CN108323155A - A kind of electronic product automatic assembling machine and its assembly mechanical hand - Google Patents
A kind of electronic product automatic assembling machine and its assembly mechanical hand Download PDFInfo
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- CN108323155A CN108323155A CN201810202110.4A CN201810202110A CN108323155A CN 108323155 A CN108323155 A CN 108323155A CN 201810202110 A CN201810202110 A CN 201810202110A CN 108323155 A CN108323155 A CN 108323155A
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000009434 installation Methods 0.000 claims abstract description 71
- 230000000712 assembly Effects 0.000 claims abstract description 24
- 238000000429 assembly Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 53
- 230000033001 locomotion Effects 0.000 claims description 40
- 230000006835 compression Effects 0.000 claims description 36
- 238000007906 compression Methods 0.000 claims description 36
- 238000009966 trimming Methods 0.000 claims description 22
- 230000003028 elevating effect Effects 0.000 claims description 14
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 230000007423 decrease Effects 0.000 claims description 7
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- 230000003139 buffering effect Effects 0.000 claims description 5
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 3
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0417—Feeding with belts or tapes
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- Microelectronics & Electronic Packaging (AREA)
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Abstract
The invention discloses a kind of electronic product automatic assembling machine and its assembly mechanical hands, including driving mechanism, slide, micro-adjusting mechanism, CCD mechanisms, feeding machanism, the first assembly mechanical hand and the second assembly mechanical hand, driving mechanism is set on board, and driving mechanism includes cross-member, the vertical package and lifting assembly that are connected in cross-member；The output end of slide and vertical package connects；Slide is equipped with two installation stations；Micro-adjusting mechanism includes two sets, and two micro-adjusting mechanisms are set at two installation stations of slide；Lifting assembly includes two sets, and two lifting assemblies are respectively arranged at two installation stations of slide；First assembly mechanical hand and the second assembly mechanical hand are respectively arranged at the outside of two lifting assemblies, and are connect respectively with the output end of two lifting assemblies；CCD mechanisms include upper CCD components and lower CCD components.Material alignment assembling product of the present invention position is accurate, and assembling precision is high, realizes the assembling to a variety of electronic components.
Description
Technical field
The present invention relates to field of machinery automation, a kind of electronic product automatic assembling machine and its assembly mechanical are referred in particular to
Hand.
Background technology
Smart electronics product development in recent years is swift and violent, such as smart mobile phone, laptop, IPAD products；Electronic product
Be widely used, have become essential tool in the daily production and living of people；Electronic product is generally using pcb board as work(
Energy integrated carrier, connects all kinds of electronic components on pcb board（Such as camera, tamper patch, gland, winding displacement, connector）, pass through
With the conducting of each functional template in pcb board, various functions, such as camera shooting of taking pictures, tamper mark, electrical connection are realized.It is electric based on this
Sub- product needs during production and assembly after fixing product, and all kinds of electronic components are assembled in product；Currently, mostly
Number manufacturing enterprise has been manually done assembling using assembly line, since the spare and accessory parts quantity of separate unit product is more, and the shape of spare and accessory parts
Different sizes, needing to arrange for multiple stations could complete to assemble, and assembling wire body is long, and packaging efficiency is low, and difficult in assembling quality
To ensure stability and consistency.The automatic assembling of electronic product spare and accessory parts is the development trend in future, still, due to electronics member device
Part is small, and different, therefore existing technological difficulties are during carrying out the Automation Design：1, in assembling process
Positioning alignment difficulty is larger；2, assembling precision is difficult to reach requirement；3, the poor universality of assembly mechanical hand, single manipulator without
Method completes the assembling of a variety of electronic components, causes to need to frequently replace manipulator during actual assembled, cumbersome, and at
This height.
Invention content
It is a kind of with upper and lower CCD the technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide
Positioning and demarcating function makes material be accurately aimed at assembling product position, is effectively protected by the fine tuning of two assembly mechanical hand relative positions
Assembling precision has been demonstrate,proved, and integrated assembly mechanical hand is held on by integrated vacuum absorption simultaneously and physics and is realized to a variety of electricity
The electronic product automatic assembling machine and its assembly mechanical hand of carrying and the assembling of sub- component.
The technical solution adopted by the present invention is as follows：A kind of electronic product automatic assembling machine, including driving mechanism, slide,
Micro-adjusting mechanism, CCD mechanisms, feeding machanism, the first assembly mechanical hand and the second assembly mechanical hand, wherein above-mentioned driving mechanism is set
It is placed on board, driving mechanism includes cross-member, the vertical package and lifting assembly that are connected in cross-member；Above-mentioned slide
It is connect with the output end of vertical package, and drives through cross-member and vertical package and move along a straight line in the horizontal plane；On slide
Equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes two sets, and two micro-adjusting mechanisms are set at two installation stations of slide, and
The output end difference of two micro-adjusting mechanisms is along the longitudinal direction and horizontal direction is arranged；Above-mentioned lifting assembly includes two sets, two lifting groups
Part is respectively arranged at two installation stations of slide, and is connect respectively with the output end of two micro-adjusting mechanisms, two lifting assemblies it is defeated
Outlet is arranged downward；Above-mentioned first assembly mechanical hand and the second assembly mechanical hand are respectively arranged at the outside of two lifting assemblies, and
It is connect respectively with the output end of two lifting assemblies, the elevating movement through lifting assembly driving；Two micro-adjusting mechanisms pass through lifting assembly
The first assembly mechanical hand or the second assembly mechanical hand is driven to move along a straight line, to adjust the first assembly mechanical hand and the second assembling
The position of manipulator and relative angle；Above-mentioned feeding machanism is set to the lower part of slide, and material to be assembled is defeated through feeding machanism
Go out；Above-mentioned CCD mechanisms include upper CCD components and lower CCD components, and upper CCD components are set on slide, and are moved with slide, with
Just calibration of taking pictures is carried out to product position to be assembled；Lower CCD components are set on board；When assembling, upper CCD components are to being positioned over
The assembling position on product on bearing is taken pictures after calibration, and the first assembly mechanical hand or the second assembly mechanical hand are by material from feed
It is taken out in mechanism, and after being moved at lower CCD components and take pictures calibration, industrial personal computer passes through the upper CCD components of reception and lower CCD groups
After the location position signal that part is sent out is aligned, the first assembly mechanical hand of micro-adjusting mechanism pair or the second assembly mechanical hand are controlled
After position is adjusted, material is assembled on product by the first assembly mechanical hand or the second assembly mechanical hand.
Preferably, the cross-member includes cross motor, lateral straight line module and cross slide, wherein above-mentioned cross
It is supported to straight line module by the fixed supported slab being set on board, the cross being arranged in transverse direction is equipped in lateral straight line module
To lead screw, transverse wire pole socket is arranged on cross lead screw；Above-mentioned cross motor is set to the side of lateral straight line module, and laterally
The output shaft of motor is connect with cross lead screw, and drives cross lead screw rotary motion；Above-mentioned cross slide can be slidably embedded
It on lateral straight line module, and is connect with transverse wire pole socket, when cross lead screw rotary motion, transverse wire pole socket drives cross slide edge
Horizontal direction moves along a straight line.
Preferably, the vertical package includes longitudinal motor and longitudinal straight line module, wherein above-mentioned longitudinal direction straight line module
It is set on cross slide, and is moved with cross slide；Longitudinal straight line module internal is equipped with longitudinal silk extendable in the longitudinal direction
Bar is arranged with longitudinal screw mandrel seat in longitudinal screw mandrel；Above-mentioned longitudinal motor is set to the side of longitudinal straight line module, and longitudinal motor
Output shaft connect with longitudinal screw mandrel, and drive longitudinal screw mandrel rotary motion；Above-mentioned slide can be slidably embedded in longitudinal straight line
It on module, and is connect with longitudinal screw mandrel seat, when longitudinal screw mandrel rotary motion, longitudinal screw mandrel seat drives slide straight line along the longitudinal direction
Movement.
Preferably, the slide is L-type platy structure, and right side is slidably attached on longitudinal straight line module, sliding
The front side wall of seat forms installation panel, which is equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes lateral fine tuning group
Part and longitudinal trimming assembly, wherein transverse micro-adjustment mechanism includes laterally fine tuning motor and laterally fine tuning slide, laterally finely tunes slide
It is slidably attached at an installation station of the front side wall of slide；Above-mentioned laterally fine tuning motor is connected to the left side of slide, and
Laterally the output end of fine tuning motor is connect with laterally fine tuning slide, and with driving, laterally fine tuning slide carries out position tune in transverse direction
It is whole；Longitudinally slide is finely tuned in fine tuning motor and longitudinal direction to above-mentioned longitudinal direction trimming assembly, wherein after longitudinal fine tuning motor is set to slide
On side wall, longitudinal output shaft for finely tuning motor extends to the front side of slide across slide；Longitudinal fine tuning slide is slidably connected
On the bottom plate of slide, and with the output axis connection of longitudinal fine tuning motor, longitudinal longitudinal fine tuning slide of motor driving of finely tuning is along vertical
Position is adjusted to direction.
Preferably, the lifting assembly include two sets, two lifting assemblies be connected to it is above-mentioned laterally finely tune slide and
On longitudinal fine tuning slide, and respectively with laterally fine tuning slide and longitudinal fine tuning slide movement；Lifting assembly include lifting motor and
Lift slide, wherein above-mentioned lifting motor is vertically arranged on the front side wall of laterally fine tuning slide or longitudinal fine tuning slide, and is risen
The output end of drop motor is arranged downward；Above-mentioned lift slide is vertically slidably attached at laterally fine tuning slide or longitudinal direction
On the front side wall for finely tuning slide, and the output end of lift slide and lifting motor connects, and lifting motor drives lift slide lifting
Movement.
Preferably, it is connected with assembling cylinder vertically on the front side wall of the lift slide, assembles the output end court of cylinder
Lower setting, assembles and is arranged with connection sheet on the output end of cylinder；One end of connection sheet is fixed on the output end of assembling cylinder, separately
One end is connect with the first assembly mechanical hand or the second assembly mechanical hand；It assembles cylinder and the first assembly mechanical hand is driven by connection sheet
Or the second assembly mechanical hand elevating movement, to assemble material.
