CN109841546A - A kind of diode rectifier production system - Google Patents
A kind of diode rectifier production system Download PDFInfo
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- CN109841546A CN109841546A CN201910163517.5A CN201910163517A CN109841546A CN 109841546 A CN109841546 A CN 109841546A CN 201910163517 A CN201910163517 A CN 201910163517A CN 109841546 A CN109841546 A CN 109841546A
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- frame
- carrying platform
- slide table
- servo slide
- crystal grain
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 50
- 239000013078 crystal Substances 0.000 claims abstract description 82
- 238000003466 welding Methods 0.000 claims abstract description 47
- 238000007639 printing Methods 0.000 claims abstract description 34
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims abstract description 24
- 239000006071 cream Substances 0.000 claims abstract description 24
- 229910000679 solder Inorganic materials 0.000 claims abstract description 5
- 238000010422 painting Methods 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 35
- 230000032258 transport Effects 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 3
- 238000005476 soldering Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Abstract
Present invention discloses a kind of diode rectifier production systems, diode rectifier includes frame and to be welded on be crystal grain on frame, the diode rectifier production system includes the feed unit (1) for frame charging, for welding the welding unit (5) of the frame, the printing element (2) for painting print tin cream on said frame being connected with the feed unit (1), the delivery unit (3) for being used to transport the frame for fixing fixed cell (4) on said frame and being arranged between the paste solder printing unit (2) and fixed cell (4) crystal grain being connected with the welding unit (5).A kind of diode rectifier production system of the invention can automatically produce diode rectifier, save human resources, improve production efficiency.
Description
Technical field
The present invention relates to diode rectifier production field, in particular to a kind of diode rectifier production system.
Background technique
Diode rectifier is widely used as the basic device for electric current being changed into from exchange direct current, is given birth to
Production. art and technology are also varied.Two panels is framework superimposed and the diode rectifier of crystal grain composition is welded between frame
For structure because of high production efficiency, quality is good and the mainstream at low cost at domestic diode and rectifying device production technology, but welds
The main production of technique still goes to complete by independent equipment, such as: up/down frame print solder paste, crystal particle welding frame over/under
Frame designated position, the superposition etc. of up/down frame, the completion of all of above production task has been gone with different machines respectively at present
At, the transport between different machines needs to need to consume more human resources, production efficiency and quality by being accomplished manually
It is relatively low.
Summary of the invention
It is an object of the invention in view of the above-mentioned drawbacks in the prior art, provide a kind of diode rectifier production system
System can automatically produce diode rectifier, save human resources, improve production efficiency.
In order to achieve the above-mentioned object of the invention, present invention employs following technical solutions:
A kind of diode rectifier production system, diode rectifier includes frame and to be welded on frame be brilliant
Grain, the diode rectifier production system include for the feed unit of frame charging, for welding the frame
Welding unit, be connected with the feed unit on said frame apply print tin cream printing element, with the welding
The connected fixed cell being used to fix crystal grain on said frame of unit and setting are in the paste solder printing unit and admittedly
The delivery unit for being used to transport the frame between order member.
In addition, the invention also includes following attached technical schemes:
The feed unit include the first rodless cylinder, the frame placement platform being mounted on first rodless cylinder with
And the frame transfer device being connected with the frame placement platform, the frame is placed on the frame placement platform, described
The frame being placed on the frame placement platform is transported the printing element by frame transfer device.
The frame transfer device includes the first servo slide table, the second servo being arranged on first servo slide table cunning
Platform and the Suction cup assembly being arranged on second servo slide table, the Suction cup assembly draw the frame, and described the
Sliding adjustment position, transports the printing element for the frame on one servo slide table and the second servo slide table.
The printing element includes steel mesh printing machine structure, printing checking mechanism, third servo slide table and is mounted on described
Frame carrying platform on third servo slide table, the frame carrying platform are placed with the frame of the feed unit transport, institute
It states frame carrying platform and frame is transported to the steel mesh printing machine structure progress tin cream and applied by the third servo slide table and print, institute
It states frame carrying platform and frame is transported to by the printing checking mechanism progress tin cream Tu Yinxiao by the third servo slide table
Fruit detection.
