CN108882668B - Multidirectional constant force plug-in mechanism - Google Patents
Multidirectional constant force plug-in mechanism Download PDFInfo
- Publication number
- CN108882668B CN108882668B CN201810795378.3A CN201810795378A CN108882668B CN 108882668 B CN108882668 B CN 108882668B CN 201810795378 A CN201810795378 A CN 201810795378A CN 108882668 B CN108882668 B CN 108882668B
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- China
- Prior art keywords
- constant force
- spline shaft
- electric cylinder
- plug
- spline
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- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 7
- 238000003825 pressing Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
-
- 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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/306—Lead-in-hole components, e.g. affixing or retention before soldering, spacing means
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a multidirectional constant force plug-in mechanism, which comprises: an electric cylinder; the upper end of the spline shaft is fixedly arranged on an output shaft of the electric cylinder; the pneumatic clamping jaw cylinder body is fixedly arranged at the lower end of the spline shaft; the pneumatic clamping jaw is fixedly arranged below the pneumatic clamping jaw cylinder; the motor is arranged beside the electric cylinder, and an output shaft of the motor is arranged in parallel with the spline shaft; the transmission mechanism is used for converting the rotation of the motor output shaft into the rotation of the spline shaft; and the constant force spring is sleeved on the outer side of the spline shaft. The invention adopts the constant-pressure spring to effectively solve the problem of force instability in the pressing process of the electric press; the limitation that the current plug-in machine realizes hard contact between a workpiece and a PCB by virtue of a rotating motor and an electric press is broken through, and the plug-in machine has better stability and higher efficiency; the multidirectional constant force plug-in mechanism can efficiently realize multidirectional plug-in of the terminal, and the plug-in equipment has wide applicability for the acting object.
Description
Technical Field
The invention relates to the technical field of electronic component manufacturing equipment, in particular to a multidirectional constant force plug-in mechanism.
Background
The PCB circuit board plug-in machine is widely applied to the electronic component manufacturing industry, and the existing terminal plug-in machine mainly realizes terminal plug-in through the cooperation of a linear screw module, a rotating motor and a belt pulley conveying device.
The plug-in machine in the prior art directly carries out plug-in through the electric cylinder driving manipulator and the clamping jaw, but because of the instability of the output force of the electric cylinder, the plug-in effect and the quality unevenness of a workpiece are easy to occur in the process of inserting, and the failure rate is high.
Accordingly, in view of the above-described problems, it is desirable to provide a multi-directional constant force plug-in mechanism.
Disclosure of Invention
Accordingly, it is an object of the present invention to provide a multidirectional constant force plug-in mechanism.
In order to achieve the above object, an embodiment of the present invention provides the following technical solution:
a multidirectional constant force insert mechanism, the insert mechanism comprising:
electric cylinder:
the upper end of the spline shaft is fixedly arranged on an output shaft of the electric cylinder;
the pneumatic clamping jaw cylinder body is fixedly arranged at the lower end of the spline shaft;
the pneumatic clamping jaw is fixedly arranged below the pneumatic clamping jaw cylinder;
the motor is arranged beside the electric cylinder, and an output shaft of the motor is arranged in parallel with the spline shaft;
the transmission mechanism is used for converting the rotation of the motor output shaft into the rotation of the spline shaft;
and the constant force spring is sleeved on the outer side of the spline shaft.
As a further improvement of the invention, the upper end of the spline shaft is fixedly arranged with the output shaft of the electric cylinder through a first coupler, and the lower end of the spline shaft is fixedly arranged with the pneumatic clamping jaw cylinder body through a second coupler.
As a further development of the invention, the upper end of the constant force spring is abutted against a flange of the first coupling.
As a further improvement of the invention, the outer side of the spline shaft is fixedly provided with the impact frame, and the motor is fixedly arranged on one side of the impact frame.