Preferably, first assembly mechanical hand includes transmission component, armshaft, pressure sensor, suction component and folder
Expect component, wherein above-mentioned armshaft is column structure, and installation space is offered in armshaft；Above-mentioned pressure sensor is set to installation
In space；Above-mentioned transmission component is set to the top of armshaft, and the upper end of transmission component is connect with connection sheet, the lower end of transmission component
It is connect with pressure sensor, and the power of connection sheet is transferred to pressure sensor；Above-mentioned suction component is set to pressure sensing
The lower part of device, and the lower end of armshaft is extended to across armshaft, the upper end of suction component is connect with pressure sensor, pressure sensor
Driving suction component declines so as to close and adsorb camera shooting headstock；Above-mentioned material folding component is set to the outside of suction component, material folding
Component clamps the camera positioned at camera seat side from the side of suction component lower end；
Above-mentioned transmission component includes retainer, driving spring, drive link and pushes away seat, wherein above-mentioned drive link slideably plugs
At the top of armshaft, drive link lower end extends in installation space；Above-mentioned retainer and push away the top that seat is connected to drive link
End and bottom end, retainer are connect with above-mentioned connection sheet, are pushed away seat and are connected to pressure sensor top；Above-mentioned driving spring is set in biography
In lever；When connection sheet pushes retainer, retainer is by drive link and pushes away a down force pressure sensor, and pressure sensor pushes
Suction component, is buffered by driving spring；
Above-mentioned suction component includes vacuum bed, slide bar, resetting spring and vacuum cups, wherein above-mentioned slide bar is vertically inserted into peace
It fills in space, and slide bar is slideably threaded through in armshaft, and extends to the lower end of armshaft, gas circuit is equipped in the middle part of slide bar；It is above-mentioned
Vacuum bed is set to the upper end of slide bar, and air cavity is equipped in vacuum bed, and air cavity is connected with the gas circuit in the middle part of slide bar, air cavity side
It is connect with external vacuum generating device；Above-mentioned vacuum cups is set to the lower end of slide bar, and is connected with the gas circuit inside slide bar
Logical, vacuum generating device generates negative pressure by vacuum bed and slide bar at vacuum cups, to adsorb camera shooting headstock；Above-mentioned reset
Spring is set on slide bar, and the both ends of resetting spring are connected to the bottom of vacuum bed and installation space；Pressure sensor
It drives vacuum cups close to camera shooting headstock by vacuum bed and slide bar, is fixed so that vacuum cups will image headstock absorption, or will
The camera shooting headstock adsorbed is packed into product, and resetting spring is compressed by vacuum bed；Vacuum cups will image headstock and be packed into product
When, pressure of the vacuum cups to product when incuding loading by pressure sensor；It is complete that camera shooting headstock is drawn or be packed into vacuum cups
Cheng Hou, the bounce that resetting spring provides make pressure sensor reset；
Above-mentioned material folding component include block set, material folding cylinder, compression bar, plectrum, strut, fastening spring, drive sleeve and clamping jaw and,
In, above-mentioned block set, which is arranged, to be fixed on slide bar, and the side of block set extends to the side of slide bar, forms supporting plane；The support is flat
Output end material folding cylinder directed downwardly is equipped on face vertically；Above-mentioned compression bar is connected to vertically on the output end of material folding cylinder, material folding vapour
Cylinder drives compression bar elevating movement；Above-mentioned strut is connected to the bottom of block set vertically, and extends downwardly；Above-mentioned fastening spring is set in
On strut；Above-mentioned drive sleeve is slidably sleeved on strut, and close to the lower end of strut；The upper and lower ends of fastening spring are distinguished
It is connected in block set and drive sleeve；Driving groove is offered respectively on the correspondence two side of drive sleeve；One end of above-mentioned plectrum is arranged
It in driving groove, and is rotatably connected on the side wall of strut across driving groove, one end of plectrum is equipped with lug boss；Plectrum
The other end extends to the lower part of compression bar, forms supporting plane；Above-mentioned clamping jaw includes two, and two clamping jaws are rotatably connected at respectively
On the side wall of strut lower end, spring is equipped between the madial wall of two clamping jaws and the outer wall of strut；The upper end of clamping jaw is equipped with lug boss；
Under natural conditions, fastening spring compresses downwards drive sleeve, and the bottom of drive sleeve pushes the lug boss of clamping jaw, two clamping jaws is made to clamp；
When picking and placeing material, material folding cylinder drives the supporting plane of the material folding cylinder pushing plectrum other end, the lug boss that plectrum passes through one end
Make drive sleeve along slide bar upward sliding, fastening spring is made to compress, two clamping jaws pass through in the case where the lower pressure of drive sleeve disappears
The thrust that its spring between slide bar provides is flared out；When material folding cylinder bounces back upwards, the bounce of fastening spring is downward
Retainer is pushed, the elastic force for the spring that two clamping jaws overcome it between slide bar is made to clamp camera seat.
Preferably, second assembly mechanical hand includes transmission component, armshaft, pressure sensor and suction component,
In, above-mentioned armshaft is column structure, and installation space is offered in armshaft；Above-mentioned pressure sensor is set in installation space；On
The top that transmission component is set to armshaft is stated, the upper end of transmission component is connect with connection sheet, and lower end and the pressure of transmission component pass
Sensor connects, and the power of connection sheet is transferred to pressure sensor；Above-mentioned suction component is set to the lower part of pressure sensor,
And the lower end of armshaft is extended to across armshaft, the upper end of suction component is connect with pressure sensor, and pressure sensor drives suction
Component declines so as to close and adsorb tamper patch；
Above-mentioned transmission component includes retainer, driving spring, drive link and pushes away seat, wherein above-mentioned drive link slideably plugs
At the top of armshaft, drive link lower end extends in installation space；Above-mentioned retainer and push away the top that seat is connected to drive link
End and bottom end, retainer are connect with above-mentioned connection sheet, are pushed away seat and are connected to pressure sensor top；Above-mentioned driving spring is set in biography
In lever；When connection sheet pushes retainer, retainer is by drive link and pushes away a down force pressure sensor, and pressure sensor pushes
Suction component, is buffered by driving spring；
Above-mentioned suction component includes vacuum bed, slide bar, resetting spring and vacuum cups, wherein above-mentioned slide bar is vertically inserted into peace
It fills in space, and slide bar is slideably threaded through in armshaft, and extends to the lower end of armshaft, gas circuit is equipped in the middle part of slide bar；It is above-mentioned
Vacuum bed is set to the upper end of slide bar, and air cavity is equipped in vacuum bed, and air cavity is connected with the gas circuit in the middle part of slide bar, air cavity side
It is connect with external vacuum generating device；Above-mentioned vacuum cups is set to the lower end of slide bar, and is connected with the gas circuit inside slide bar
Logical, vacuum generating device generates negative pressure by vacuum bed and slide bar at vacuum cups, to adsorb tamper patch；Above-mentioned reset
Spring is set on slide bar, and the both ends of resetting spring are connected to the bottom of vacuum bed and installation space；Pressure sensor
It drives vacuum cups close to attached tamper patch by vacuum bed and slide bar, is fixed so that vacuum cups adsorbs attached tamper patch,
Or the attached tamper patch adsorbed is packed into product, resetting spring is compressed by vacuum bed；Vacuum cups fills attached tamper patch
When entering in product, pressure of the vacuum cups to product when incuding loading by pressure sensor；Vacuum cups is drawn or is packed into attached
After the completion of tamper patch, the bounce that resetting spring provides makes pressure sensor reset.
Preferably, the upper CCD components include support plate, holder, upper CCD camera, upper prism holder, upper prism and glazing
Source, wherein above-mentioned support plate is fixedly installed on the lower part of slide；One end of above-mentioned holder is connected and fixed on holder, the other end to
Left extension；Above-mentioned upper CCD camera is fixedly installed on the lower part of the holder other end, and the camera lens of upper CCD camera is towards level side
To setting；Above-mentioned upper prism holder is set on the right side wall of support plate, and prism is fixed in upper prism holder；Above-mentioned light source fixation is set
It is placed in the lower part of support plate, and is correspondingly arranged up and down with upper prism；Light source emits beam the assembling position of product irradiation, and light is upward
Reflection enters after upper refraction by prism in upper CCD camera, so as to calibration of taking pictures；
Above-mentioned lower CCD components include support base, lens bracket, lower CCD camera, lower prism holder, lower prism and lower light source,
In, above-mentioned support base is fixedly installed on board；Above-mentioned lens bracket is vertically arranged at the side of support base；Above-mentioned lower CCD takes the photograph
As head is fixedly installed on lens bracket, the camera lens of lower CCD camera is arranged in the horizontal direction；Above-mentioned lower prism holder fixed setting
In being fixed with lower prism in the other side of support base, lower prism holder；Above-mentioned lower light source is set to the top of lower prism holder；First
After material is carried to above lower light source by assembly mechanical hand or the second assembly mechanical hand, lower light source irradiates material, and light is anti-downwards
It injects into lower prism, after lower refraction by prism, calibration of taking pictures is carried out into lower CCD camera.
Preferably, the feeding machanism includes rack, reel, material volume, feeding seat, material stripping seat, idler roller and withdrawing roll,
In, above-mentioned rack is fixedly installed on board；Above-mentioned reel is rotatablely arranged on the side wall of rack；Above-mentioned material volume wound on
On reel, material volume is band-like material, and at least two tamper patches to be assembled are pasted in material volume；Above-mentioned material stripping seat is set to volume
The top surface of the side of cylinder, material stripping seat is horizontal plane, and the horizontal plane is concordant with the top of material volume, and the bottom of material stripping seat is diagonally downward
Clinoplain；Above-mentioned feeding seat is arranged at intervals at the side of material stripping seat, and the end of material volume is across feeding seat and material stripping seat
When, material stripping seat removes the tamper patch in material volume to feeding seat, so that the second assembly mechanical hand grips；Above-mentioned idler roller is set
Be placed in the lower part of material stripping seat, the material strip of material volume after idler roller is tensioned on the withdrawing roll being set to below idler roller, withdrawing roll
The rotary motion through motor driving, to pull out material volume from reel.
A kind of electronic product automatic assembling manipulator, including transmission component, armshaft, pressure sensor, suction component and
Material folding component, wherein above-mentioned armshaft is column structure, and installation space is offered in armshaft；Above-mentioned pressure sensor is set to peace
It fills in space；Above-mentioned transmission component is set to the top of armshaft, and the upper end of transmission component is connect with connection sheet, under transmission component
End is connect with pressure sensor, and the power of connection sheet is transferred to pressure sensor；Above-mentioned suction component is set to pressure biography
The lower part of sensor, and the lower end of armshaft is extended to across armshaft, the upper end of suction component is connect with pressure sensor, pressure sensing
Device driving suction component declines so as to close and adsorb camera shooting headstock；Above-mentioned material folding component is set to the outside of suction component, folder
Expect that component clamps the camera positioned at camera seat side from the side of suction component lower end.
Preferably, the transmission component includes retainer, driving spring, drive link and pushes away seat, wherein above-mentioned drive link
It is slideably plugged in the top of armshaft, drive link lower end extends in installation space；It above-mentioned retainer and pushes away seat and is separately connected
In the top and bottom end of drive link, retainer is connect with above-mentioned connection sheet, is pushed away seat and is connected to pressure sensor top；Above-mentioned transmission
Spring is set on drive link；When connection sheet pushes retainer, retainer is by drive link and pushes away a down force pressure sensor, pressure
Force snesor pushes suction component, is buffered by driving spring；
Above-mentioned suction component includes vacuum bed, slide bar, resetting spring and vacuum cups, wherein above-mentioned slide bar is vertically inserted into peace
It fills in space, and slide bar is slideably threaded through in armshaft, and extends to the lower end of armshaft, gas circuit is equipped in the middle part of slide bar；It is above-mentioned
Vacuum bed is set to the upper end of slide bar, and air cavity is equipped in vacuum bed, and air cavity is connected with the gas circuit in the middle part of slide bar, air cavity side
It is connect with external vacuum generating device；Above-mentioned vacuum cups is set to the lower end of slide bar, and is connected with the gas circuit inside slide bar
Logical, vacuum generating device generates negative pressure by vacuum bed and slide bar at vacuum cups, to adsorb camera shooting headstock；Above-mentioned reset
Spring is set on slide bar, and the both ends of resetting spring are connected to the bottom of vacuum bed and installation space；Pressure sensor
It drives vacuum cups close to camera shooting headstock by vacuum bed and slide bar, is fixed so that vacuum cups will image headstock absorption, or will
The camera shooting headstock adsorbed is packed into product, and resetting spring is compressed by vacuum bed；Vacuum cups will image headstock and be packed into product
When, pressure of the vacuum cups to product when incuding loading by pressure sensor；It is complete that camera shooting headstock is drawn or be packed into vacuum cups
Cheng Hou, the bounce that resetting spring provides make pressure sensor reset；
Above-mentioned material folding component include block set, material folding cylinder, compression bar, plectrum, strut, fastening spring, drive sleeve and clamping jaw and,
In, above-mentioned block set, which is arranged, to be fixed on slide bar, and the side of block set extends to the side of slide bar, forms supporting plane；The support is flat
Output end material folding cylinder directed downwardly is equipped on face vertically；Above-mentioned compression bar is connected to vertically on the output end of material folding cylinder, material folding vapour
Cylinder drives compression bar elevating movement；Above-mentioned strut is connected to the bottom of block set vertically, and extends downwardly；Above-mentioned fastening spring is set in
On strut；Above-mentioned drive sleeve is slidably sleeved on strut, and close to the lower end of strut；The upper and lower ends of fastening spring are distinguished
It is connected in block set and drive sleeve；Driving groove is offered respectively on the correspondence two side of drive sleeve；One end of above-mentioned plectrum is arranged
It in driving groove, and is rotatably connected on the side wall of strut across driving groove, one end of plectrum is equipped with lug boss；Plectrum
The other end extends to the lower part of compression bar, forms supporting plane；Above-mentioned clamping jaw includes two, and two clamping jaws are rotatably connected at respectively
On the side wall of strut lower end, spring is equipped between the madial wall of two clamping jaws and the outer wall of strut；The upper end of clamping jaw is equipped with lug boss；
Under natural conditions, fastening spring compresses downwards drive sleeve, and the bottom of drive sleeve pushes the lug boss of clamping jaw, two clamping jaws is made to clamp；
When picking and placeing material, material folding cylinder drives the supporting plane of the material folding cylinder pushing plectrum other end, the lug boss that plectrum passes through one end
Make drive sleeve along slide bar upward sliding, fastening spring is made to compress, two clamping jaws pass through in the case where the lower pressure of drive sleeve disappears
The thrust that its spring between slide bar provides is flared out；When material folding cylinder bounces back upwards, the bounce of fastening spring is downward
Retainer is pushed, the elastic force for the spring that two clamping jaws overcome it between slide bar is made to clamp camera seat.