The frame includes upper frame and lower frame, and the fixed cell includes the lower frame carrying for placing the lower frame
The rotating mechanism of platform, the upper frame carrying platform for placing the upper frame and the driving upper frame carrying platform rotation,
The rotating mechanism driving upper frame carrying platform rotation makes the upper frame be superimposed with the lower frame.
The delivery unit includes mechanical arm, and the mechanical arm is respectively by the upper frame and lower frame from the print
Brush unit is transported to the upper frame carrying platform and lower frame carrying platform.
The fixed cell further includes being placed with the lower frame crystal grain shaking tray carrying platform of the crystal grain and being arranged in institute
State the lower frame sucking crystal grains mechanism between lower frame carrying platform and the lower frame crystal grain shaking tray carrying platform, the lower frame
Frame sucking crystal grains mechanism includes the 4th servo slide table, the 5th servo slide table being arranged on the 4th servo slide table and setting
The first pick-up component on the 5th servo slide table, first pick-up component draw the crystal grain, and the described 4th
Sliding adjustment position, transports the lower frame carrying platform for the crystal grain on servo slide table and the 5th servo slide table.
The fixed cell further includes being placed with the upper frame crystal grain shaking tray carrying platform of the crystal grain and being arranged in institute
State the upper frame sucking crystal grains mechanism between frame carrying platform and the upper frame crystal grain shaking tray carrying platform, the upper ledge
Frame sucking crystal grains mechanism includes the 6th servo slide table, the 7th servo slide table being arranged on the 6th servo slide table and setting
The second pick-up component on the 7th servo slide table, second pick-up component draw the crystal grain, and the described 6th
Sliding adjustment position, transports the upper frame carrying platform for the crystal grain on servo slide table and the 7th servo slide table.
The welding unit includes laser welding mechanism, between the laser welding mechanism and the lower frame carrying platform
It is sliding by the 8th servo to be provided with the 8th servo slide table, the upper frame being superimposed on the lower frame carrying platform and lower frame
Platform transports to the laser welding mechanism and carries out laser welding.
The diode rectifier production system further includes receiving unit, and the welding unit passes through the delivery unit
It is connected with the receiving unit.
Compared with the prior art, the invention has the advantages that: collection frame charging, tin cream apply print, crystal grain place, it is framework superimposed with
And the mechanized production system of frame welding, human resources are saved, add material to be not required to shut down, high production efficiency;Frame enters height
Warm soldering furnace does not need together with welding fixture, and the production efficiency of high temperature welding furnace improves, and greatly reduces the consumption of the energy;Not yet
There is the obstruction of jig bottom plate and cover board, tin cream scaling powder can more thoroughly volatilize, device caused by reducing because of welding assisted agent residuals
Electric leakage failure, improves product yield and quality.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of diode rectifier production system of the invention.
Fig. 2 is the structural schematic diagram of diode rectifier production system other direction in Fig. 1.
Fig. 3 is the concrete structure schematic diagram of feed unit in the present invention, printing element and delivery unit.
Fig. 4 is fixed cell concrete structure schematic diagram in the present invention.
Fig. 5 is welding unit concrete structure schematic diagram in the present invention.
Fig. 6 is the structural schematic diagram of upper frame in the present invention.
Fig. 7 is the structural schematic diagram of lower frame in the present invention.
Fig. 8 is the structural schematic diagram of crystal grain shaking tray in the present invention.
Specific embodiment
In conjunction with the preferred embodiment and its attached drawing is further non-limitingly described in detail technical solution of the present invention.
A kind of diode rectifier production system, diode rectifier includes frame and to be welded on frame be brilliant
Grain, frame includes upper frame 71 and lower frame 72 (as shown in Figure 6 and Figure 7), before diode rectifier starts production, upper ledge
Frame 71 and lower frame 72 are stored in placing frame 12a (as shown in Figure 2), and crystal grain is stored in crystal grain shaking tray 73 (as shown in Figure 8).
