pressure.
Further preferably, the main body of first clamping plate 1410 and second clamping plate 1420 is slab construction, 1410 He of first clamping plate
More than two columns 1900 are each provided in second clamping plate 1420.When first clamping plate 1410 and second clamping plate 1420 are closed up,
Each column 1900 surrounds the shapes such as rectangular, round, thus, it is possible to utilize the plate face mould of first clamping plate 1410 and second clamping plate 1420
Palm carrying pallet, the barreled object of apery, and the periphery that column 1900 is then located at carried object is limited.
Preferably, the first manipulator 1000 further includes front end camera 1700, for acquiring the image in front of clamping plate.Wherein,
Front end camera 1700 is located in installation pedestal 1100, and the camera lens of front end camera 1700 stretches out installation pedestal 1100.Further preferably,
The camera lens of front end camera 1700 is stretched out from the top of the linear guide, and the direction of camera lens and first clamping plate 1410, second clamping plate
1420 direction is identical.Due to being provided with the image that can be acquired in front of clamping plate on the first manipulator 1000.When the first manipulator
1000 when being installed, and the exact image that front end camera 1700 acquires 1000 front of the first manipulator is supplied to the first manipulator 1000
It is accurately positioned.
Preferably, the quantity of front end camera 1700 is multiple, the stereo-picture for obtaining clamping plate front space.By adopting
With multiple front end cameras 1700, the even more mesh camera shootings of binocular can be carried out as human eye, stereo-picture are obtained, convenient in three-dimensional
The first manipulator 1000 is accurately manipulated in space.
The present embodiment additionally provides a kind of PVD method of barrel electroplating, using the Tumble-plating device in the present embodiment, carries out following behaviour
Make：
S1：The first pallet 6 for being contained with workpiece is put into coating chamber 2, and is fixed with main shaft 9；
S2：Coating chamber 2 is vacuumized, magnetic control target assembly is started, magnetron sputtering plating is carried out to workpiece；
S3：Mechanical arm 17 is driven, the second pallet 7 for being fixed on 17 head end of mechanical arm is fastened on to the top of the first pallet 6,
The workpiece between the first pallet 6 and the second pallet 7 is set to be clamped, mechanical arm 17 resets after unclamping the second pallet 7；
S4：Start device of rotation driving, makes main shaft 9 that the first pallet 6 and the second about 7 pallet be driven to exchange position, under making
Lifting support column 13 holds the second pallet 7, and the first pallet 6 is then made to be detached with main shaft 9 and the second pallet 7, and utilizes mechanical arm
First pallet 6 is obliquely or vertically disposed close to the region of 2 side wall of coating chamber after 17 head ends the first pallet 6 of crawl；
S5：Start magnetic control target assembly, magnetron sputtering plating is carried out to the workpiece in the second pallet 7.
In the present embodiment, according to above-mentioned method of barrel electroplating, in coating chamber 2, the workpiece of multiple small sizes can be placed on
First pallet 6 carries out first time vacuum coating, then second pallet 7 can be fastened on the first pallet 6 using mechanical arm 17,
The workpiece between the first pallet 6 and the second pallet 7 is clamped, waits for that the rotation of main shaft 9 makes the first pallet 6 and the second about 7 pallet exchange
Behind position, workpiece is located in the second pallet 7, and the lower surface before workpiece becomes upper surface, and is taken away using mechanical arm 17
After one pallet 6, plated film is carried out to workpiece again, workpiece can be made to obtain the surface PVD layer completed.Compared with prior art, no longer
It needs the workpiece to small size to make fixture or hanger, also no longer needs to carry out clamping to small size workpiece, it can directly will be big
The small size workpiece of amount, which is placed in pallet, carries out vacuum coating, not only at low cost but also efficient so that provided by the invention
PVD Tumble-plating devices 1 and method have significant progress compared with the existing technology on the whole.
Moreover, compared with traditional barrel plating, under the conditions of vacuum coating, the first pallet 6 and the second about 7 pallet exchange position
When, workpiece is in clamped state, and irregular rotation or movement will not occur for workpiece, will not occur mutual impact wreckage that
This film layer, improves coating quality.