The beneficial effects of the present invention are：
The present invention is in view of the shortcomings of the prior art or defect is improved innovation, devises a kind of with upper and lower CCD positioning
Calibrating function makes material be accurately aimed at assembling product position, is effectively guaranteed by the fine tuning of two assembly mechanical hand relative positions
Precision is assembled, and integrated assembly mechanical hand is held on by integrated vacuum absorption simultaneously and physics and is realized to a variety of electronics member
The electronic product automatic assembling machine and its assembly mechanical hand of carrying and the assembling of device.The present invention be applied to mobile phone, computer,
The pcb board of the electronic products such as IPAD assembles field automatically, and main technical problems to be solved are not change machinery by separate unit machine
Under the premise of hand, while realizing that a variety of electronic components are automatic, precisely, be efficiently assembled on pcb board；Specifically electronics member device
Part includes mainly single camera, dual camera, tamper patch, soft arranging wire, gland etc., and the assemblnig electronic component of the present invention is unlimited
In above-mentioned listed classification.The present invention includes integrally driving mechanism, micro-adjusting mechanism, CCD mechanisms, feeding machanism, the first assembly mechanical
Hand and the second assembly mechanical hand, driving mechanism realize that the linear drives to assembly mechanical hand in three directions, micro-adjusting mechanism pass through
Two assembly mechanical hand linear relative movements are respectively driven, to adjust the opposite ditch of two assembly mechanical hand respective positions or both
Degree；CCD components carry out calibration of taking pictures to assembling product position and material respectively, and shooting ground information is sent to industrial personal computer, by
By driving micro-adjusting mechanism to adjust the position of two assembly mechanical hands after industrial personal computer analysis；Feeding machanism is attached to material volume for exporting
On sheet material（Such as tamper patch）, when material volume moves, tamper patch is automatically stripped, so that assembly mechanical hand takes out；Tool
Body：
1, driving mechanism of the invention and reasonable, the compact design of micro-adjusting mechanism：Driving mechanism includes cross-member, vertical package
And lifting assembly, the driving mechanism of the present invention unlike traditional drives include two sets of lifting assemblies, and two lifting groups
Part is designed with cross-member and vertical package separately-loaded；The output end of cross-member and vertical package is connected with slide, passes through
Slide is as intermediate transmission component；Slide is equipped with two assembling stations；The micro-adjusting mechanism of the present invention includes being respectively arranged at cunning
Seat two assembles lateral trimming assembly and longitudinal trimming assembly at station, and above-mentioned two lifting assemblies independence traditional drives are indulged
Cross-member is connect with the output end of lateral trimming assembly and longitudinal trimming assembly respectively；The output end of two lifting assemblies then connects
First assembly mechanical hand and the second assembly mechanical hand；When assembling, two assembly mechanical hands are driven by cross-member and vertical package
Integral synchronous moves, and assembly mechanical hand is moved up generous；Pass through lateral trimming assembly and longitudinal trimming assembly simultaneously
Two assembly mechanical hand linear positions are separately adjusted, when two assembly mechanical hands adsorb the both ends of material simultaneously（Such as row
Line）, individually vertically and horizontally moved by above-mentioned, adjusted with realizing two assembly mechanical hand relative angles；Two lifting assemblies independently of
Cross-member and vertical package individually drive two assembly mechanical hand elevating movements, to complete feeding or assembly operation；
2, the design of CCD mechanisms of the present invention：The CCD mechanisms of the present invention include upper CCD components and lower CCD components, are respectively arranged at
On slide and board, wherein upper CCD components move in the horizontal plane with slide, and the assembled position of alignment product carries out downwards
It takes pictures calibration；Lower CCD components are set on board, after assembly mechanical hand takes out material, are moved on lower CCD components with slide
Side, calibration of taking pictures is carried out through lower CCD components to material upwards；Photographing information is sent to industrial personal computer by two CCD components, by industry control
After machine carries out contraposition analysis, controls driving mechanism or micro-adjusting mechanism is adjusted the position of assembly mechanical hand or angle；Due to
Assembling position or volume of material are smaller, and Aided design has light source to upper and lower CCD components respectively, and providing illumination by light source is directed to group
On holding position or material, to improve shooting quality；Meanwhile being reasonable compact installation, the components of CCD up and down of the invention dexterously will
Prism is introduced into light path transmission, and light refraction is realized by prism；
3, assembly mechanical hand of the invention design：The assembly mechanical hand of the present invention mainly completes two actions of feeding and assembling,
Feeding or the material of assembling are all kinds of electronic components（As including the camera of rigid nature, flexibly winding displacement, sheet-like flexible
The cover board etc. of tamper patch, sheet hard）, and electronic component needs control pressure during being assembled on pcb board, with
It avoids damaging material or pcb board when assembling；Therefore, assembly mechanical hand of the invention includes the first assembly mechanical hand and the second assembling
Manipulator, two sets of assembly mechanical hands can independent feeding, can also cooperate feeding（When such as taking winding displacement, two assembly mechanical hands is needed to adsorb
The both ends of winding displacement）；Assembly mechanical hand originally designs the internal armshaft for being installation space as manipulator agent structure；Together
When, pressure sensor is slideably equipped in installation space, by pressure sensor can detect in real time assembly mechanical hand feeding or
To the pressure of material or pcb board when assembling, it is used as by the preset pressure upper limit of industrial personal computer and only stops standard, when feeding or assembling,
When the pressure of pressure sensor outflow is more than pressure upper limit, industrial personal computer controls driving mechanism stop motion, to avoid object is damaged by pressure
Material or product；The top of pressure sensor is equipped with and pushes away seat, pushes away seat and is located in installation space, the top for pushing away seat is connected with transmission vertically
Bar, drive link are slideably plugged on armshaft, and extend to armshaft top, are equipped with retainer at the top of drive link, retainer with
It is arranged with driving spring on drive link between at the top of armshaft；Retainer is connect by connection sheet with the output end of assembling cylinder,
Assembling driving retainer decline when, retainer through drive link, push away seat drive pressure sensor decline；The lower part of pressure sensor is set
There are vacuum bed, the lower end of vacuum bed to be connected with slide bar, the gas circuit inside air cavity and slide bar inside vacuum bed is interconnected, slide bar
Lower end be equipped with vacuum cups；When pressure sensor declines, declined by vacuum bed band moving slide-bar, so that the lower end of the slider is true
Suction head adsorbs the material of sheet（Such as tamper patch, cover board, winding displacement）, and by above-mentioned driving spring into row buffering；Meanwhile
Feeding or after being completed, after assembling the downward pressure of cylinder and disappearing, the slide bar between vacuum bed and installation space bottom
On under the action of reset spring that is arranged, uplifting pressure sensor is realized and is resetted；In addition, the present invention is close to the one of the lower end of the slider
Side is additionally provided with material folding component, can be realized to hard block or heavier mass material by material folding component（Such as single camera, double camera shootings
Head, cover board etc.）Pick and place, material folding component and suction component self contained function, the two not will produce interference, can be according to practical material feelings
Condition selects material folding component or suction component progress material to pick and place, meanwhile, material folding component can also cooperate action with suction component,
Such as when the side of camera is connected with winding displacement, camera can be clamped by material folding component, while adsorbing and arranging by vacuum cups
Line；Material folding component is connected to the side of slide bar by block set, and the outside upright of block set is equipped with material folding cylinder, the output of material folding cylinder
End is arranged downward, and is connected with compression bar；The lower part of block set is also equipped with strut vertically, is arranged with transmission to the bottom slidable of strut
Set is connected with fastening spring between drive sleeve top and block set bottom；The correspondence both sides of drive sleeve offer driving groove, driving groove
Inside rotationally it is equipped with the plectrum extended out to below compression bar；The lower end of strut rotationally be equipped with two clamping jaws, two clamping jaws with
Spring is connected between strut；Under natural conditions, fastening spring pushes drive sleeve, makes two clamping jaws that spring be overcome to be flared out；It needs
When wanting material folding, material folding cylinder is driven by compression bar and is pushed on the outside of plectrum, by pushing up drive sleeve, two clamping jaws in plectrum inner bulge portion
After the downward pressure of fastening spring disappears, inwardly clamped by its spring driving between strut.
Description of the drawings
Fig. 1 is one of the dimensional structure diagram of the embodiment of the present invention 1.
Fig. 2 is the two of the dimensional structure diagram of the embodiment of the present invention 1.
Fig. 3 is the three of the dimensional structure diagram of the embodiment of the present invention 1.
Fig. 4 is enlarged structure schematic diagram at A in Fig. 1.
Fig. 5 is enlarged structure schematic diagram at B in Fig. 3.
Fig. 6 is enlarged structure schematic diagram at C in Fig. 3.
Fig. 7 is the dimensional structure diagram of the first assembly manipulator in Fig. 1.
Fig. 8 is the dimensional structure diagram of the second assembly manipulator in Fig. 1.
Fig. 9 is one of the dimensional structure diagram of assembly manipulator of the embodiment of the present invention 2.
Figure 10 is the two of the dimensional structure diagram of the assembly manipulator of the embodiment of the present invention 2.
Figure 11 is one of the dimensional structure diagram of assembly manipulator of the embodiment of the present invention 3.
Figure 12 is the two of the dimensional structure diagram of the assembly manipulator of the embodiment of the present invention 3.
Figure 13 is the three of the dimensional structure diagram of the assembly manipulator of the embodiment of the present invention 3.
Specific implementation mode
Below in conjunction with attached drawing, the invention will be further described：
Embodiment 1：As shown in Figures 1 to 8, the technical solution that the embodiment of the present invention 1 is taken is as follows：A kind of electronic product automation
Kludge, including driving mechanism, slide 6, micro-adjusting mechanism, CCD mechanisms, feeding machanism 17, the first assembly mechanical hand 7 and second group
Fill manipulator 8, wherein above-mentioned driving mechanism is set on board 1, and driving mechanism includes cross-member, is connected to cross-member
On vertical package and lifting assembly；Above-mentioned slide 6 is connect with the output end of vertical package, and through cross-member and vertical package
It drives and moves along a straight line in the horizontal plane；Slide 6 is equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes two sets, two fine tunings
Mechanism is set at two of slide 6 installation stations, and the output end of two micro-adjusting mechanisms is respectively along the longitudinal direction and horizontal direction
Setting；Above-mentioned lifting assembly includes two sets, and what two lifting assemblies were respectively arranged at slide 6 two installs at stations, and respectively with two
The output end of micro-adjusting mechanism connects, and the output end of two lifting assemblies is arranged downward；Above-mentioned first assembly mechanical hand 7 and second assembles
Manipulator 8 is respectively arranged at the outside of two lifting assemblies, and is connect respectively with the output end of two lifting assemblies, is driven through lifting assembly
It moves and elevating movement；Two micro-adjusting mechanisms drive the first assembly mechanical hand 7 or the second assembly mechanical hand 8 along straight line by lifting assembly
It is mobile, to adjust position and the relative angle of the first assembly mechanical hand 7 and the second assembly mechanical hand 8；Above-mentioned feeding machanism 17
It is set to the lower part of slide 6, material to be assembled is exported through feeding machanism 17；Above-mentioned CCD mechanisms include upper CCD components 15 and under
CCD components 16, upper CCD15 components are set on slide 6, and are moved with slide 6, to clap 18 position to be assembled of product
Sighting target is fixed；Lower CCD components 16 are set on board 1；When assembling, upper CCD components 15 are to being positioned on the product 18 on bearing
Assembling position is taken pictures after calibration, and the first assembly mechanical hand 7 or the second assembly mechanical hand 8 take out material from feeding machanism 17,
And after being moved at lower CCD components 16 and take pictures calibration, industrial personal computer passes through the upper CCD components 15 of reception and lower CCD components 16 hair
After the location position signal gone out is aligned, the position of micro-adjusting mechanism pair the first assembly mechanical hand 7 or the second assembly mechanical hand 8 is controlled
It sets after being adjusted, material is assembled on product 18 by the first assembly mechanical hand 7 or the second assembly mechanical hand 8.
