CN109941745B - Chip picking equipment with adjusting function and good clamping effect - Google Patents
Chip picking equipment with adjusting function and good clamping effect Download PDFInfo
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Abstract
The invention relates to a chip picking device with an adjusting function and good clamping effect, which comprises a mounting plate, an adjusting mechanism, an adjusting plate, a vertical rod, a processor, a bottom plate, a camera and a clamping mechanism, wherein the adjusting mechanism comprises a first motor, a turntable, an adjusting component, an adjusting block and a telescopic component, the adjusting component comprises a second motor, a bearing and a screw rod, the clamping mechanism comprises a cylinder, a lifting disc and two clamping components, the clamping component comprises an inclined rod, a supporting rod, a rotating rod and a supporting plate, the chip picking device with the adjusting function and good clamping effect can drive the adjusting plate to move through the adjusting mechanism, the position of the bottom plate is changed, the camera is positioned right above the chip, the device can stably pick the chip, the supporting plate is driven to rotate to the lower part of the chip by the clamping mechanism, the bottom plate can support the chip from the lower part, and the position of the chip is fixed by a fastening unit, therefore, the picking is completed, the good clamping effect is ensured, and the practicability of the equipment is further improved.
Description
Technical Field
The invention relates to the field of chip picking equipment, in particular to chip picking equipment with an adjusting function and a good clamping effect.
Background
Integrated Circuits (ICs), also known as microchips, chips, or chips, are a way in electronics to miniaturize circuits, including semiconductor devices, also including passive components, and the like, and are often fabricated on the surface of semiconductor wafers.
The chip is in production back that finishes, need pick up, when picking up the work, utilizes the thimble to pass the protection film of chip below usually, with the chip jack-up that makes progress for the chip breaks away from the protection film, and then the sucking disc is bled and is adsorbed the chip, thereby accomplishes and picks up the work. But at the chip pick up in-process, be difficult to the suction size of accurate control sucking disc, suction is too big, extrudees excessively to cause the chip to damage easily, and suction undersize can't breathe in the chip again, moreover, picking up the in-process, the sucking disc usually with the center department of chip offset to some extent, lead to the sucking disc to adsorb unstably, and then reduced the practicality of current chip pick up equipment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the chip picking device with the adjusting function and the good clamping effect is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a chip picking device with an adjusting function and a good clamping effect comprises a mounting plate, an adjusting mechanism, an adjusting plate, a vertical rod, a processor, a bottom plate, a camera and a clamping mechanism, wherein the mounting plate, the adjusting mechanism, the adjusting plate, the vertical rod, the bottom plate and the camera are sequentially arranged from top to bottom;
the adjusting mechanism comprises a first motor, a turntable, an adjusting assembly, an adjusting block and a telescopic assembly, the first motor is fixed below the mounting plate and is electrically connected with the PLC, the first motor is in transmission connection with the turntable and is arranged below the turntable, the adjusting assembly is in transmission connection with the adjusting block and is arranged below the adjusting block through the telescopic assembly;
the adjusting assembly comprises a second motor, a bearing and a screw rod, the second motor and the bearing are both fixed below the turntable, the second motor is electrically connected with the PLC, the second motor is in transmission connection with one end of the screw rod, the other end of the screw rod is arranged in the bearing, the adjusting block is sleeved on the screw rod, a thread matched with the screw rod is arranged at the joint of the adjusting block and the screw rod, and the adjusting block is abutted against the lower side of the turntable;
the utility model discloses a camera, including the cylinder, the cylinder body of cylinder, the cylinder is connected with PLC electricity, the top of the gas pole of cylinder is fixed in the below of lifter plate, the lifter plate cover is established on the montant, and two centre gripping subassemblies are located the both sides of lifter plate respectively, the centre gripping subassembly includes down tube, branch, dwang and layer board, the one end of down tube is fixed on the bottom plate, the other end of down tube is articulated with the center department of dwang, the lifter plate passes through branch and articulates with the top of dwang, the layer board is fixed in the one side that is close to the camera of the bottom of dwang.
As preferred, in order to avoid the chip to slide, the centre gripping subassembly still includes fastening unit, fastening unit includes iron plate, electro-magnet, spring, slide bar and splint, splint are located the below of bottom plate, iron plate fixes on the montant, the bottom plate cover is established on the slide bar, the both ends of slide bar respectively with splint and electro-magnet fixed connection, the electro-magnet is connected with the PLC electricity, the both ends of spring are connected with electro-magnet and bottom plate respectively, the spring is in tensile state.