As a further improvement of the invention, a first deep groove ball bearing, a first bearing connecting sleeve, a spline nut, a second bearing connecting sleeve and a second deep groove ball bearing are sequentially and fixedly arranged on the outer side of a spline shaft in the impact frame.
As a further improvement of the invention, all or part of the first deep groove ball bearing, the first bearing connecting sleeve, the spline nut, the second bearing connecting sleeve and the second deep groove ball bearing are fixedly arranged in an interference fit way.
As a further improvement of the invention, the transmission mechanism comprises a first synchronous pulley fixedly arranged below the electrode output shaft, a second synchronous pulley fixedly arranged in the impact frame and positioned outside the spline nut, and a synchronous belt arranged outside the first synchronous pulley and the second synchronous pulley.
As a further improvement of the invention, the lower end of the constant force spring is abutted against the end face of the inner ring of the first deep groove ball bearing.
As a further improvement of the present invention, the electric cylinder is fixedly mounted on an electric cylinder fixing structure, and the electric cylinder fixing structure includes an electric cylinder fixing plate disposed relatively horizontally, and an electric cylinder bottom plate extending outwardly from the bottom of the electric cylinder fixing plate.
As a further improvement of the invention, the electric cylinder fixing structure further comprises reinforcing rib plates which are respectively and vertically arranged with the electric cylinder fixing plate and the electric cylinder bottom plate.
The beneficial effects of the invention are as follows:
the problem of force instability in the pressing process of the electric press is effectively solved by adopting the constant-pressure spring;
the limitation that the current plug-in machine realizes hard contact between a workpiece and a PCB by virtue of a rotating motor and an electric press is broken through, and the plug-in machine has better stability and higher efficiency;
the multidirectional constant force plug-in mechanism can efficiently realize multidirectional plug-in of the terminal, and the plug-in equipment has wide applicability for the acting object.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic perspective view of a multidirectional constant force insert mechanism in accordance with one embodiment of the present invention;
FIG. 2 is a schematic diagram of a front view of a multi-directional constant force plug-in mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a multidirectional constant force insert mechanism in an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the various illustrations of the invention, certain dimensions of structures or portions may be exaggerated relative to other structures or portions for convenience of illustration, and thus serve only to illustrate the basic structure of the inventive subject matter.
Terms such as "left," "right," "left," "right," and the like, as used herein, refer to a spatial relative position, and are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The term spatially relative position may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as being located on the "right" side of other elements or features would then be located on the "left" side of the other elements or features. Thus, the exemplary term "right side" may encompass both left and right orientations. The device may be otherwise oriented (rotated 90 degrees or other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Referring to fig. 1-3, a multi-directional constant force insert mechanism 100 in an embodiment of the invention comprises:
an electric cylinder 101;
the spline shaft 113, the upper end of the spline shaft 113 is fixedly mounted on the output shaft of the electric cylinder 101;
a pneumatic jaw cylinder 121 fixedly mounted to the lower end of the spline shaft 113;
the pneumatic clamping jaw 106 is fixedly arranged below the pneumatic clamping jaw cylinder 121;
the motor 108, the motor 108 locates the side of the electric cylinder 101, the output shaft of the motor 108 is parallel to spline shaft 113;
the transmission mechanism is used for converting the rotation of the output shaft of the motor 108 into the rotation of the spline shaft 113;
the constant force spring 112, the constant force spring 112 is sleeved outside the spline shaft 113.
The electric cylinder 101 is fixedly mounted on an electric cylinder fixing structure, the electric cylinder fixing structure comprises an electric cylinder fixing plate 102 which is horizontally arranged relative to the electric cylinder fixing plate, an electric cylinder bottom plate 104 which extends outwards from the bottom of the electric cylinder fixing plate, and reinforcing rib plates 103 which are vertically arranged on the electric cylinder fixing plate and the electric cylinder bottom plate respectively. The motor 108 is fixedly mounted on a motor mounting plate 107, and the motor mounting plate 107 is fixedly mounted on the impact frame 105.