Cross-member includes cross motor 2, lateral straight line module 3 and cross slide, wherein above-mentioned transverse direction straight line module 3
By the fixed supported slab support being set on board 1, it is equipped with the cross lead screw being arranged in transverse direction in lateral straight line module 3,
Transverse wire pole socket is arranged on cross lead screw；Above-mentioned cross motor 2 is set to the side of lateral straight line module 3, and cross motor 2
Output shaft connect with cross lead screw, and drive cross lead screw rotary motion；Above-mentioned cross slide can be slidably embedded in transverse direction
It on straight line module 3, and is connect with transverse wire pole socket, when cross lead screw rotary motion, transverse wire pole socket drives cross slide along horizontal
It moves along a straight line to direction.
Vertical package includes longitudinal motor 4 and longitudinal straight line module 5, wherein above-mentioned longitudinal direction straight line module 5 is set to transverse direction
On slide, and moved with cross slide；Longitudinal straight line module 5 is internally provided with longitudinal screw mandrel extendable in the longitudinal direction, Zong Xiangsi
Longitudinal screw mandrel seat is arranged on bar；Above-mentioned longitudinal motor 4 is set to the side of longitudinal straight line module 5, and the output of longitudinal motor 5
Axis is connect with longitudinal screw mandrel, and drives longitudinal screw mandrel rotary motion；Above-mentioned slide 6 can be slidably embedded in longitudinal straight line module 5
On, and it is connect with longitudinal screw mandrel seat, when longitudinal screw mandrel rotary motion, longitudinal screw mandrel seat drives slide 6, and straight line is transported along the longitudinal direction
It is dynamic.
Slide 6 is L-type platy structure, and right side is slidably attached on longitudinal straight line module 5, the front side wall of slide 6
Installation panel is formed, which is equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes lateral trimming assembly 13 and longitudinal direction
Trimming assembly 14, wherein lateral trimming assembly 13 includes laterally fine tuning motor and laterally fine tuning slide, and laterally finely tuning slide can slide
It is connected to dynamicly at an installation station of the front side wall of slide 6；Above-mentioned laterally fine tuning motor is connected to the left side of slide 6, and horizontal
It is connect to the output end of fine tuning motor with laterally fine tuning slide, with driving, laterally fine tuning slide carries out position tune in transverse direction
It is whole；14 longitudinal fine tuning motor of above-mentioned longitudinal direction trimming assembly and longitudinal fine tuning slide, wherein longitudinal fine tuning motor is set to slide 6
Rear wall on, longitudinal output shaft for finely tuning motor passes through slide 6 to extend to the front side of slide 6；Longitudinal fine tuning slide is slidably
Ground is connected on the bottom plate of slide 6, and the output axis connection of motor is finely tuned with longitudinal direction, and longitudinal fine tuning motor driving longitudinal direction, which is finely tuned, to be slided
Seat adjusts position along the longitudinal direction.
Lifting assembly includes two sets, and two lifting assemblies are connected to above-mentioned laterally fine tuning slide and longitudinal fine tuning slide
On, and respectively with laterally fine tuning slide and longitudinal fine tuning slide movement；Lifting assembly includes lifting motor 9 and lift slide 10,
Wherein, above-mentioned lifting motor 9 is vertically arranged on the front side wall of laterally fine tuning slide or longitudinal fine tuning slide, and lifting motor 9
Output end be arranged downward；Above-mentioned lift slide 10 is vertically slidably attached at laterally fine tuning slide or longitudinal fine tuning
On the front side wall of slide, and lift slide 10 is connect with the output end of lifting motor 9, and lifting motor 9 drives 10 liters of lift slide
Drop movement.
Assembling cylinder 11 is connected on the front side wall of lift slide 10 vertically, the output end of assembling cylinder 11 is arranged downward,
It assembles and is arranged with connection sheet 12 on the output end of cylinder 11；One end of connection sheet 12 is fixed on the output end of assembling cylinder 11,
The other end is connect with the first assembly mechanical hand 7 or the second assembly mechanical hand 8；It assembles cylinder 11 and drives first group by connection sheet 12
Manipulator 7 or 8 elevating movement of the second assembly mechanical hand are filled, to assemble material.
First assembly mechanical hand 7 includes transmission component, armshaft 04, pressure sensor 06, suction component and material folding component,
In, above-mentioned armshaft 04 is column structure, and installation space I is offered in armshaft 04；It is empty that above-mentioned pressure sensor 06 is set to installation
Between in I；Above-mentioned transmission component is set to the top of armshaft 04, and the upper end of transmission component is connect with connection sheet 12, transmission component
Lower end is connect with pressure sensor 06, and the power of connection sheet 12 is transferred to pressure sensor 06；Above-mentioned suction component setting
The lower end of armshaft 04, the upper end of suction component and pressure sensing are extended in the lower part of pressure sensor 06, and across armshaft 04
Device 06 connects, and pressure sensor 06 drives suction component to decline so as to close and adsorb camera shooting headstock a；Above-mentioned material folding component setting
In the outside of suction component, material folding component clamps the camera b positioned at the sides camera seat a from the side of suction component lower end；
Above-mentioned transmission component includes retainer 01, driving spring 02, drive link 03 and pushes away seat 05, wherein above-mentioned drive link 03 can
It is slidably plugged in the top of armshaft 04,03 lower end of drive link extends in installation space I；It above-mentioned retainer 01 and pushes away seat 05 and divides
It is not connected to the top and bottom end of drive link 03, retainer 01 is connect with above-mentioned connection sheet 12, is pushed away seat 05 and is connected to pressure sensing
06 top of device；Above-mentioned driving spring 02 is set on drive link 03；When connection sheet 12 pushes retainer 01, retainer 01 passes through biography
Lever 03 and 05 down force pressure sensor 06 of seat is pushed away, pressure sensor 06 pushes suction component, is buffered by driving spring 02；
Above-mentioned suction component includes vacuum bed 07, slide bar 08, resetting spring 09 and vacuum cups, wherein above-mentioned slide bar 08 is vertical
It is plugged in installation space I, and slide bar 08 is slideably threaded through in armshaft 04, and extends to the lower end of armshaft 04, slide bar 08
Middle part is equipped with gas circuit；Above-mentioned vacuum bed 07 is set to the upper end of slide bar 08, and air cavity is equipped in vacuum bed 05, air cavity and slide bar 08
The gas circuit at middle part is connected, and air cavity side is connect with external vacuum generating device；Above-mentioned vacuum cups is set to slide bar 08
Lower end, and be connected with the gas circuit inside slide bar 08, vacuum generating device is by vacuum bed 07 and slide bar 08 at vacuum cups
Negative pressure is generated, to adsorb camera shooting headstock a；Above-mentioned resetting spring 09 is set on slide bar 08, and the both ends of resetting spring 09 point
It is not connected to the bottom of vacuum bed 07 and installation space I；Pressure sensor 06 drives vacuum to inhale by vacuum bed 07 and slide bar 08
Head rest close-shot is fixed, or the camera shooting headstock a adsorbed is packed into product as headstock a so that vacuum cups will image headstock a absorption
In 18, resetting spring 09 is compressed by vacuum bed 07；When vacuum cups will be imaged in headstock a loading products 18, pass through pressure sensing
Pressure of the vacuum cups to product 18 when the induction of device 06 is packed into；After the completion of camera shooting headstock a is drawn or be packed into vacuum cups, bullet is resetted
The bounce that spring 09 provides makes pressure sensor 06 reset；
Above-mentioned material folding component include block set 010, material folding cylinder 011, compression bar 012, plectrum 013, strut 014, fastening spring 015,
Drive sleeve 016 and clamping jaw 017 and, wherein above-mentioned block set 010, which is arranged, to be fixed on slide bar 08, and the side of block set 010 extends to cunning
The side of bar 08 forms supporting plane；Output end material folding cylinder 011 directed downwardly is equipped on the supporting plane vertically；Above-mentioned compression bar
012 is connected on the output end of material folding cylinder 011 vertically, and material folding cylinder 011 drives 012 elevating movement of compression bar；Above-mentioned strut 014
It is connected to the bottom of block set 010 vertically, and is extended downwardly；Above-mentioned fastening spring 015 is set on strut 014；Above-mentioned drive sleeve
016 is slidably sleeved on strut 014, and close to the lower end of strut 014；The upper and lower ends of fastening spring 015 are separately connected
In block set 010 and drive sleeve 016；Driving groove II is offered respectively on the correspondence two side of drive sleeve 016；Above-mentioned plectrum 013
One end be set in driving groove II, and be rotatably connected on the side wall of strut 014 across driving groove II, plectrum 013
One end is equipped with lug boss；The other end of plectrum 013 extends to the lower part of compression bar 012, forms supporting plane；Above-mentioned clamping jaw 017 wraps
Two are included, two clamping jaws 017 are rotatably connected at respectively on the side wall of 014 lower end of strut, the madial wall and strut of two clamping jaws 017
Spring is equipped between 014 outer wall；The upper end of clamping jaw 017 is equipped with lug boss；Under natural conditions, fastening spring 015 compresses downwards
Drive sleeve 016, the bottom of drive sleeve 016 push the lug boss of clamping jaw 017, two clamping jaws 017 are made to clamp；When picking and placeing material, material folding vapour
Cylinder 011 drives the supporting plane of 011 pushing 013 other end of plectrum of material folding cylinder, plectrum 013 to make biography by the lug boss of one end
Dynamic set 016 makes fastening spring 015 compress along 08 upward sliding of slide bar, and two clamping jaws 017 disappear in the lower pressure of drive sleeve 016
In the case of, the thrust provided by its spring between slide bar 08 is flared out；When material folding cylinder 011 bounces back upwards, clamp
The bounce of spring 015 pushes down on retainer 013, and two clamping jaws 017 is made to overcome the elastic clip of its spring between slide bar 08
Tight camera shooting headstock a.
Second assembly mechanical hand 8 includes transmission component, armshaft 04, pressure sensor 06 and suction component, wherein above-mentioned axis
Arm 04 is column structure, and installation space I is offered in armshaft 04；Above-mentioned pressure sensor 06 is set in installation space I；It is above-mentioned
Transmission component is set to the top of armshaft 04, and the upper end of transmission component is connect with connection sheet 12, the lower end of transmission component and pressure
Sensor 06 connects, and the power of connection sheet 12 is transferred to pressure sensor 06；Above-mentioned suction component is set to pressure sensing
The lower part of device 06, and armshaft 04 is passed through to extend to the lower end of armshaft 04, the upper end of suction component connect with pressure sensor 06, presses
Force snesor 06 drives suction component to decline so as to close and adsorb tamper patch 177；
Above-mentioned transmission component includes retainer 01, driving spring 02, drive link 03 and pushes away seat 05, wherein above-mentioned drive link 03 can
It is slidably plugged in the top of armshaft 04,03 lower end of drive link extends in installation space I；It above-mentioned retainer 01 and pushes away seat 05 and divides
It is not connected to the top and bottom end of drive link 03, retainer 01 is connect with above-mentioned connection sheet 12, is pushed away seat 05 and is connected to pressure sensing
06 top of device；Above-mentioned driving spring 02 is set on drive link 03；When connection sheet 12 pushes retainer 01, retainer 01 passes through biography
Lever 03 and 05 down force pressure sensor 06 of seat is pushed away, pressure sensor 06 pushes suction component, is buffered by driving spring 02；
Above-mentioned suction component includes vacuum bed 07, slide bar 08, resetting spring 09 and vacuum cups, wherein above-mentioned slide bar 08 is vertical
It is plugged in installation space I, and slide bar 08 is slideably threaded through in armshaft 04, and extends to the lower end of armshaft 04, slide bar 08
Middle part is equipped with gas circuit；Above-mentioned vacuum bed 07 is set to the upper end of slide bar 08, and air cavity is equipped in vacuum bed 05, air cavity and slide bar 08
The gas circuit at middle part is connected, and air cavity side is connect with external vacuum generating device；Above-mentioned vacuum cups is set to slide bar 08
Lower end, and be connected with the gas circuit inside slide bar 08, vacuum generating device is by vacuum bed 07 and slide bar 08 at vacuum cups
Negative pressure is generated, to adsorb tamper patch 177；Above-mentioned resetting spring 09 is set on slide bar 08, and the both ends of resetting spring 09
It is connected to the bottom of vacuum bed 07 and installation space I；Pressure sensor 06 drives vacuum by vacuum bed 07 and slide bar 08
Suction nozzle is fixed, or the attached tamper that will have been adsorbed close to attached tamper patch 177 so that vacuum cups adsorbs attached tamper patch 177
Patch 177 is packed into product 18, and resetting spring 09 is compressed by vacuum bed 07；Attached tamper patch 177 is packed into product by vacuum cups
When in 18, pressure of the vacuum cups to product 18 when incuding loading by pressure sensor 06；Vacuum cups is drawn or is packed into attached
After the completion of tamper patch 177, the bounce that resetting spring 09 provides makes pressure sensor 06 reset.