As depicted in figs. 1 and 2, diode rectifier production system includes the feed unit 1 fed for frame, is used for
The welding unit 5 of lead frame, the printing element 2 for applying print tin cream on frame being connected with feed unit 1 and welding are single
The connected fixed cell 4 for being fixed on crystal grain on frame of member 5 is arranged between paste solder printing unit 2 and fixed cell 4
The delivery unit 3 for transportation frame.
As shown in figure 3, feed unit 1 is put including the first rodless cylinder 11, the frame being mounted on the first rodless cylinder 11
Horizontalization platform 12 and the frame transfer device 13 being connected with frame placement platform 12, frame transfer device 13 are sliding including the first servo
Platform 131, the second servo slide table 132 being arranged on the first servo slide table 131 and the suction being arranged on the second servo slide table 132
Disk component 133.Frame is stored in placing frame 12a, and placing frame 12a is placed on frame placement platform 12, frame transfer device
The frame being placed on frame placement platform 12 is transported printing element 2 by 13.Specifically, Suction cup assembly 133 draws frame, and
Sliding adjustment position, transports printing element 2 for frame on the first servo slide table 131 and the second servo slide table 132.It is preferred that adopting
It is a set of for producing with 12 cooperating of two set of first rodless cylinder 11 and frame placement platform, it is a set of for be produced, in this way
It does not need to stop machine when loading frame, substantially increases production efficiency.
Printing element 2 includes steel mesh printing machine structure 21, printing checking mechanism 22, third servo slide table 23 and is mounted on the
Frame carrying platform 24 on three servo slide tables 23, frame transport frame carrying platform 24, frame by frame transfer device 13
Frame is transported to steel mesh printing machine structure 21 by third servo slide table 23 by frame carrying platform 24, is carried out in the setting position of frame
Tin cream applies print, then frame is transported to printing checking mechanism 22 by third servo slide table 23 and carries out tin cream painting print effect detection,
If not up to production requirement, stop producing and alarming maintenance and debugging.
Delivery unit 3 includes mechanical arm 31, and mechanical arm 31 is respectively by upper frame 71 and lower frame 72 from printing element 2
It is transported to fixed cell 4, mechanical arm 31 is preferably transported using absorption mode.
As shown in figure 4, fixed cell 4 includes the lower frame carrying platform 41 and the upper frame 71 of placement for placing lower frame 72
Upper frame carrying platform 42, upper 71 vacuum suction of frame carry on upper frame carrying platform 42 in particular by upper frame
Pipeline is processed in platform 42 and is connected with vacuum pump and realizes vacuum suction, and mechanical arm 31 will test qualified upper frame 71 respectively
Upper frame carrying platform 42 and lower frame carrying platform 41 are transported to from printing element 2 with lower frame 72.Upper frame carrying platform
The rotating mechanism 43 for driving upper frame carrying platform 42 to rotate is connected on 42, rotating mechanism 43 includes slide unit 431 and is mounted on
Motor 432 on slide unit 431, motor 432 drives upper frame carrying platform 42 to rotate, so that being placed on frame carrying platform 42
On upper frame 71 overturn, and by slide unit 431 slide adjustment position be located at upper frame 71 above lower frame 72, later
The adsorption capacity to upper frame 71 is shed, overlaps frame 71 with the lower frame 72 being placed on lower frame carrying platform 41
Together.