The upper end of the spline shaft 113 is fixedly mounted with the output shaft of the electric cylinder 101 through a first coupling 111, and the lower end of the spline shaft 113 is fixedly mounted with the pneumatic clamping jaw cylinder 121 through a second coupling 120.
The impact frame 105 is fixedly installed on the outer side of the spline shaft 113, and the motor 108 is fixedly installed on one side of the impact frame 105. The first deep groove ball bearing 114, the first bearing connecting sleeve 115, the spline nut 116, the second bearing connecting sleeve 118 and the second deep groove ball bearing 119 are fixedly installed on the outer side of the spline shaft 113 in the impact frame 105 in sequence. All of the first deep groove ball bearing 114, the first bearing connection sleeve 115, the spline nut 116, the second bearing connection sleeve 118, and the second deep groove ball bearing 119 are fixedly mounted in an interference fit.
The transmission mechanism comprises a first synchronous pulley 109 fixedly arranged below the electrode output shaft, a second synchronous pulley 117 fixedly arranged in the impact frame and positioned outside the spline nut, and a synchronous belt 110 arranged outside the first synchronous pulley 109 and the second synchronous pulley 117.
In this embodiment, the upper end of the constant force spring 112 abuts against the flange of the first coupling 111, and the lower end of the constant force spring 112 abuts against the end surface of the inner ring of the first deep groove ball bearing 114.
The multidirectional constant force plug-in mechanism 100 in the present embodiment is described in detail below.
The cylinder body of the electric cylinder 101 is connected with the electric cylinder fixing plate 102 through bolts, the electric cylinder fixing plate 102, the electric cylinder bottom plate 104 and the reinforcing rib plate 103 are fixed through bolts, and finally, the electric cylinder bottom plate 104 is connected with the collecting plate through bolts, so that the electric cylinder 101 is fixed as a fixed end and is kept fixed by taking the horizontal static ground as a reference.
The end face of the output shaft of the electric cylinder 101 is provided with a threaded hole, the threaded hole is fixed with the hole of the first coupler 111 through a bolt, the other end of the first coupler 111 is provided with a light surface hole, and the light surface hole is fixed with the upper end of the spline shaft 113 in an interference fit mode.
The spline shaft 113 is sleeved with a constant pressure spring 112, one end of the constant pressure spring is abutted against a flange of the first coupler 111, and the other end of the constant pressure spring is abutted against the end face of the inner ring of the first deep groove ball bearing 114. The outer ring of the first deep groove ball bearing 114 is fixed with the inner hole of the impact frame 105 through interference fit, the inner ring of the first deep groove ball bearing 114 is fixed with the outer ring of the first bearing connecting sleeve 115 through interference fit, and the axial direction is positioned through the outer stepped shaft end face of the first bearing connecting sleeve 115. The inner bore of the first bearing adapter 115 and the outer cylindrical surface of the spline nut 116 are secured by an interference fit. The inner hole of the spline nut 116 is connected with the spline shaft 113 through clearance fit, so that the spline shaft 113 can axially slide relative to the inner hole of the spline nut 116. Similarly, the outer ring of the second deep groove ball bearing 119 is fixed with the inner hole of the impact frame 105 through interference fit, the inner ring of the second deep groove ball bearing 119 is fixed with the outer ring of the second bearing connecting sleeve 118 through interference fit, and the axial direction is positioned through the outer stepped shaft end face of the second bearing connecting sleeve 118. The inner bore of the second bearing adapter sleeve 118 and the outer cylindrical surface of the spline nut 116 are secured by an interference fit.
The spline nut 116 is provided with a key groove at the middle section, and is fixed with the second synchronous pulley 117 through a key, and the axial direction of the second synchronous pulley 117 is limited by the end surfaces of the first bearing connecting sleeve 115 and the second bearing connecting sleeve 118, so that the second synchronous pulley 117 rotates and the spline nut 116 is driven to synchronously rotate along with the second synchronous pulley 117.