Upper CCD components 15 include support plate 151, holder 152, upper CCD camera 153, upper prism holder 154, upper prism 155 and
Upper light source 156, wherein above-mentioned support plate 151 is fixedly installed on the lower part of slide 6；One end of above-mentioned holder 152 is connected and fixed on branch
On frame 151, the other end extends to the left；Above-mentioned upper CCD camera 153 is fixedly installed on the lower part of 152 other end of holder, and on
The camera lens of CCD camera 153 is arranged in the horizontal direction；Above-mentioned upper prism holder 154 is set on the right side wall of support plate 151, upper rib
Prism 155 is fixed in mirror holder 154；Above-mentioned light source 156 is fixedly installed on the lower part of support plate 151, and with about 155 upper prism
It is correspondingly arranged；Light source 156 emits beam the assembling position of product irradiation 18, and light is reflected, reflected through upper prism 155 laggard upwards
Enter in upper CCD camera 153, so as to calibration of taking pictures；
Above-mentioned lower CCD components 16 include support base 161, lens bracket 162, lower CCD camera 163, lower prism holder 164, lower rib
Mirror 165 and lower light source 166, wherein above-mentioned support base 161 is fixedly installed on board 1；Above-mentioned lens bracket 162 is vertically arranged
In the side of support base 161；Above-mentioned lower CCD camera 163 is fixedly installed on lens bracket 162, lower CCD camera 163
Camera lens is arranged in the horizontal direction；Above-mentioned lower prism holder 164 is fixedly installed on the other side of support base 161, consolidates in lower prism holder 164
Surely it is equipped with lower prism 165；Above-mentioned lower light source 166 is set to the top of lower prism holder 165；First assembly mechanical hand 7 or second group
After material is carried to 166 top of lower light source by dress manipulator 8, lower light source 166 irradiates material, and light is reflected down into lower prism
165, after the refraction of lower prism 165, calibration of taking pictures is carried out into lower CCD camera 163.
Feeding machanism 17 include rack 171, reel 172, material volume 173, feeding seat 174, material stripping seat 175, idler roller 176 and
Withdrawing roll 178, wherein above-mentioned rack 171 is fixedly installed on board 1；Above-mentioned reel 172 is rotatablely arranged at rack 171
On side wall；For above-mentioned material volume 173 on reel 172, material volume 173 is band-like material, and being pasted at least two in material volume 173 waits for
The tamper patch 177 of assembling；Above-mentioned material stripping seat 175 is set to the side of reel 172, and the top surface of material stripping seat 175 is horizontal plane, should
Horizontal plane is concordant with the top of material volume 173, and the bottom of material stripping seat 175 is clinoplain diagonally downward；Between above-mentioned feeding seat 174
Every the side for being set to material stripping seat 175, when the end of material volume 173 is across feeding seat 174 and material stripping seat 175, material stripping seat 175
Tamper patch 177 in material volume 173 is removed to feeding seat 174, so that the second assembly mechanical hand 8 grips；Above-mentioned idler roller
176 are set to the lower part of material stripping seat 175, and the material strip of material volume 173 is after the tensioning of idler roller 176 wound on being set to idler roller 176
On the withdrawing roll 178 of lower section, withdrawing roll 178 drives and rotary motion through motor, to pull out material volume 173 from reel 172.
A kind of electronic product automatic assembling manipulator, including transmission component, armshaft 04, pressure sensor 06, suction group
Part and material folding component, wherein above-mentioned armshaft 04 is column structure, and installation space I is offered in armshaft 04；Above-mentioned pressure sensor
06 is set in installation space I；Above-mentioned transmission component is set to the top of armshaft 04, and upper end and the connection sheet 12 of transmission component connect
It connects, the lower end of transmission component is connect with pressure sensor 06, and the power of connection sheet 12 is transferred to pressure sensor 06；It is above-mentioned
Suction component is set to the lower part of pressure sensor 06, and the lower end of armshaft 04 is extended to across armshaft 04, suction component it is upper
End connect with pressure sensor 06, and pressure sensor 06 drives the decline of suction component so as to close and adsorb and image headstock a；It is above-mentioned
Material folding component is set to the outside of suction component, and material folding component is clamped from the side of suction component lower end is located at the sides camera seat a
The camera b in portion.
Transmission component includes retainer 01, driving spring 02, drive link 03 and pushes away seat 05, wherein above-mentioned drive link 03 can
It is slidably plugged in the top of armshaft 04,03 lower end of drive link extends in installation space I；It above-mentioned retainer 01 and pushes away seat 05 and divides
It is not connected to the top and bottom end of drive link 03, retainer 01 is connect with above-mentioned connection sheet 12, is pushed away seat 05 and is connected to pressure sensing
06 top of device；Above-mentioned driving spring 02 is set on drive link 03；When connection sheet 12 pushes retainer 01, retainer 01 passes through biography
Lever 03 and 05 down force pressure sensor 06 of seat is pushed away, pressure sensor 06 pushes suction component, is buffered by driving spring 02；
Above-mentioned suction component includes vacuum bed 07, slide bar 08, resetting spring 09 and vacuum cups, wherein above-mentioned slide bar 08 is vertical
It is plugged in installation space I, and slide bar 08 is slideably threaded through in armshaft 04, and extends to the lower end of armshaft 04, slide bar 08
Middle part is equipped with gas circuit；Above-mentioned vacuum bed 07 is set to the upper end of slide bar 08, and air cavity is equipped in vacuum bed 05, air cavity and slide bar 08
The gas circuit at middle part is connected, and air cavity side is connect with external vacuum generating device；Above-mentioned vacuum cups is set to slide bar 08
Lower end, and be connected with the gas circuit inside slide bar 08, vacuum generating device is by vacuum bed 07 and slide bar 08 at vacuum cups
Negative pressure is generated, to adsorb camera shooting headstock a；Above-mentioned resetting spring 09 is set on slide bar 08, and the both ends of resetting spring 09 point
It is not connected to the bottom of vacuum bed 07 and installation space I；Pressure sensor 06 drives vacuum to inhale by vacuum bed 07 and slide bar 08
Head rest close-shot is fixed, or the camera shooting headstock a adsorbed is packed into product as headstock a so that vacuum cups will image headstock a absorption
In 18, resetting spring 09 is compressed by vacuum bed 07；When vacuum cups will be imaged in headstock a loading products 18, pass through pressure sensing
Pressure of the vacuum cups to product 18 when the induction of device 06 is packed into；After the completion of camera shooting headstock a is drawn or be packed into vacuum cups, bullet is resetted
The bounce that spring 09 provides makes pressure sensor 06 reset；
Above-mentioned material folding component include block set 010, material folding cylinder 011, compression bar 012, plectrum 013, strut 014, fastening spring 015,
Drive sleeve 016 and clamping jaw 017 and, wherein above-mentioned block set 010, which is arranged, to be fixed on slide bar 08, and the side of block set 010 extends to cunning
The side of bar 08 forms supporting plane；Output end material folding cylinder 011 directed downwardly is equipped on the supporting plane vertically；Above-mentioned compression bar
012 is connected on the output end of material folding cylinder 011 vertically, and material folding cylinder 011 drives 012 elevating movement of compression bar；Above-mentioned strut 014
It is connected to the bottom of block set 010 vertically, and is extended downwardly；Above-mentioned fastening spring 015 is set on strut 014；Above-mentioned drive sleeve
016 is slidably sleeved on strut 014, and close to the lower end of strut 014；The upper and lower ends of fastening spring 015 are separately connected
In block set 010 and drive sleeve 016；Driving groove II is offered respectively on the correspondence two side of drive sleeve 016；Above-mentioned plectrum 013
One end be set in driving groove II, and be rotatably connected on the side wall of strut 014 across driving groove II, plectrum 013
One end is equipped with lug boss；The other end of plectrum 013 extends to the lower part of compression bar 012, forms supporting plane；Above-mentioned clamping jaw 017 wraps
Two are included, two clamping jaws 017 are rotatably connected at respectively on the side wall of 014 lower end of strut, the madial wall and strut of two clamping jaws 017
Spring is equipped between 014 outer wall；The upper end of clamping jaw 017 is equipped with lug boss；Under natural conditions, fastening spring 015 compresses downwards
Drive sleeve 016, the bottom of drive sleeve 016 push the lug boss of clamping jaw 017, two clamping jaws 017 are made to clamp；When picking and placeing material, material folding vapour
Cylinder 011 drives the supporting plane of 011 pushing 013 other end of plectrum of material folding cylinder, plectrum 013 to make biography by the lug boss of one end
Dynamic set 016 makes fastening spring 015 compress along 08 upward sliding of slide bar, and two clamping jaws 017 disappear in the lower pressure of drive sleeve 016
In the case of, the thrust provided by its spring between slide bar 08 is flared out；When material folding cylinder 011 bounces back upwards, clamp
The bounce of spring 015 pushes down on retainer 013, and two clamping jaws 017 is made to overcome the elastic clip of its spring between slide bar 08
Tight camera shooting headstock a.