Preferably, a sponge block is arranged below the clamping plate to avoid damaging the chip.
Preferably, in order to detect the distance between the base plate and the chip, a distance sensor is arranged below the base plate, and the distance sensor is electrically connected with the PLC.
Preferably, in order to prevent the chips from falling from both sides of the pallet, stopper plates are provided on both sides above the pallet.
As preferred, in order to realize the steady rotation of carousel, the below of mounting panel is equipped with the ring channel, the top of carousel is equipped with a plurality of sliders, slider circumference evenly distributed is in the periphery of first motor, the top at the carousel is fixed to the slider, slider and ring channel phase-match, slider and ring channel sliding connection.
Preferably, in order to further ensure the stable rotation of the rotating disk, the annular groove is a dovetail groove.
As preferred, in order to realize the lift removal of regulating plate, flexible subassembly includes third motor, gear and two flexible units, the top at the regulating plate is fixed to the third motor, the third motor is connected with the PLC electricity, the third motor is connected with gear drive, flexible unit includes rack, support and actuating lever, and two racks are located the top and the below of gear respectively, rack and gear engagement, the shape of support is L shape, the one end and the rack fixed connection of support, the other end of support passes through the actuating lever and is articulated with the regulating block.
Preferably, in order to realize the stable removal of support, the flexible unit still includes solid fixed ring, gu fixed ring fixes the top at the regulating plate, gu fixed ring overlaps establishes on the support.
Preferably, in order to ensure that the camera shoots a clear image, the lens of the camera is a fixed-focus lens.
The chip picking device with the adjusting function and the good clamping effect has the advantages that the adjusting plate can be driven to move through the adjusting mechanism, the position of the bottom plate is changed, the camera is located right above the chip, the device can pick the chip stably, moreover, the clamping mechanism is utilized to drive the supporting plate to rotate to the position below the chip, the bottom plate can support the chip from the lower side conveniently, the fastening unit is utilized to fix the position of the chip, the picking is completed, the good clamping effect is guaranteed, and the practicability of the device is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural diagram of a chip picking apparatus with an adjusting function and a good clamping effect according to the present invention;
FIG. 2 is a schematic structural diagram of an adjusting mechanism of the chip picking apparatus with an adjusting function and a good clamping effect according to the present invention;
FIG. 3 is a schematic structural diagram of a clamping mechanism of the chip picking apparatus with an adjusting function and a good clamping effect according to the present invention;
FIG. 4 is a schematic structural diagram of a fastening unit of the clamping-effect chip picking apparatus with an adjusting function according to the present invention;
in the figure: 1. the mounting plate, 2, an adjusting plate, 3, a vertical rod, 4, a processor, 5, a bottom plate, 6, a first motor, 7, a rotating disc, 8, an adjusting block, 9, a second motor, 10, a bearing, 11, a screw rod, 12, an air cylinder, 13, a lifting disc, 14, a diagonal rod, 15, a supporting rod, 16, a rotating rod, 17, a supporting plate, 18, an iron plate, 19, an electromagnet, 20, a spring, 21, a sliding rod, 22, a clamping plate, 23, a sponge block, 24, a distance sensor, 25, a limiting plate, 26, an annular groove, 27, a sliding block, 28, a third motor, 29, a gear, 30, a rack, 31, a support, 32, a driving rod, 33, a fixing ring and 34, a camera.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, a chip pickup device with an adjusting function and a good clamping effect comprises a mounting plate 1, an adjusting mechanism, an adjusting plate 2, a vertical rod 3, a processor 4, a bottom plate 5, a camera 34 and a clamping mechanism, wherein the mounting plate 1, the adjusting mechanism, the adjusting plate 2, the vertical rod 3, the bottom plate 5 and the camera 34 are sequentially arranged from top to bottom, the processor 4 is fixed below the adjusting plate 2, a PLC is arranged in the processor 4, and the camera 34 is electrically connected with the PLC;
when the chip pickup equipment is used, the mounting plate 1 is fixedly mounted on other chip processing equipment, the processor 4 is arranged inside, the pickup work is carried out by PLC control equipment, the image is collected by the camera 34 below the bottom plate 5, the image data is transmitted to the PLC, the PLC detects the position of the camera 34 in the image, the adjusting mechanism is controlled to operate, the position of the adjusting plate 2 is adjusted, so that the position of the camera 34 is right above the chip, the PLC controls the clamping mechanism to start, the chip jacked up by the ejector pins is clamped from two sides, and the pickup work of the chip is completed.