The lower end face of the motor 108 is fixed with the motor mounting plate 107 through a bolt, the shaft end of the output shaft of the motor 108 is provided with a key groove, the motor is fixed with the first synchronous pulley 109 through a key, and the first synchronous pulley 109 and the second synchronous pulley 117 are connected through a synchronous belt 110. Ensuring that the first and second timing pulleys 109 and 117 achieve synchronous motion. The second synchronous pulley 117 drives the spline nut 116 to rotate, so that the spline shaft 113 can rotate synchronously along with the spline nut 116 indirectly.
The outer cylindrical surface of the lower end of the spline shaft 113 is fixed with the inner cylindrical surface of the second coupler 120 through interference fit, a through hole is formed in the flange end face of the second coupler 120, and a threaded hole at the bottom of the pneumatic clamping jaw cylinder 121 is fixed through a bolt.
The spline shaft 113 is sleeved with a constant force spring 112, one end of the constant force spring 112 is limited by the end face of the first coupler 111, and the other end of the constant force spring is limited by the inner ring of the first deep groove ball bearing 114. The unstable output force of the electric cylinder 101 easily causes the stability of the terminal to be reduced and the success rate to be reduced in the process of inserting the terminal into the PCB, so that the difference in the depth of inserting the terminal into the PCB is easily caused, and even the insertion failure exists, so that the terminal is retained on the PCB. The spline shaft 113 is sleeved with the constant force spring 112, so that the problem can be effectively solved. The force of the constant magnitude can be kept when the terminals are inserted into the PCB terminal holes every time, so that the stability of the plug-in process is ensured.
In summary, the cylinder 101 transmits the linear reciprocating motion to the spline shaft 113 through the first coupling 111 via the output shaft, and the spline shaft 113 is fixed to the pneumatic jaw cylinder 121 through the second coupling 120, so that the linear reciprocating motion of the pneumatic jaw cylinder 121 in the plumb direction is achieved. The motor 108 transmits the rotational motion to the spline shaft 113 engaged with the spline nut 116 via the transmission mechanism via the output shaft, and finally transmits the rotational motion to the pneumatic jaw 106 via the spline shaft 113. Two degrees of freedom (linear, rotational) movement of the pneumatic jaw 106 is achieved. The mechanism has better adaptability to the PCB with more complex arrangement mode in the plug-in process, and is beneficial to realizing multi-directional pickup and plug-in of terminals.
The technical scheme shows that the invention has the following beneficial effects:
the problem of force instability in the pressing process of the electric press is effectively solved by adopting the constant-pressure spring;
the limitation that the current plug-in machine realizes hard contact between a workpiece and a PCB by virtue of a rotating motor and an electric press is broken through, and the plug-in machine has better stability and higher efficiency;
the multidirectional constant force plug-in mechanism can efficiently realize multidirectional plug-in of the terminal, and the plug-in equipment has wide applicability for the acting object.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. A multidirectional constant force insert mechanism, the insert mechanism comprising:
an electric cylinder;
a spline shaft, the upper end of which is fixedly installed with the output shaft of the electric cylinder through a first coupler 111;
the pneumatic clamping jaw cylinder body is fixedly arranged at the lower end of the spline shaft, and the lower end of the spline shaft and the pneumatic clamping jaw cylinder body are fixedly arranged through a second coupler;
the pneumatic clamping jaw is fixedly arranged below the pneumatic clamping jaw cylinder;
the motor is arranged beside the electric cylinder, and an output shaft of the motor is arranged in parallel with the spline shaft;
the transmission mechanism is used for converting the rotation of the motor output shaft into the rotation of the spline shaft;
the constant force spring is sleeved on the outer side of the spline shaft; the outer side of the spline shaft is fixedly provided with an impact frame, the motor is fixedly arranged on one side of the impact frame, the outer side of the spline shaft in the impact frame is fixedly provided with a first deep groove ball bearing, the upper end of the constant force spring is abutted to the flange of the first coupler, and the lower end of the constant force spring is abutted to the end face of the inner ring of the first deep groove ball bearing.