Further, the present invention, which devises one kind, having the function of upper and lower CCD positioning and demarcatings, and material is made to be accurately aimed at assembling product
Position is effectively guaranteed assembling precision by the fine tuning of two assembly mechanical hand relative positions, and is inhaled by integrated vacuum simultaneously
It is automatic to the electronic product of carrying and the assembling of a variety of electronic components that attached and physics is held on integrated assembly mechanical hand realization
Change kludge and its assembly mechanical hand.The pcb board that the present invention is applied to the electronic products such as mobile phone, computer, IPAD assembles neck automatically
Domain, main technical problems to be solved are under the premise of not changeing manipulator, while to realize a variety of electronics member devices by separate unit machine
Part is automatic, precisely, be efficiently assembled on pcb board；Specifically electronic component includes mainly single camera, dual camera, prevents
Tear patch, soft arranging wire, gland etc. open, the assemblnig electronic component of the present invention is not limited to above-mentioned listed classification.The present invention includes integrally
Driving mechanism, micro-adjusting mechanism, CCD mechanisms, feeding machanism, the first assembly mechanical hand and the second assembly mechanical hand, driving mechanism are real
The now linear drives to assembly mechanical hand in three directions, micro-adjusting mechanism are transported by respectively driving two assembly mechanical hand relative rectilinears
It is dynamic, to adjust two assembly mechanical hand respective positions or both relatively angle；CCD components are respectively to assembling product position and object
Material carries out calibration of taking pictures, and shooting ground information is sent to industrial personal computer, by driving micro-adjusting mechanism adjustment after being analyzed by industrial personal computer
The position of two assembly mechanical hands；Feeding machanism is for exporting the sheet material being attached in material volume（Such as tamper patch）, material volume fortune
When dynamic, tamper patch is automatically stripped, so that assembly mechanical hand takes out；Specifically：1, driving mechanism of the invention and freqency fine adjustment machine
Reasonable, the compact design of structure：Driving mechanism includes cross-member, vertical package and lifting assembly, different from traditional drives
Be the driving mechanism of the present invention include two sets of lifting assemblies, and two lifting assemblies are and cross-member and vertical package separately-loaded
Design；The output end of cross-member and vertical package is connected with slide, is used as intermediate transmission component by slide；Slide is equipped with
Two assembling stations；The micro-adjusting mechanism of the present invention includes being respectively arranged at slide two to assemble the lateral trimming assembly at station and indulge
To trimming assembly, the vertically and horizontally components of above-mentioned two lifting assemblies independence traditional drives respectively with lateral trimming assembly and longitudinal direction
The output end of trimming assembly connects；The output end of two lifting assemblies then connects the first assembly mechanical hand and the second assembly mechanical hand；
When assembling, the movement of two assembly mechanical hand Integral synchronous is driven by cross-member and vertical package, by assembly mechanical hand big
It is moved on direction；Two assembly mechanical hand straight line positions are separately adjusted by lateral trimming assembly and longitudinal trimming assembly simultaneously
It sets, when two assembly mechanical hands adsorb the both ends of material simultaneously（Such as winding displacement）, individually vertically and horizontally moved by above-mentioned, realize two
Adjust to assembly mechanical hand relative angle；Two lifting assemblies individually drive two assemblings independently of cross-member and vertical package
Manipulator lifting, to complete feeding or assembly operation；2, the design of CCD mechanisms of the present invention：The present invention CCD mechanisms include
Upper CCD components and lower CCD components, are respectively arranged on slide and board, wherein upper CCD components are transported in the horizontal plane with slide
It is dynamic, and the assembled position of alignment product carries out calibration of taking pictures downwards；Lower CCD components are set on board, and assembly mechanical hand takes
After going out material, is moved to above lower CCD components with slide, calibration of taking pictures is carried out to material upwards through lower CCD components；Two CCD groups
Photographing information is sent to industrial personal computer by part, after carrying out contraposition analysis by industrial personal computer, controls driving mechanism or micro-adjusting mechanism to group
The position or angle for filling manipulator are adjusted；Since assembling position or volume of material are smaller, upper and lower CCD components are matched respectively to be arranged
In respect of light source, provides illumination by light source and be directed on assembling position or material, to improve shooting quality；Meanwhile being rationally tight
Gather installation, prism is dexterously introduced into during light path transmits by the components of CCD up and down of the invention, and light refraction is realized by prism；3、
The assembly mechanical hand design of the present invention：The present invention assembly mechanical hand mainly complete feeding and assembling two action, feeding or
The material of assembling is all kinds of electronic components（Such as include rigid nature camera, flexibly winding displacement, sheet-like flexible tamper patch
The cover board etc. of piece, sheet hard）, and electronic component needs control pressure during being assembled on pcb board, to avoid group
Material or pcb board are damaged when dress；Therefore, assembly mechanical hand of the invention includes the first assembly mechanical hand and the second assembly mechanical
Hand, two sets of assembly mechanical hands can independent feeding, can also cooperate feeding（When such as taking winding displacement, two assembly mechanical hands is needed to adsorb winding displacement
Both ends）；Assembly mechanical hand originally designs the internal armshaft for being installation space as manipulator agent structure；Meanwhile pacifying
It fills and is slideably equipped with pressure sensor in space, when can detect assembly mechanical hand feeding or assembling in real time by pressure sensor
To the pressure of material or pcb board, it is used as by the preset pressure upper limit of industrial personal computer and only stops standard, when feeding or assembling, works as pressure
When the pressure of sensor outflow is more than pressure upper limit, industrial personal computer controls driving mechanism stop motion, to avoid material or production is damaged by pressure
Product；The top of pressure sensor is equipped with and pushes away seat, pushes away seat and is located in installation space, and the top for pushing away seat is connected with drive link vertically, passes
Lever is slideably plugged on armshaft, and extends to armshaft top, and retainer, retainer and armshaft top are equipped at the top of drive link
It is arranged with driving spring on drive link between portion；Retainer is connect by connection sheet with the output end of assembling cylinder, and assembling is driven
When dynamic retainer declines, retainer through drive link, push away seat pressure sensor driven to decline；The lower part of pressure sensor is equipped with vacuum
Seat, the lower end of vacuum bed are connected with slide bar, and the gas circuit inside air cavity and slide bar inside vacuum bed is interconnected, the lower end of slide bar
Equipped with vacuum cups；When pressure sensor declines, declined by vacuum bed band moving slide-bar, so that the vacuum cups of the lower end of the slider
Adsorb the material of sheet（Such as tamper patch, cover board, winding displacement）, and by above-mentioned driving spring into row buffering；Meanwhile feeding or
After being completed, after the downward pressure of assembling cylinder disappears, it is arranged on the slide bar between vacuum bed and installation space bottom
Action of reset spring under, uplifting pressure sensor, realize reset；In addition, the present invention is also set in the side close to the lower end of the slider
There is material folding component, can be realized to hard block or heavier mass material by material folding component（Such as single camera, dual camera, lid
Plate etc.）Pick and place, material folding component and suction component self contained function, the two not will produce interference, can be selected according to practical material situation
It selects material folding component or suction component carries out material and picks and places, meanwhile, material folding component can also cooperate action with suction component, such as work as
When the side of camera is connected with winding displacement, camera can be clamped by material folding component, while winding displacement is adsorbed by vacuum cups；Folder
Material component is connected to the side of slide bar by block set, and the outside upright of block set is equipped with material folding cylinder, the output end court of material folding cylinder
Lower setting, and it is connected with compression bar；The lower part of block set is also equipped with strut vertically, is arranged with drive sleeve to the bottom slidable of strut,
At the top of drive sleeve fastening spring is connected between block set bottom；The correspondence both sides of drive sleeve offer driving groove, in driving groove
Rotationally it is equipped with the plectrum extended out to below compression bar；The lower end of strut is rotationally equipped with two clamping jaws, two clamping jaws and branch
Spring is connected between bar；Under natural conditions, fastening spring pushes drive sleeve, makes two clamping jaws that spring be overcome to be flared out；It needs
When material folding, material folding cylinder is driven by compression bar and is pushed on the outside of plectrum, and by pushing up drive sleeve in plectrum inner bulge portion, two clamping jaws exist
After the downward pressure of fastening spring disappears, inwardly clamped by its spring driving between strut.
Embodiment 2：As shown in Figure 9 and Figure 10, it is the dimensional structure diagram of the assembly mechanical hand of the embodiment of the present invention 2,
The present embodiment can realize picking and placeing and assembling to the hard sheet material such as cover board c；The armshaft of the present embodiment, transmission component, pressure
Sensor and suction component are same as Example 1；Vacuum suction can be realized by being set to the vacuum suction head 018 of the lower end of the slider
Material, real-time induction when realizing feeding or assembling by using pressure sensor to pressure；As different from Example 1, originally
Material folding component is directly set on slide bar by embodiment, specially：The drive sleeve 016 of the present embodiment is directly set in close to slide bar
At 08 lower part, the strut 014 in embodiment 1 is saved, this kind of structure design is more simple and direct compared to embodiment 1；Material folding component
Other structures and material folding principle are identical as embodiment；Meanwhile the fastening spring 015 of the present embodiment is also directly set in slide bar 08
On, the upper and lower ends of fastening spring 015 are connect at the top of block set bottom and drive sleeve respectively；In addition, the present embodiment can be by two folders
Pawl 017 is directly arranged on the side wall of 08 lower end of slide bar.
Embodiment 3：As shown in Figure 11 to Figure 13, it is the dimensional structure diagram of the assembly mechanical hand of the embodiment of the present invention 3,
The assembly mechanical hand of the present embodiment is mainly used for picking and placeing or assembling dual camera, and dual camera includes the first camera d and second
Camera e；The armshaft of the present embodiment, transmission component, pressure sensor and suction component are same as Example 1, pass through slide bar 08
The vacuum cups of lower end adsorbs the first camera d；Different from embodiment 1 is, the block set 010 of the present embodiment material folding component is not
It is connected and fixed on slide bar 08, but is fixedly connected on the lift slide 10 of lifting assembly, and extend to the side of slide bar 08,
And synchronous slide bar 08 moves；The material folding cylinder 011 of the present embodiment material folding component, plectrum 013, strut 014, clamps bullet at compression bar 012
Spring 015, the setting of 016 grade of clamping jaw of drive sleeve are same as Example 1；As different from Example 1, the strut 014 of the present embodiment
Middle part is equipped with gas circuit, and the upper end side of strut 014 is equipped with vacuum adapter 019, to be connect with external vacuum generating device, and
The lower end of strut 014 is equipped with vacuum suction seat 020, and vacuum generating device makes 020 lower part of vacuum suction seat generate negative pressure；It is picking and placeing or group
When filling second camera e, two clamping jaws 017 are clamped from the both sides of second camera e, meanwhile, the second camera shooting is sucked in vacuum suction seat 020
The top of head e；This kind of structure design can clamp or adsorb more securely material, can be used for the larger material of quality and pick and place or group
Dress；In addition, the material folding component of the present embodiment cooperates action with suction component, due to the first camera d and second camera e
Between connected by winding displacement, therefore in feeding or assembling, material folding component and suction component synchronization are by the first camera d and second
Camera e is clamped or absorption is fixed.
The embodiment of the present invention only introduces its specific implementation mode, does not lie in and limits its protection domain.The skill of the industry
Art personnel can make certain modifications under the inspiration of the present embodiment, therefore all equivalence changes done according to the scope of the claims of the present invention
Or modification, it belongs in scope of the patent claims of the present invention.
Claims (12)
1. a kind of electronic product automatic assembling machine, it is characterised in that：Including driving mechanism, slide（6）, micro-adjusting mechanism, CCD machines
Structure, feeding machanism（17）, the first assembly mechanical hand（7）And second assembly mechanical hand（8）, wherein above-mentioned driving mechanism is set to
Board（1）On, driving mechanism includes cross-member, the vertical package and lifting assembly that are connected in cross-member；Above-mentioned slide
（6）It is connect with the output end of vertical package, and drives through cross-member and vertical package and move along a straight line in the horizontal plane；Slide
（6）It is equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes two sets, and two micro-adjusting mechanisms are set to slide（6）Two installation
At station, and the output end of two micro-adjusting mechanisms distinguishes along the longitudinal direction and horizontal direction is arranged；Above-mentioned lifting assembly includes two sets,
Two lifting assemblies are respectively arranged at slide（6）Two installation stations at, and connect respectively with the output end of two micro-adjusting mechanisms, two liters
The output end of part of coming down to a lower group is arranged downward；Above-mentioned first assembly mechanical hand（7）And second assembly mechanical hand（8）It is respectively arranged at two liters
It comes down to a lower group the outside of part, and is connect respectively with the output end of two lifting assemblies, the elevating movement through lifting assembly driving；Two freqency fine adjustment machines
Structure drives the first assembly mechanical hand by lifting assembly（7）Or second assembly mechanical hand（8）It moves along a straight line, to adjust first
Assembly mechanical hand（7）With the second assembly mechanical hand（8）Position and relative angle；Above-mentioned feeding machanism（17）It is set to slide
（6）Lower part, material to be assembled is through feeding machanism（17）Output；Above-mentioned CCD mechanisms include upper CCD components（15）And lower CCD
Component（16）, upper CCD（15）Component is set to slide（6）On, and with slide（6）It is mobile, so as to product（18）Position to be assembled
It sets and carries out calibration of taking pictures；Lower CCD components（16）It is set to board（1）On；When assembling, upper CCD components（15）To being positioned over bearing
On product（18）On assembling position take pictures after calibration, the first assembly mechanical hand（7）Or second assembly mechanical hand（8）By material
From feeding machanism（17）Upper taking-up, and it is moved to lower CCD components（16）Place take pictures after calibration, and industrial personal computer passes through in reception
CCD components（15）And lower CCD components（16）After the location position signal sent out is aligned, control micro-adjusting mechanism pair first assembles
Manipulator（7）Or second assembly mechanical hand（8）Position be adjusted after, the first assembly mechanical hand（7）Or second assembly mechanical
Hand（8）Material is assembled to product（18）On.
2. a kind of electronic product automatic assembling machine according to claim 1, it is characterised in that：The cross-member packet
Include cross motor（2）, lateral straight line module（3）And cross slide, wherein above-mentioned transverse direction straight line module（3）By being set to machine
Platform（1）On fixed supported slab support, lateral straight line module（3）It is interior equipped with the cross lead screw being arranged in transverse direction, cross lead screw
On be arranged with transverse wire pole socket；Above-mentioned cross motor（2）It is set to lateral straight line module（3）Side, and cross motor（2）'s
Output shaft is connect with cross lead screw, and drives cross lead screw rotary motion；Above-mentioned cross slide can be slidably embedded laterally straight
Line module（3）On, and it is connect with transverse wire pole socket, when cross lead screw rotary motion, transverse wire pole socket drives cross slide along horizontal
It moves along a straight line to direction.