Fixed cell 4 further includes that the lower frame crystal grain shaking tray carrying platform 44 for being placed with crystal grain and setting are held in lower frame
Lower frame sucking crystal grains mechanism 45 between carrying platform 41 and lower frame crystal grain shaking tray carrying platform 44, lower frame sucking crystal grains machine
Structure 45 includes the 4th servo slide table 451, the 5th servo slide table 452 that is arranged on the 4th servo slide table 451 and setting the
The first pick-up component 453 on five servo slide tables 452, the crystal grain in 453 sucking crystal grains shaking tray 73 of the first pick-up component, and
Sliding adjustment position, crystal grain is transported and is placed on lower frame carrying platform on four servo slide tables 451 and the 5th servo slide table 452
In 41 lower frame 72, the upper figure of lower frame 72 has tin cream, and tin cream has viscosity, can fix crystal grain well.Lower frame crystal grain shakes
Disk carrying platform 44 is mounted on the 9th servo slide table 441, and lower frame crystal grain shaking tray carrying platform 44 passes through sliding in the 9th servo
Sliding carries out the charging of crystal grain shaking tray on platform 441, it is preferred to use two sets of lower frame crystal grain shaking tray carrying platforms 44 and the 9th servo are sliding
The cooperation charging of platform 441, it is a set of for producing, it is a set of for be produced, it does not need to stop machine when loading crystal grain in this way, mention significantly
High production efficiency.Lower frame crystal grain shaking tray carrying platform 44 is also connected with lower frame negative crystal grain shaking tray load carrier 442, is used for
Negative crystal grain shaking tray is collected.
Fixed cell 4 further includes that the upper frame crystal grain shaking tray carrying platform 46 for being placed with crystal grain and setting are held in upper frame
Upper frame sucking crystal grains mechanism 47 between carrying platform 42 and upper frame crystal grain shaking tray carrying platform 46, upper frame sucking crystal grains machine
Structure 47 includes the 6th servo slide table 471, the 7th servo slide table 472 that is arranged on the 6th servo slide table 471 and setting the
The second pick-up component 473 on seven servo slide tables 472, the crystal grain in 473 sucking crystal grains shaking tray 73 of the second pick-up component, and
Sliding adjustment position, crystal grain is transported and is placed on upper frame carrying platform on six servo slide tables 471 and the 7th servo slide table 472
In 42 upper frame 72.The upper figure of upper frame 71 has tin cream, and tin cream has viscosity, can fix crystal grain well.Upper frame crystal grain shakes
Disk carrying platform 46 is mounted on the tenth servo slide table 461, and upper frame crystal grain shaking tray carrying platform 46 passes through sliding in the tenth servo
Sliding carries out the charging of crystal grain shaking tray on platform 461, it is preferred to use two put on frame crystal grain shaking tray carrying platform 46 and the tenth servo cunning
The cooperation charging of platform 461, it is a set of for producing, it is a set of for be produced, it does not need to stop machine when loading crystal grain in this way, mention significantly
High production efficiency.Upper frame crystal grain shaking tray carrying platform 46 is also connected with upper ledge and makes somebody a mere figurehead crystal grain shaking tray load carrier 462, is used for
Negative crystal grain shaking tray is collected.
As shown in figure 5, welding unit 5 includes laser welding mechanism 51, laser welding mechanism 51 and lower frame carrying platform
The 8th servo slide table 52 is provided between 41, the upper frame 71 being superimposed on lower frame carrying platform 41 and lower frame 72 pass through the 8th
The transport of servo slide table 52 to laser welding mechanism 51 carries out laser welding, and the edge of upper frame 71 and lower frame 72 is welded on one
It rises, is convenient for subsequent high-temperature soldering.
Diode rectifier production system further includes receiving unit 6, and welding unit 5 passes through delivery unit 3 and material receipt
Member 6 is connected, and the frame after laser welding is transported from welding unit 5 to receiving unit by mechanical arm 31.