2. The multidirectional constant force insert mechanism of claim 1, wherein the first bearing adapter sleeve, the spline nut, the second bearing adapter sleeve, and the second deep groove ball bearing are also fixedly mounted in sequence on the outside of the spline shaft in the impact housing.
3. The multi-directional constant force insert mechanism of claim 2, wherein the first deep groove ball bearing, the first bearing adapter sleeve, the spline nut, the second bearing adapter sleeve, and the second deep groove ball bearing are fixedly mounted in a full or partial interference fit therebetween.
4. The multidirectional constant force insert mechanism of claim 1, wherein the transmission mechanism includes a first synchronous pulley fixedly mounted below the electrode output shaft, a second synchronous pulley fixedly mounted within the impact frame and located outside of the spline nut, and a synchronous belt disposed outside of the first synchronous pulley and the second synchronous pulley.
5. The multi-directional constant force insert mechanism according to claim 1, wherein the electric cylinder is fixedly mounted on an electric cylinder fixing structure comprising an electric cylinder fixing plate disposed relatively horizontally and an electric cylinder bottom plate extending outwardly from a bottom of the electric cylinder fixing plate.
6. The multi-directional constant force plug-in mechanism according to claim 5, wherein the cylinder fixing structure further comprises reinforcing ribs arranged perpendicularly to the cylinder fixing plate and the cylinder bottom plate, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795378.3A CN108882668B (en) | 2018-07-19 | 2018-07-19 | Multidirectional constant force plug-in mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795378.3A CN108882668B (en) | 2018-07-19 | 2018-07-19 | Multidirectional constant force plug-in mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108882668A CN108882668A (en) | 2018-11-23 |
| CN108882668B true CN108882668B (en) | 2023-10-24 |
Family
ID=64303549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810795378.3A Active CN108882668B (en) | 2018-07-19 | 2018-07-19 | Multidirectional constant force plug-in mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108882668B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681274A (en) * | 2021-08-31 | 2021-11-23 | 昆山三多乐电子有限公司 | Spline insertion method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102118921A (en) * | 2010-12-27 | 2011-07-06 | 东莞市新泽谷机械有限公司 | Pin-bending-and-fixing device for component inserter |
| CN102118958A (en) * | 2010-12-27 | 2011-07-06 | 东莞市新泽谷机械有限公司 | Plug-in machine with plug-in fixing function |
| CN105451534A (en) * | 2015-12-17 | 2016-03-30 | 珠海市宇腾自动化设备制造有限公司 | IC inserting end for full-automatic irregularly-shaped insertion machine |
| CN108214462A (en) * | 2018-01-12 | 2018-06-29 | 广东华技达精密机械有限公司 | Plug in manipulator is taken for deformed insertion machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104810635B (en) * | 2014-01-24 | 2018-05-01 | 富士康(昆山)电脑接插件有限公司 | Plug connector |
| KR20150110249A (en) * | 2014-03-21 | 2015-10-02 | 타이코에이엠피 주식회사 | Cable assembly, camera module and camera device for vehicle having the same |
-
2018
- 2018-07-19 CN CN201810795378.3A patent/CN108882668B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102118921A (en) * | 2010-12-27 | 2011-07-06 | 东莞市新泽谷机械有限公司 | Pin-bending-and-fixing device for component inserter |
| CN102118958A (en) * | 2010-12-27 | 2011-07-06 | 东莞市新泽谷机械有限公司 | Plug-in machine with plug-in fixing function |
| CN105451534A (en) * | 2015-12-17 | 2016-03-30 | 珠海市宇腾自动化设备制造有限公司 | IC inserting end for full-automatic irregularly-shaped insertion machine |
| CN108214462A (en) * | 2018-01-12 | 2018-06-29 | 广东华技达精密机械有限公司 | Plug in manipulator is taken for deformed insertion machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108882668A (en) | 2018-11-23 |
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