As shown in fig. 2, the adjusting mechanism includes a first motor 6, a turntable 7, an adjusting assembly, an adjusting block 8 and a telescopic assembly, the first motor 6 is fixed below the mounting plate 1, the first motor 6 is electrically connected with the PLC, the first motor 6 is in transmission connection with the turntable 7, the adjusting assembly is arranged below the turntable 7, the adjusting assembly is in transmission connection with the adjusting block 8, and the adjusting plate 2 is arranged below the adjusting block 8 through the telescopic assembly;
the adjusting assembly comprises a second motor 9, a bearing 10 and a screw rod 11, the second motor 9 and the bearing 10 are both fixed below the turntable 7, the second motor 9 is electrically connected with the PLC, the second motor 9 is in transmission connection with one end of the screw rod 11, the other end of the screw rod 11 is arranged in the bearing 10, the adjusting block 8 is sleeved on the screw rod 11, a connecting part of the adjusting block 8 and the screw rod 11 is provided with a thread matched with the screw rod 11, and the adjusting block 8 is abutted against the lower side of the turntable 7;
when the adjusting mechanism operates, the horizontal plane with the fixed height of the adjusting block 8 can be driven to move through the first motor 6 and the adjusting component, the adjusting plate 2 is driven to move through the telescopic component, the position of the adjusting plate 2 is changed, the height position of the adjusting plate 2 can be changed through the telescopic component, the clamping mechanism is convenient to clamp, the adjusting mechanism is started, the PLC controls the first motor 6 to operate, the turntable 7 is driven to rotate, the lower part of the turntable 7 is driven, the second motor 9 is started, the lead screw 11 can be driven to rotate under the supporting effect of the bearing 10, the lead screw 11 acts on the adjusting block 8 through threads, the adjusting block 8 is driven to move, the position of the adjusting block 8 is changed, the positions of the vertical rod 3 and the bottom plate 5 are changed through the telescopic component, and the bottom plate 5.
As shown in fig. 3, fixture includes cylinder 12, lifter plate 13 and two centre gripping subassemblies, the top at bottom plate 5 is fixed to the cylinder body of cylinder 12, cylinder 12 is connected with the PLC electricity, the below at lifter plate 13 is fixed on the top of the gas pole of cylinder 12, lifter plate 13 cover is established on montant 3, and two centre gripping subassemblies are located lifter plate 13's both sides respectively, the centre gripping subassembly includes down tube 14, branch 15, dwang 16 and layer board 17, the one end of down tube 14 is fixed on bottom plate 5, the other end of down tube 14 is articulated with the center department of dwang 16, lifter plate 13 is articulated through the top of branch 15 with dwang 16, layer board 17 is fixed in the one side that is close to camera 34 in the bottom of dwang 16.
The PLC controls the cylinder 12 to start, the air pressure in the cylinder body of the cylinder 12 is changed, and then the air rod of the cylinder 12 drives the lifting disc 13 to move along the direction of the vertical rod 3, when the lifting disc 13 moves upwards, the support rod 15 drives the rotating rod 16 to rotate upwards around the end of the inclined rod 14 away from the bottom plate 5, so that the bottom plate 5 can move downwards to be close to a chip, then the lifting disc 13 moves downwards, the support rod 15 pulls the rotating rod 16 to rotate downwards, so that the supporting plate 17 rotates to a horizontal position, and after the supporting plate 17 rotates to the lower part of the chip, the telescopic component drives the adjusting plate 2 and the vertical rod 3 to move upwards, so that the supporting plate 17 drives the chip to move upwards, so as to pick up the chip, when the mounting plate 1 moves, the chip moves along with the supporting plate, compared with the traditional sucking disc picking up, the device controls the suction force of the sucking disc wirelessly, only needs to, the bottom plate 5 is driven to move upwards, so that the supporting plate 17 supports the chip, the chip picking work can be completed, excessive extrusion on the chip can not be generated, and a good clamping effect is guaranteed.