Specifically in operation, comprising the following steps:
A: being placed on frame placement platform 12 for upper frame 71 and lower frame 72 respectively, will be upper by frame transfer device 13
Frame 71 and lower frame 72 are transferred to frame carrying platform 24;
B: frame carrying platform 24 transports upper frame 71 and lower frame 72 to steel mesh printing machine structure 21, in upper 71 He of frame
The position that lower frame 72 is set carries out tin cream and applies print;
C: tin cream apply print afterframe carrying platform 24 by upper frame 71 and lower frame 72 transport to printing checking mechanism 22 into
Row tin cream applies print effect detection to be stopped producing and alarming maintenance and debugging if not up to production requirement, if reaching production requirement,
Then enter step D;
D: lower frame 72 is transported lower frame carrying platform 41 by mechanical arm 31, and upper frame 71 is transported upper frame and is held
Carrying platform 42;
E: lower frame sucking crystal grains mechanism 45 draws the crystal grain on lower frame crystal grain shaking tray carrying platform 44 to lower frame 72
Upper to apply the position for being printed on tin cream, upper frame sucking crystal grains mechanism 47 draws the crystal grain on upper frame crystal grain shaking tray carrying platform 46 extremely
The position for being printed on tin cream is applied on upper frame 71;
F: rotating mechanism 43 drives upper frame carrying platform 42 to rotate 180 degree, makes frame 71 downward, upper frame 71 is transported
Lower frame carrying platform 41 is transported to, frame 71 is made to be superimposed with lower frame 72;
G: the upper frame 71 being superimposed and lower frame 72 are transported laser welding mechanism by lower frame carrying platform 41
51, upper frame 71 and 72 edge of lower frame are welded together by laser welding;
H: upper frame 71 and lower frame 72 after the welding of mechanical arm 31 are transported to receiving unit 6, or pass through mechanical arm
31 by after welding upper frame 71 and lower frame 72 directly transport high-temperature soldering is carried out into high temperature welding furnace (not shown), make tin
Cream melts, and is combined together crystal grain and frame.
A kind of diode rectifier production system of the invention, the charging of collection frame, tin cream apply print, crystal grain is placed, frame
The mechanized production system of superposition and frame welding saves human resources, adds material to be not required to shut down, high production efficiency;Frame
It is not needed together with welding fixture into high temperature welding furnace, the production efficiency of high temperature welding furnace improves, and greatly reduces the energy
Consumption;There is no the obstruction of jig bottom plate and cover board, tin cream scaling powder can more thoroughly volatilize, caused by reducing because of welding assisted agent residuals
Element leakage failure, improve product yield and quality.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
Those skilled in the art can understand the contents of the present invention and implements accordingly, and protection of the invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of diode rectifier production system, diode rectifier includes frame and to be welded on be crystal grain on frame,
It is characterized by: the diode rectifier production system includes for the feed unit (1) of frame charging, for welding
The printing for painting print tin cream on said frame for connecing the welding unit (5) of the frame, being connected with the feed unit (1)
Unit (2), be connected with the welding unit (5) for by the fixed fixed cell (4) on said frame of crystal grain and setting
Set the delivery unit (3) for being used to transport the frame between the paste solder printing unit (2) and fixed cell (4).
2. according to diode rectifier production system described in claim 1, it is characterised in that: the feed unit (1) includes
First rodless cylinder (11), the frame placement platform (12) being mounted on first rodless cylinder (11) and with the frame
The connected frame transfer device (13) of placement platform (12), the frame is placed on the frame placement platform (12), described
The frame being placed on the frame placement platform (12) is transported the printing element (2) by frame transfer device (13).
3. according to diode rectifier production system described in claim 2, it is characterised in that: the frame transfer device (13)
Including the first servo slide table (131), the second servo slide table (132) being arranged on first servo slide table (131) and set
Set the Suction cup assembly (133) on second servo slide table (132), the Suction cup assembly (133) draws the frame, and
Sliding adjustment position, transports the print for the frame on first servo slide table (131) and the second servo slide table (132)
Brush unit (2).
4. according to diode rectifier production system described in claim 1, it is characterised in that: the printing element (2) includes
Steel mesh printing machine structure (21), printing checking mechanism (22), third servo slide table (23) and it is mounted on the third servo slide table
(23) the frame carrying platform (24) on, the frame carrying platform (24) are placed with the frame of the feed unit (1) transport,
Frame is transported to the steel mesh printing machine structure (21) by the third servo slide table (23) by the frame carrying platform (24)
It carries out tin cream and applies print, frame is transported to the printing by the third servo slide table (23) by the frame carrying platform (24)
Testing agency (22) carries out tin cream and applies print effect detection.