Preferably, in S2 and/or S5, when starting magnetic control target assembly, translation platform and/or rising descending branch support in startup
Column makes magnetic control target assembly move in the horizontal plane.And in S3 and/or S4, before the startup of mechanical arm 17, upper translation platform
It drives magnetic control target assembly to be moved to the side far from mechanical arm 17, rises descending branch dagger and magnetic control target assembly is driven to move up.By
It lifts and/or translates at work in magnetic control target assembly, target 16, which can be moved up and down or be adjusted in a manner of scanning back and forth, to be splashed
Range is penetrated, target 16 can be adjusted in this way at a distance from workpiece, and make the first support under the premise of not increasing by 16 quantity of target
Workpiece in disk 6 and the second pallet 7 can be located within the scope of the sputtering of target 16.
Preferably, in S2, when carrying out magnetron sputtering plating to workpiece, repeatedly edge is alternately opened clockwise and counterclockwise
Dynamic device of rotation driving drives the first pallet to be ultimately relative to horizontal plane and tilts shaking, and angle of inclination is less than 10 degree.Due to
When workpiece carries out magnetron sputtering plating, the first pallet is inclined relative to horizontal shaking, convenient for the compact particle volatilized from target
The side for depositing to workpiece improves the plated film of side surface of workpiece.
Preferably, in S5, when carrying out magnetron sputtering plating to workpiece, multiple lower lifting support columns alternately rising or under
Drop so that the second pallet is inclined relative to horizontal shaking, and angle of inclination is less than 10 degree.For example, for lower lifting support column
Quantity be 4 situations, can make under this 4 lift support column in first rise certain distance reset again, then second
Lower lifting support column rises certain distance and resets again, and so on, it is final to drive the second pallet from multiple directions relative to level
Face, which tilts, shakes.First can also be made to decline certain distance in lower lifting support column to reset again, and so on, finally drive the
Two pallets are inclined relative to horizontal shaking from multiple directions, and angle of inclination is less than 10 degree.Due to carrying out magnetic control to workpiece
When sputter coating, the second pallet is inclined relative to horizontal shaking from multiple directions, and the compact particle convenient for volatilizing from target is sunk
Product improves the plated film of side surface of workpiece to the side of workpiece.
Embodiment 2
Present embodiments provide a kind of PVD Tumble-plating devices and method of barrel electroplating, compared with Example 1, the present embodiment it is main
Difference lies in：
As shown in Figure 10, the cradle head of mechanical arm head end is provided with third manipulator 3000 rather than electromagnetic assembly, and first
The back of pallet 6 and the second pallet 7 is provided with the structures such as the mounting base being clamped for third manipulator 3000 or handle 25.That is this reality
It applies in example with the crawl of third manipulator 3000, mobile first pallet 6 and the second pallet 7.
Preferably, the preferred phase of structure composition of third manipulator 3000 and the first manipulator 1000, the second manipulator 2000
Together, in order to safeguarding and reduce control difficulty.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out respective change and is located at the one or more dresses for being different from this implement scene
In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
Aforementioned present invention serial number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of vacuum coating production line, which is characterized in that including PVD Tumble-plating devices, outdoor robot and shelf area, the room
Outer robot includes robot body, wheel group, navigation arrangement and bionic arm component, and the robot body is in body structure,
The robot assemblies include the first bionic arm and second bionic arm, and first bionic arm and described second are imitated
Green hand's arm is arranged at the top of the robot body, and the front-end configuration of first bionic arm has the first manipulator, described
The front-end configuration of second bionic arm has the second manipulator；
The PVD Tumble-plating devices include coating chamber, be provided in the coating chamber magnetic control target assembly, the first pallet, the second pallet,
Mechanical arm, main shaft and multiple lower lifting support columns, first pallet and second pallet are configured to mutually fasten simultaneously
Locking, first pallet are detachably connected and can be fixed with the main axis, the tail end of the mechanical arm with the main shaft
In the side wall of the coating chamber, the head end of the mechanical arm is configured to pick up and move first pallet and described
Two pallets；
It is configured that first pallet can be placed at the top of the robot body.
2. vacuum coating production line according to claim 1, which is characterized in that the navigation arrangement includes multiple is distributed in
The obstacle radar of the robot body surrounding.
3. vacuum coating production line according to claim 1, which is characterized in that first bionic arm and described second
Bionic arm respectively includes sequentially hinged multiple arm monomers, is provided between the adjacent arm monomer adjacent for making
The arm monomer between the servo motor that can relatively rotate, when servo motor starts, rotor drives adjacent institute
One stated in arm monomer rotates relative to another, is provided with self-locking mechanism on the output shaft of servo motor so that servo
When motor is stopped, it is kept fixed between the adjacent arm monomer.