As shown in fig. 4, the clamping assembly further comprises a fastening unit, the fastening unit comprises an iron plate 18, an electromagnet 19, a spring 20, a sliding rod 21 and a clamping plate 22, the clamping plate 22 is located below the bottom plate 5, the iron plate 18 is fixed on the vertical rod 3, the bottom plate 5 is sleeved on the sliding rod 21, two ends of the sliding rod 21 are respectively fixedly connected with the clamping plate 22 and the electromagnet 19, the electromagnet 19 is electrically connected with the PLC, two ends of the spring 20 are respectively connected with the electromagnet 19 and the bottom plate 5, and the spring 20 is in a stretching state.
PLC controls the electro-magnet 19 to be electrified, so that the electro-magnet 19 generates magnetism, the iron plate 18 attracts the electro-magnet 19 to move upwards, the slide bar 21 and the clamping plate 22 are driven to move upwards, the extension spring 20 is used for controlling the electro-magnet 19 to be powered off after the chip is supported by the supporting plate 17, so that the electro-magnet 19 loses magnetism, the extension spring 20 pulls the electro-magnet 19 to move downwards, the slide bar 21 drives the clamping plate 22 to move downwards, the position of the chip on the supporting plate 17 is fixed, and the chip is prevented from sliding.
Preferably, a sponge block 23 is arranged below the clamping plate 22 to avoid damaging the chip. Since the sponge block 23 has a soft elasticity, when the sponge block 23 is in contact with the chip, the chip is prevented from being damaged by excessive compression.
Preferably, in order to detect the distance between the base plate 5 and the chip, a distance sensor 24 is provided under the base plate 5, and the distance sensor 24 is electrically connected to the PLC. Before picking up, the distance sensor 24 detects the distance between the bottom plate 5 and the chip, transmits the distance data to the PLC, and the PLC controls the telescopic assembly to start according to the distance data to adjust the distance between the bottom plate 5 and the chip.
Preferably, in order to prevent the chips from falling off from both sides of the pallet 17, stopper plates 25 are provided on both sides above the pallet 17. The chip can be prevented from falling from the two sides of the supporting plate 17 by the limiting plates 25 on the two sides above the supporting plate 17, and the chip can be successfully picked.
Preferably, in order to realize the stable rotation of the rotating disk 7, an annular groove 26 is arranged below the mounting plate 1, a plurality of sliding blocks 27 are arranged above the rotating disk 7, the sliding blocks 27 are circumferentially and uniformly distributed on the periphery of the first motor 6, the sliding blocks 27 are fixed above the rotating disk 7, the sliding blocks 27 are matched with the annular groove 26, and the sliding blocks 27 are slidably connected with the annular groove 26. After the first motor 6 is started, the rotary table 7 is driven to rotate, the rotary table 7 drives the sliding block 27 to slide in the annular groove 26 fixed below the mounting plate 1, and the position of the annular groove 26 is fixed, so that the rotating track of the sliding block 27 is fixed, and the stable rotation of the rotary table 7 is realized.
Preferably, in order to further ensure the stable rotation of the rotary disk 7, the annular groove 26 is a dovetail groove. The ring is a dovetail groove, so that the slide block 27 can be prevented from being separated from the ring groove 26, and the stable rotation of the rotary table 7 is further ensured.
As shown in fig. 2, the telescopic assembly includes a third motor 28, a gear 29 and two telescopic units, the third motor 28 is fixed above the adjusting plate 2, the third motor 28 is electrically connected with the PLC, the third motor 28 is in transmission connection with the gear 29, the telescopic unit includes a rack 30, a bracket 31 and a driving rod 32, the two racks 30 are respectively located above and below the gear 29, the rack 30 is engaged with the gear 29, the bracket 31 is L-shaped, one end of the bracket 31 is fixedly connected with the rack 30, and the other end of the bracket 31 is hinged to the adjusting block 8 through the driving rod 32.
PLC control third motor 28 starts, drives gear 29 and rotates, and gear 29 is used in on the rack 30 of upper and lower both sides for two racks 30 move according to opposite direction simultaneously, and rack 30 drives support 31 and removes, and support 31 passes through actuating lever 32 and is used in adjusting block 8, has changed the distance position between adjusting block 8 and the regulating plate 2, and then has changed the high position of regulating plate 2.