3. a kind of electronic product automatic assembling machine according to claim 2, it is characterised in that：The vertical package packet
Include longitudinal motor（4）And longitudinal straight line module（5）, wherein above-mentioned longitudinal direction straight line module（5）It is set on cross slide, and with
Cross slide moves；Longitudinal straight line module（5）It is internally provided with longitudinal screw mandrel extendable in the longitudinal direction, is arranged in longitudinal screw mandrel
Longitudinal screw mandrel seat；Above-mentioned longitudinal motor（4）It is set to longitudinal straight line module（5）Side, and longitudinal motor（5）Output shaft with
Longitudinal screw mandrel connects, and drives longitudinal screw mandrel rotary motion；Above-mentioned slide（6）It can be slidably embedded in longitudinal straight line module（5）
On, and it is connect with longitudinal screw mandrel seat, when longitudinal screw mandrel rotary motion, longitudinal screw mandrel seat drives slide（6）Straight line along the longitudinal direction
Movement.
4. a kind of electronic product automatic assembling machine according to claim 3, it is characterised in that：The slide（6）For L
Type platy structure, right side are slidably attached at longitudinal straight line module（5）On, slide（6）Front side wall formed installation panel,
The installation panel is equipped with two installation stations；Above-mentioned micro-adjusting mechanism includes lateral trimming assembly（13）And longitudinal trimming assembly
（14）, wherein lateral trimming assembly（13）Slide is finely tuned including laterally fine tuning motor and laterally, laterally finely tunes slide slideably
It is connected to slide（6）Front side wall one installation station at；Above-mentioned laterally fine tuning motor is connected to slide（6）Left side, and it is horizontal
It is connect to the output end of fine tuning motor with laterally fine tuning slide, with driving, laterally fine tuning slide carries out position tune in transverse direction
It is whole；Above-mentioned longitudinal direction trimming assembly（14）Longitudinal fine tuning motor and longitudinal fine tuning slide, wherein longitudinal fine tuning motor is set to slide
（6）Rear wall on, longitudinal output shaft for finely tuning motor passes through slide（6）Extend to slide（6）Front side；Longitudinal fine tuning slide
It is slidably attached at slide（6）Bottom plate on, and with the output axis connection of longitudinal fine tuning motor, it is longitudinal that finely tune motor driving vertical
Position is adjusted along the longitudinal direction to fine tuning slide.
5. a kind of electronic product automatic assembling machine according to claim 4 and its assembly mechanical hand, it is characterised in that：Institute
The lifting assembly stated includes two sets, and two lifting assemblies are connected on above-mentioned laterally fine tuning slide and longitudinal fine tuning slide, and
Respectively with laterally fine tuning slide and longitudinal fine tuning slide movement；Lifting assembly includes lifting motor（9）And lift slide（10）,
In, above-mentioned lifting motor（9）It is vertically arranged on the front side wall of laterally fine tuning slide or longitudinal fine tuning slide, and lifting motor
（9）Output end be arranged downward；Above-mentioned lift slide（10）Vertically it is slidably attached at laterally fine tuning slide or vertical
To on the front side wall of fine tuning slide, and lift slide（10）With lifting motor（9）Output end connection, lifting motor（9）Driving
Lift slide（10）Elevating movement.
6. a kind of electronic product automatic assembling machine according to claim 5 and its assembly mechanical hand, it is characterised in that：Institute
The lift slide stated（10）Front side wall on be connected with assembling cylinder vertically（11）, assemble cylinder（11）Output end towards dividing into
It sets, assembles cylinder（11）Output end on be arranged with connection sheet（12）；Connection sheet（12）One end be fixed on assembling cylinder（11）
Output end on, the other end and the first assembly mechanical hand（7）Or second assembly mechanical hand（8）Connection；Assemble cylinder（11）Pass through
Connection sheet（12）Drive the first assembly mechanical hand（7）Or second assembly mechanical hand（8）Elevating movement, to assemble material.
7. a kind of electronic product automatic assembling machine according to claim 6 and its assembly mechanical hand, it is characterised in that：Institute
The first assembly mechanical hand stated（7）Including transmission component, armshaft（04）, pressure sensor（06）, suction component and material folding component,
Wherein, above-mentioned armshaft（04）For column structure, armshaft（04）Inside offer installation space（I）；Above-mentioned pressure sensor（06）If
It is placed in installation space（I）It is interior；Above-mentioned transmission component is set to armshaft（04）Top, the upper end of transmission component and connection sheet（12）
Connection, the lower end of transmission component and pressure sensor（06）Connection, and by connection sheet（12）Power be transferred to pressure sensor
（06）；Above-mentioned suction component is set to pressure sensor（06）Lower part, and pass through armshaft（04）Extend to armshaft（04）Under
End, the upper end of suction component and pressure sensor（06）Connection, pressure sensor（06）Suction component is driven to decline so as to close
And adsorb camera shooting headstock（a）；Above-mentioned material folding component is set to the outside of suction component, material folding component from suction component lower end one
Side, which clamps, is located at camera seat（a）The camera of side（b）；
Above-mentioned transmission component includes retainer（01）, driving spring（02）, drive link（03）And push away seat（05）, wherein above-mentioned biography
Lever（03）Slideably it is plugged in armshaft（04）Top, drive link（03）Lower end extends to installation space（I）It is interior；Above-mentioned biography
Dynamic seat（01）And push away seat（05）It is connected to drive link（03）Top and bottom end, retainer（01）With above-mentioned connection sheet（12）
Connection, pushes away seat（05）It is connected to pressure sensor（06）Top；Above-mentioned driving spring（02）It is set in drive link（03）On；Connection
Piece（12）Push retainer（01）When, retainer（01）Pass through drive link（03）And push away seat（05）Down force pressure sensor（06）,
Pressure sensor（06）Suction component is pushed, driving spring is passed through（02）Buffering；
Above-mentioned suction component includes vacuum bed（07）, slide bar（08）, resetting spring（09）And vacuum cups, wherein above-mentioned slide bar
（08）It is vertically inserted into installation space（I）It is interior, and slide bar（08）Slideably it is threaded through armshaft（04）It is interior, and extend to armshaft
（04）Lower end, slide bar（08）Middle part is equipped with gas circuit；Above-mentioned vacuum bed（07）It is set to slide bar（08）Upper end, and vacuum bed
（05）It is interior to be equipped with air cavity, air cavity and slide bar（08）The gas circuit at middle part is connected, and air cavity side connects with external vacuum generating device
It connects；Above-mentioned vacuum cups is set to slide bar（08）Lower end, and and slide bar（08）Internal gas circuit is connected, vacuum generating device
Pass through vacuum bed（07）And slide bar（08）Negative pressure is generated at vacuum cups, to adsorb camera shooting headstock（a）；Above-mentioned resetting spring
（09）It is set in slide bar（08）On, and resetting spring（09）Both ends be connected to vacuum bed（07）And installation space（I）'s
Bottom；Pressure sensor（06）Pass through vacuum bed（07）And slide bar（08）Drive vacuum cups close to camera shooting headstock（a）, so as to true
Suction head will image headstock（a）Absorption is fixed, or the camera shooting headstock that will have been adsorbed（a）It is packed into product（18）It is interior, resetting spring
（09）By vacuum bed（07）Compression；Vacuum cups will image headstock（a）It is packed into product（18）When interior, pass through pressure sensor（06）
Vacuum cups is to product when induction is packed into（18）Pressure；Camera shooting headstock is drawn or be packed into vacuum cups（a）After the completion, bullet is resetted
Spring（09）The bounce of offer makes pressure sensor（06）It resets；
Above-mentioned material folding component includes block set（010）, material folding cylinder（011）, compression bar（012）, plectrum（013）, strut（014）, folder
Tight spring（015）, drive sleeve（016）And clamping jaw（017）And, wherein above-mentioned block set（010）It is arranged and is fixed on slide bar（08）On,
Block set（010）Side extend to slide bar（08）Side, formed supporting plane；Output end court is equipped on the supporting plane vertically
Under material folding cylinder（011）；Above-mentioned compression bar（012）It is connected to material folding cylinder vertically（011）Output end on, material folding cylinder
（011）Drive compression bar（012）Elevating movement；Above-mentioned strut（014）It is connected to block set vertically（010）Bottom, and extend downwardly；
Above-mentioned fastening spring（015）It is set in strut（014）On；Above-mentioned drive sleeve（016）It is slidably sleeved on strut（014）On,
And close to strut（014）Lower end；Fastening spring（015）Upper and lower ends be connected to block set（010）And drive sleeve（016）
On；Drive sleeve（016）Correspondence two side on offer driving groove respectively（II）；Above-mentioned plectrum（013）One end be set to biography
Dynamic slot（II）It is interior, and pass through driving groove（II）It is rotatably connected at strut（014）Side wall on, plectrum（013）One end set
There is lug boss；Plectrum（013）The other end extend to compression bar（012）Lower part, formed supporting plane；Above-mentioned clamping jaw（017）Packet
Two are included, two clamping jaws（017）It is rotatably connected at strut respectively（014）On the side wall of lower end, two clamping jaws（017）Madial wall
With strut（014）Outer wall between be equipped with spring；Clamping jaw（017）Upper end be equipped with lug boss；Under natural conditions, fastening spring
（015）Compress drive sleeve downwards（016）, drive sleeve（016）Bottom push clamping jaw（017）Lug boss, make two clamping jaws（017）
It clamps；When picking and placeing material, material folding cylinder（011）Drive material folding cylinder（011）Push plectrum（013）The supporting plane of the other end is dialled
Piece（013）Make drive sleeve by the lug boss of one end（016）Along slide bar（08）Upward sliding makes fastening spring（015）Compression,
Two clamping jaws（017）In drive sleeve（016）Lower pressure disappear in the case of, pass through itself and slide bar（08）Between spring provide
Thrust is flared out；Material folding cylinder（011）Upwards when retraction, fastening spring（015）Bounce push down on retainer
（013）, make two clamping jaws（017）Overcome itself and slide bar（08）Between spring elastic force clamp camera seat（a）.
8. a kind of electronic product automatic assembling machine according to claim 7 and its assembly mechanical hand, it is characterised in that：Institute
The second assembly mechanical hand stated（8）Including transmission component, armshaft（04）, pressure sensor（06）And suction component, wherein above-mentioned
Armshaft（04）For column structure, armshaft（04）Inside offer installation space（I）；Above-mentioned pressure sensor（06）It is empty to be set to installation
Between（I）It is interior；Above-mentioned transmission component is set to armshaft（04）Top, the upper end of transmission component and connection sheet（12）Connection, transmission
The lower end of component and pressure sensor（06）Connection, and by connection sheet（12）Power be transferred to pressure sensor（06）；It is above-mentioned
Suction component is set to pressure sensor（06）Lower part, and pass through armshaft（04）Extend to armshaft（04）Lower end, suction group
The upper end of part and pressure sensor（06）Connection, pressure sensor（06）Driving suction component declines so as to close and adsorb tamper
Patch（177）；
Above-mentioned transmission component includes retainer（01）, driving spring（02）, drive link（03）And push away seat（05）, wherein above-mentioned biography
Lever（03）Slideably it is plugged in armshaft（04）Top, drive link（03）Lower end extends to installation space（I）It is interior；Above-mentioned biography
Dynamic seat（01）And push away seat（05）It is connected to drive link（03）Top and bottom end, retainer（01）With above-mentioned connection sheet（12）
Connection, pushes away seat（05）It is connected to pressure sensor（06）Top；Above-mentioned driving spring（02）It is set in drive link（03）On；Connection
Piece（12）Push retainer（01）When, retainer（01）Pass through drive link（03）And push away seat（05）Down force pressure sensor（06）,
Pressure sensor（06）Suction component is pushed, driving spring is passed through（02）Buffering；
Above-mentioned suction component includes vacuum bed（07）, slide bar（08）, resetting spring（09）And vacuum cups, wherein above-mentioned slide bar
（08）It is vertically inserted into installation space（I）It is interior, and slide bar（08）Slideably it is threaded through armshaft（04）It is interior, and extend to armshaft
（04）Lower end, slide bar（08）Middle part is equipped with gas circuit；Above-mentioned vacuum bed（07）It is set to slide bar（08）Upper end, and vacuum bed
（05）It is interior to be equipped with air cavity, air cavity and slide bar（08）The gas circuit at middle part is connected, and air cavity side connects with external vacuum generating device
It connects；Above-mentioned vacuum cups is set to slide bar（08）Lower end, and and slide bar（08）Internal gas circuit is connected, vacuum generating device
Pass through vacuum bed（07）And slide bar（08）Negative pressure is generated at vacuum cups, to adsorb tamper patch（177）；Above-mentioned reset bullet
Spring（09）It is set in slide bar（08）On, and resetting spring（09）Both ends be connected to vacuum bed（07）And installation space（I）
Bottom；Pressure sensor（06）Pass through vacuum bed（07）And slide bar（08）Drive vacuum cups close to attached tamper patch（177）,
So that vacuum cups is by attached tamper patch（177）Absorption is fixed, or the attached tamper patch that will have been adsorbed（177）It is packed into product（18）
It is interior, resetting spring（09）By vacuum bed（07）Compression；Vacuum cups is by attached tamper patch（177）It is packed into product（18）When interior, lead to
Over-pressed force snesor（06）Vacuum cups is to product when induction is packed into（18）Pressure；Attached tamper patch is drawn or be packed into vacuum cups
Piece（177）After the completion, resetting spring（09）The bounce of offer makes pressure sensor（06）It resets.