5. according to diode rectifier production system described in claim 1, it is characterised in that: the frame includes upper frame
(71) include the lower frame carrying platform (41) for placing the lower frame (72), put with lower frame (72), the fixed cell (4)
Set the upper frame carrying platform (42) of the upper frame (71) and the rotation of driving upper frame carrying platform (42) rotation
Mechanism (43), the rotating mechanism (43) driving upper frame carrying platform (42) rotation make the upper frame (71) with it is described
Lower frame (72) is superimposed.
6. according to diode rectifier production system described in claim 5, it is characterised in that: the delivery unit (3) includes
Mechanical arm (31), the mechanical arm (31) is respectively by the upper frame (71) and lower frame (72) from the printing element
(2) the upper frame carrying platform (42) and lower frame carrying platform (41) are transported to.
7. according to diode rectifier production system described in claim 5, it is characterised in that: the fixed cell (4) is also wrapped
It includes the lower frame crystal grain shaking tray carrying platform (44) for being placed with the crystal grain and is arranged in the lower frame carrying platform (41)
With the lower frame sucking crystal grains mechanism (45) between the lower frame crystal grain shaking tray carrying platform (44), the lower frame crystal grain is inhaled
Taking mechanism (45) includes the 5th servo slide table of the 4th servo slide table (451), setting on the 4th servo slide table (451)
(452) and the first pick-up component (453) on the 5th servo slide table (452), first pick-up component be set
(453) crystal grain is drawn, and the sliding adjustment position on the 4th servo slide table (451) and the 5th servo slide table (452),
The crystal grain is transported into the lower frame carrying platform (41).
8. according to diode rectifier production system described in claim 5, it is characterised in that: the fixed cell (4) is also wrapped
It includes the upper frame crystal grain shaking tray carrying platform (46) for being placed with the crystal grain and is arranged in the upper frame carrying platform (42)
With the upper frame sucking crystal grains mechanism (47) between the upper frame crystal grain shaking tray carrying platform (46), the upper frame crystal grain is inhaled
Taking mechanism (47) includes the 7th servo slide table of the 6th servo slide table (471), setting on the 6th servo slide table (471)
(472) and the second pick-up component (473) on the 7th servo slide table (472), second pick-up component be set
(473) crystal grain is drawn, and the sliding adjustment position on the 6th servo slide table (471) and the 7th servo slide table (472),
The crystal grain is transported into the upper frame carrying platform (42).
9. according to diode rectifier production system described in claim 5, it is characterised in that: the welding unit (5) includes
Laser welding mechanism (51) is provided with the 8th between the laser welding mechanism (51) and the lower frame carrying platform (41) and watches
It takes slide unit (52), the upper frame (71) being superimposed on the lower frame carrying platform (41) is watched with lower frame (72) by the described 8th
It takes slide unit (52) transport to the laser welding mechanism (51) and carries out laser welding.
10. according to diode rectifier production system described in claim 1, it is characterised in that: the diode rectifier
Production system further includes receiving unit (6), and the welding unit (5) passes through the delivery unit (3) and the receiving unit (6)
It is connected.
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CN201910163517.5A CN109841546A (en) | 2019-03-05 | 2019-03-05 | A kind of diode rectifier production system |
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CN109822176A (en) * | 2019-03-05 | 2019-05-31 | 苏州旭芯翔智能设备有限公司 | A kind of frame fixed mechanism in diode rectifier production system |
CN113793828A (en) * | 2021-09-13 | 2021-12-14 | 奥特马(无锡)电子科技有限公司 | Method for taking and placing bulk chip |
CN113793828B (en) * | 2021-09-13 | 2023-06-23 | 奥特马(无锡)电子科技有限公司 | Method for taking and placing granular chips |
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