Preferably, in order to realize the stable movement of the bracket 31, the telescopic unit further comprises a fixing ring 33, the fixing ring 33 is fixed above the adjusting plate 2, and the fixing ring 33 is sleeved on the bracket 31. The moving direction of the supporter 31 is fixed by the fixing ring 33 fixed on the adjusting plate 2, and the stable movement of the supporter 31 is realized.
Preferably, in order to ensure that the camera 34 captures clear images, the lens of the camera 34 is a fixed focus lens. The fixed focus lens can shoot clear images within a specific distance range, the camera 34 adopts the lens, the camera 34 can be guaranteed to shoot clear images, and the position of the chip can be conveniently identified by equipment.
When the chip picking device operates, the turntable 7 is driven to rotate through the first motor 6, the adjusting component controls the adjusting block 8 to move, the position of the bottom plate 5 is changed, the camera 34 is located under the chip, the clamping mechanism is convenient to stably pick up the chip, when the clamping mechanism operates, the supporting plate 17 is enabled to rotate to the back of the lower part of the chip through the clamping component, the telescopic component drives the vertical rod 3 to move upwards, the supporting plate 17 is enabled to support the chip from the lower part, then the fastening unit is utilized to enable the sponge block 23 to be abutted to the upper part of the chip, the chip is prevented from sliding, chip damage is avoided, stable and good clamping effect of the device is guaranteed, and the practicability of the device is improved.
Compared with the prior art, this effectual chip pickup apparatus of centre gripping with regulatory function can drive regulating plate 2 through adjustment mechanism and remove, change bottom plate 5's position, make camera 34 be located directly over the chip, the equipment of being convenient for stably picks up the chip, moreover, utilize fixture to drive layer board 17 and rotate to the below of chip, the bottom plate 5 of being convenient for holds up the chip from the below, utilize the position of the fixed chip of fastening unit, thereby accomplish and pick up, good centre gripping effect has been guaranteed, and then the practicality of equipment has been improved.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The chip pickup equipment with the adjusting function and the good clamping effect is characterized by comprising a mounting plate (1), an adjusting mechanism, an adjusting plate (2), a vertical rod (3), a processor (4), a bottom plate (5), a camera (34) and a clamping mechanism, wherein the mounting plate (1), the adjusting mechanism, the adjusting plate (2), the vertical rod (3), the bottom plate (5) and the camera (34) are sequentially arranged from top to bottom, the processor (4) is fixed below the adjusting plate (2), a PLC is arranged in the processor (4), and the camera (34) is electrically connected with the PLC;
the adjusting mechanism comprises a first motor (6), a turntable (7), an adjusting assembly, an adjusting block (8) and a telescopic assembly, the first motor (6) is fixed below the mounting plate (1), the first motor (6) is electrically connected with the PLC, the first motor (6) is in transmission connection with the turntable (7), the adjusting assembly is arranged below the turntable (7), the adjusting assembly is in transmission connection with the adjusting block (8), and the adjusting plate (2) is arranged below the adjusting block (8) through the telescopic assembly;
the adjusting assembly comprises a second motor (9), a bearing (10) and a screw rod (11), the second motor (9) and the bearing (10) are fixed below the turntable (7), the second motor (9) is electrically connected with the PLC, the second motor (9) is in transmission connection with one end of the screw rod (11), the other end of the screw rod (11) is arranged in the bearing (10), the adjusting block (8) is sleeved on the screw rod (11), a thread matched with the screw rod (11) is arranged at the joint of the adjusting block (8) and the screw rod (11), and the adjusting block (8) is abutted against the lower side of the turntable (7);
the clamping mechanism comprises a cylinder (12), a lifting disc (13) and two clamping components, the cylinder body of the cylinder (12) is fixed above the bottom plate (5), the cylinder (12) is electrically connected with the PLC, the top end of a gas rod of the cylinder (12) is fixed below the lifting disc (13), the lifting disc (13) is sleeved on the vertical rod (3), the two clamping components are respectively positioned at two sides of the lifting disc (13), the clamping component comprises an inclined rod (14), a support rod (15), a rotating rod (16) and a supporting plate (17), one end of the inclined rod (14) is fixed on the bottom plate (5), the other end of the inclined rod (14) is hinged with the center of the rotating rod (16), the lifting disc (13) is hinged with the top end of the rotating rod (16) through a support rod (15), the supporting plate (17) is fixed on one side, close to the camera (34), of the bottom end of the rotating rod (16).