9. a kind of electronic product automatic assembling machine according to claim 8 and its assembly mechanical hand, it is characterised in that：Institute
The upper CCD components stated（15）Including support plate（151）, holder（152）, upper CCD camera（153）, upper prism holder（154）, upper rib
Mirror（155）And upper light source（156）, wherein above-mentioned support plate（151）It is fixedly installed on slide（6）Lower part；Above-mentioned holder（152）
One end be connected and fixed on holder（151）On, the other end extends to the left；Above-mentioned upper CCD camera（153）It is fixedly installed on holder
（152）The lower part of the other end, and upper CCD camera（153）Camera lens be arranged in the horizontal direction；Above-mentioned upper prism holder（154）If
It is placed in support plate（151）Right side wall on, upper prism holder（154）Inside it is fixed with prism（155）；Above-mentioned light source（156）Fixation is set
It is placed in support plate（151）Lower part, and with upper prism（155）It is correspondingly arranged up and down；Light source（156）Emit beam product irradiation（18）
Assembling position, light reflects upwards, through upper prism（155）Enter upper CCD camera after refraction（153）It is interior, so as to mark of taking pictures
It is fixed；
Above-mentioned lower CCD components（16）Including support base（161）, lens bracket（162）, lower CCD camera（163）, lower prism holder
（164）, lower prism（165）And lower light source（166）, wherein above-mentioned support base（161）It is fixedly installed on board（1）On；Above-mentioned mirror
Head bracket（162）It is vertically arranged at support base（161）Side；Above-mentioned lower CCD camera（163）It is fixedly installed on lens bracket
（162）On, lower CCD camera（163）Camera lens be arranged in the horizontal direction；Above-mentioned lower prism holder（164）It is fixedly installed on support
Seat（161）The other side, lower prism holder（164）Inside it is fixed with lower prism（165）；Above-mentioned lower light source（166）It is set to lower rib
Mirror holder（165）Top；First assembly mechanical hand（7）Or second assembly mechanical hand（8）Material is carried to lower light source（166）On
Fang Hou, lower light source（166）Material is irradiated, light is reflected down into lower prism（165）, through lower prism（165）After refraction, enter
Lower CCD camera（163）Carry out calibration of taking pictures.
10. a kind of electronic product automatic assembling machine according to claim 9 and its assembly mechanical hand, it is characterised in that：
The feeding machanism（17）Including rack（171）, reel（172）, material volume（173）, feeding seat（174）, material stripping seat（175）、
Idler roller（176）And withdrawing roll（178）, wherein above-mentioned rack（171）It is fixedly installed on board（1）On；Above-mentioned reel（172）It can
It is rotatably arranged in rack（171）Side wall on；Above-mentioned material volume（173）Wound on reel（172）On, material volume（173）It is band-like
Material, material volume（173）On be pasted at least two tamper patches to be assembled（177）；Above-mentioned material stripping seat（175）It is set to reel
（172）Side, material stripping seat（175）Top surface be horizontal plane, the horizontal plane and material volume（173）Top it is concordant, material stripping seat
（175）Bottom be clinoplain diagonally downward；Above-mentioned feeding seat（174）It is arranged at intervals at material stripping seat（175）Side, material
Volume（173）End pass through feeding seat（174）And material stripping seat（175）Between when, material stripping seat（175）By material volume（173）On it is anti-
Tear patch open（177）It removes to feeding seat（174）On, so as to the second assembly mechanical hand（8）Gripping；Above-mentioned idler roller（176）Setting
In material stripping seat（175）Lower part, material volume（173）Material strip through idler roller（176）Wound on being set to idler roller after tensioning（176）
The withdrawing roll of lower section（178）On, withdrawing roll（178）The rotary motion through motor driving, so as to by material volume（173）From reel（172）On
It pulls out.
11. a kind of electronic product automatic assembling manipulator as described in claim 1, it is characterised in that：Including transmission component,
Armshaft（04）, pressure sensor（06）, suction component and material folding component, wherein above-mentioned armshaft（04）For column structure, armshaft
（04）Inside offer installation space（I）；Above-mentioned pressure sensor（06）It is set to installation space（I）It is interior；Above-mentioned transmission component is set
It is placed in armshaft（04）Top, the upper end of transmission component and connection sheet（12）Connection, the lower end of transmission component and pressure sensor
（06）Connection, and by connection sheet（12）Power be transferred to pressure sensor（06）；Above-mentioned suction component is set to pressure sensing
Device（06）Lower part, and pass through armshaft（04）Extend to armshaft（04）Lower end, the upper end of suction component and pressure sensor
（06）Connection, pressure sensor（06）Driving suction component declines so as to close and adsorb camera shooting headstock（a）；Above-mentioned material folding component
It is set to the outside of suction component, material folding component is clamped from the side of suction component lower end is located at camera seat（a）Side is taken the photograph
As head（b）.
12. electronic product automatic assembling manipulator according to claim 11, it is characterised in that：The transmission component
Including retainer（01）, driving spring（02）, drive link（03）And push away seat（05）, wherein above-mentioned drive link（03）Slideably
It is plugged in armshaft（04）Top, drive link（03）Lower end extends to installation space（I）It is interior；Above-mentioned retainer（01）And push away seat
（05）It is connected to drive link（03）Top and bottom end, retainer（01）With above-mentioned connection sheet（12）Connection, pushes away seat（05）
It is connected to pressure sensor（06）Top；Above-mentioned driving spring（02）It is set in drive link（03）On；Connection sheet（12）It pushes and passes
Dynamic seat（01）When, retainer（01）Pass through drive link（03）And push away seat（05）Down force pressure sensor（06）, pressure sensor
（06）Suction component is pushed, driving spring is passed through（02）Buffering；
Above-mentioned suction component includes vacuum bed（07）, slide bar（08）, resetting spring（09）And vacuum cups, wherein above-mentioned slide bar
（08）It is vertically inserted into installation space（I）It is interior, and slide bar（08）Slideably it is threaded through armshaft（04）It is interior, and extend to armshaft
（04）Lower end, slide bar（08）Middle part is equipped with gas circuit；Above-mentioned vacuum bed（07）It is set to slide bar（08）Upper end, and vacuum bed
（05）It is interior to be equipped with air cavity, air cavity and slide bar（08）The gas circuit at middle part is connected, and air cavity side connects with external vacuum generating device
It connects；Above-mentioned vacuum cups is set to slide bar（08）Lower end, and and slide bar（08）Internal gas circuit is connected, vacuum generating device
Pass through vacuum bed（07）And slide bar（08）Negative pressure is generated at vacuum cups, to adsorb camera shooting headstock（a）；Above-mentioned resetting spring
（09）It is set in slide bar（08）On, and resetting spring（09）Both ends be connected to vacuum bed（07）And installation space（I）'s
Bottom；Pressure sensor（06）Pass through vacuum bed（07）And slide bar（08）Drive vacuum cups close to camera shooting headstock（a）, so as to true
Suction head will image headstock（a）Absorption is fixed, or the camera shooting headstock that will have been adsorbed（a）It is packed into product（18）It is interior, resetting spring
（09）By vacuum bed（07）Compression；Vacuum cups will image headstock（a）It is packed into product（18）When interior, pass through pressure sensor（06）
Vacuum cups is to product when induction is packed into（18）Pressure；Camera shooting headstock is drawn or be packed into vacuum cups（a）After the completion, bullet is resetted
Spring（09）The bounce of offer makes pressure sensor（06）It resets；
Above-mentioned material folding component includes block set（010）, material folding cylinder（011）, compression bar（012）, plectrum（013）, strut（014）, folder
Tight spring（015）, drive sleeve（016）And clamping jaw（017）And, wherein above-mentioned block set（010）It is arranged and is fixed on slide bar（08）On,
Block set（010）Side extend to slide bar（08）Side, formed supporting plane；Output end court is equipped on the supporting plane vertically
Under material folding cylinder（011）；Above-mentioned compression bar（012）It is connected to material folding cylinder vertically（011）Output end on, material folding cylinder
（011）Drive compression bar（012）Elevating movement；Above-mentioned strut（014）It is connected to block set vertically（010）Bottom, and extend downwardly；
Above-mentioned fastening spring（015）It is set in strut（014）On；Above-mentioned drive sleeve（016）It is slidably sleeved on strut（014）On,
And close to strut（014）Lower end；Fastening spring（015）Upper and lower ends be connected to block set（010）And drive sleeve（016）
On；Drive sleeve（016）Correspondence two side on offer driving groove respectively（II）；Above-mentioned plectrum（013）One end be set to biography
Dynamic slot（II）It is interior, and pass through driving groove（II）It is rotatably connected at strut（014）Side wall on, plectrum（013）One end set
There is lug boss；Plectrum（013）The other end extend to compression bar（012）Lower part, formed supporting plane；Above-mentioned clamping jaw（017）Packet
Two are included, two clamping jaws（017）It is rotatably connected at strut respectively（014）On the side wall of lower end, two clamping jaws（017）Madial wall
With strut（014）Outer wall between be equipped with spring；Clamping jaw（017）Upper end be equipped with lug boss；Under natural conditions, fastening spring
（015）Compress drive sleeve downwards（016）, drive sleeve（016）Bottom push clamping jaw（017）Lug boss, make two clamping jaws（017）
It clamps；When picking and placeing material, material folding cylinder（011）Drive material folding cylinder（011）Push plectrum（013）The supporting plane of the other end is dialled
Piece（013）Make drive sleeve by the lug boss of one end（016）Along slide bar（08）Upward sliding makes fastening spring（015）Compression,
Two clamping jaws（017）In drive sleeve（016）Lower pressure disappear in the case of, pass through itself and slide bar（08）Between spring provide
Thrust is flared out；Material folding cylinder（011）Upwards when retraction, fastening spring（015）Bounce push down on retainer
（013）, make two clamping jaws（017）Overcome itself and slide bar（08）Between spring elastic force clamp camera seat（a）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202110.4A CN108323155B (en) | 2018-03-12 | 2018-03-12 | Automatic assembly machine for electronic products and assembly manipulator thereof |
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| CN201810202110.4A CN108323155B (en) | 2018-03-12 | 2018-03-12 | Automatic assembly machine for electronic products and assembly manipulator thereof |
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| CN108323155B CN108323155B (en) | 2024-04-12 |
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| CN108942948A (en) * | 2018-09-04 | 2018-12-07 | 深圳市兴禾自动化有限公司 | Automatic assembling mechanical arm and material taking and assembling process thereof |
| CN112659169A (en) * | 2021-01-08 | 2021-04-16 | 福州大学 | Automatic assembly system and method for FPC (Flexible printed Circuit) wire of smart phone |
| CN112787185A (en) * | 2021-01-08 | 2021-05-11 | 福州大学 | Robot tail end operation jig for FPC (flexible printed circuit) line assembly and application thereof |
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| CN112787185A (en) * | 2021-01-08 | 2021-05-11 | 福州大学 | Robot tail end operation jig for FPC (flexible printed circuit) line assembly and application thereof |
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Address after: 518104 1st floor, building 38, South Ring Road Science Park, Ma'anshan community, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Xinghe Automation Co.,Ltd. Address before: 518000 B, block C, 1 floor, first floor, Ma An Shan science and Technology Park, Western Baoan District, Guangdong, Shenzhen, Baoan District. Applicant before: SHENZHEN SINVO AUTOMATIC Co.,Ltd. |
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