4. vacuum coating production line according to claim 1, which is characterized in that the PVD Tumble-plating devices further include equipment
Room is isolated between the coating chamber and the canyon by partition board, is equipped on the partition board from the canyon and is extended to institute
The main shaft of coating chamber is stated, device of rotation driving is provided in the canyon, the main shaft is configured to drive in the rotation
Dynamic device is rotated by；
Also there is upper translation platform in the coating chamber, rise descending branch dagger, the lower lifting support column setting in the plated film
The bottom of room simultaneously is configured to stretch vertically, and the magnetic control target assembly includes target case and stretched out by the bottom surface of the target case
Multiple targets, the rising descending branch dagger is fixed at the top of the target case, the rising descending branch dagger is fixed on described
Upper translation platform, the upper translation platform are fixed on the top of the coating chamber.
5. vacuum coating production line according to claim 4, which is characterized in that the canyon is provided with L-type support frame,
The L-type support frame includes horizontal segment and vertical section, and the horizontal segment is fixed on the partition board, and the main shaft is rotationally worn
In the vertical section.
6. vacuum coating production line according to claim 4 or 5, which is characterized in that the main shaft is positioned at the equipment
Indoor one end has counterweight ring.
7. vacuum coating production line according to claim 6, which is characterized in that the counterweight ring is coaxially fixed on the master
On axis, the peripheral surface of the counterweight ring is provided with several demarcation pieces, is fixed in the vertical section for photoelectric sensor, institute
Photoelectric sensor is stated with demarcation piece cooperation to detect the rotational angle of the main shaft.
8. vacuum coating production line according to claim 4 or 5, which is characterized in that the mechanical arm include it is multiple sequentially
Hinged cradle head, the engaging portion between the adjacent cradle head are provided with for enabling the adjacent cradle head
The servo motor enough relatively rotated；
It is also equipped with servo motor between the cradle head and the side wall of the coating chamber of tail end, is made positioned at tail end
The cradle head can rotate relative to the coating chamber.
9. vacuum coating production line according to claim 4 or 5, which is characterized in that first pallet has locked groove, institute
It includes the straight slot and trench segment being linked together to state locked groove, and the end peripheral surface of the main shaft is symmetrically provided with lock pillar, described
The first pallet is removably joined together with the main shaft described in when lock pillar enters the trench segment from the straight slot.
10. vacuum coating production line according to claim 4 or 5, which is characterized in that the front of first pallet is convex
The front in the face of rising, second pallet is concave face, described convex when first pallet and second pallet snap together
The face of rising and the concave face are mutually abutted in outer edge；
It is provided with quick-locking device between first pallet and second pallet.
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| CN201810396260.3A CN108300971B (en) | 2018-04-28 | 2018-04-28 | Vacuum coating production line |
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| CN201810396260.3A CN108300971B (en) | 2018-04-28 | 2018-04-28 | Vacuum coating production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111928790A (en) * | 2020-10-16 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Internet-based aviation part thickness metering device and metering method |
| CN112962081A (en) * | 2021-02-01 | 2021-06-15 | 肇庆宏旺金属实业有限公司 | Continuous coating production line and coating process for steel plate |
| CN115505905A (en) * | 2022-06-28 | 2022-12-23 | 深圳市纳设智能装备有限公司 | Mechanical handle, manipulator subassembly and coating equipment |
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| CN107472400A (en) * | 2017-08-08 | 2017-12-15 | 富有信（天津）科技有限公司 | A kind of running gear of mobile phone metal-back plated film robot |
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| CN206052146U (en) * | 2016-09-21 | 2017-03-29 | 深圳市正和忠信股份有限公司 | A kind of magnetic-control sputtering continuous plating line for handware |
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| CN112962081A (en) * | 2021-02-01 | 2021-06-15 | 肇庆宏旺金属实业有限公司 | Continuous coating production line and coating process for steel plate |
| CN115505905A (en) * | 2022-06-28 | 2022-12-23 | 深圳市纳设智能装备有限公司 | Mechanical handle, manipulator subassembly and coating equipment |
| CN115505905B (en) * | 2022-06-28 | 2023-08-18 | 深圳市纳设智能装备有限公司 | Mechanical handle, mechanical arm assembly and coating equipment |
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| CN108300971B (en) | 2019-02-22 |
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