2. The chip pickup apparatus with the adjusting function and the good clamping effect as claimed in claim 1, wherein the clamping assembly further comprises a fastening unit, the fastening unit comprises an iron plate (18), an electromagnet (19), a spring (20), a sliding rod (21) and a clamping plate (22), the clamping plate (22) is located below the bottom plate (5), the iron plate (18) is fixed on the vertical rod (3), the bottom plate (5) is sleeved on the sliding rod (21), two ends of the sliding rod (21) are respectively fixedly connected with the clamping plate (22) and the electromagnet (19), the electromagnet (19) is electrically connected with the PLC, two ends of the spring (20) are respectively connected with the electromagnet (19) and the bottom plate (5), and the spring (20) is in a stretching state.
3. The clamping-effect chip pickup apparatus with adjustment function according to claim 2, wherein a sponge block (23) is provided under the chucking plate (22).
4. The clamping-efficient chip pickup apparatus having an adjustment function according to claim 1, wherein a distance sensor (24) is provided under the base plate (5), and the distance sensor (24) is electrically connected to the PLC.
5. The clamping-efficient chip pick-up apparatus with adjustment function according to claim 1, wherein the supporting plate (17) is provided with a limiting plate (25) at both sides above.
6. The chip pickup apparatus with the adjusting function and the good clamping effect as claimed in claim 1, wherein an annular groove (26) is provided below the mounting plate (1), a plurality of sliding blocks (27) are provided above the turntable (7), the sliding blocks (27) are circumferentially and uniformly distributed on the periphery of the first motor (6), the sliding blocks (27) are fixed above the turntable (7), the sliding blocks (27) are matched with the annular groove (26), and the sliding blocks (27) are slidably connected with the annular groove (26).
7. The clamping-efficient chip pickup apparatus having an adjustment function according to claim 6, wherein the annular groove (26) is a dovetail groove.
8. The chip picking apparatus with the adjusting function and the good clamping effect according to claim 1, wherein the telescopic assembly comprises a third motor (28), a gear (29) and two telescopic units, the third motor (28) is fixed above the adjusting plate (2), the third motor (28) is electrically connected with the PLC, the third motor (28) is in transmission connection with the gear (29), the telescopic units comprise a rack (30), a bracket (31) and a driving rod (32), the two racks (30) are respectively located above and below the gear (29), the rack (30) is meshed with the gear (29), the bracket (31) is L-shaped, one end of the bracket (31) is fixedly connected with the rack (30), and the other end of the bracket (31) is hinged with the adjusting block (8) through the driving rod (32).
9. The clamping-effect chip picking apparatus with adjustment function according to claim 8, wherein the telescopic unit further comprises a fixing ring (33), the fixing ring (33) is fixed above the adjustment plate (2), and the fixing ring (33) is sleeved on the support (31).
10. The chip pickup apparatus with adjustment function having good chucking effect according to claim 1, wherein the lens of the camera (34) is a fixed focus lens.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910302832.1A CN109941745B (en) | 2019-04-16 | 2019-04-16 | Chip picking equipment with adjusting function and good clamping effect |
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| CN201910302832.1A CN109941745B (en) | 2019-04-16 | 2019-04-16 | Chip picking equipment with adjusting function and good clamping effect |
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| CN109941745A CN109941745A (en) | 2019-06-28 |
| CN109941745B true CN109941745B (en) | 2020-12-18 |
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| CN110491818A (en) * | 2019-08-05 | 2019-11-22 | 深圳市律远汇智科技有限公司 | A kind of chip picking-up apparatus with accurate positioning function |
| CN110562735A (en) * | 2019-08-23 | 2019-12-13 | 武汉华星光电技术有限公司 | Clamping device and clamping method |
| CN110983511A (en) * | 2019-12-24 | 2020-04-10 | 桐乡乐维新材料有限公司 | Prevent fluffy twisting frame for weaving of polymerization effectual |
| CN111799212B (en) * | 2020-07-17 | 2022-09-20 | 河南辰芯科技有限公司 | Chip picking device |
| CN112289556B (en) * | 2020-10-22 | 2022-11-18 | 马鞍山豪远电子有限公司 | Iron core clamping mechanism for large transformer |
| CN117142113B (en) * | 2023-10-26 | 2024-01-23 | 赢胜节能集团股份有限公司 | Rubber and plastic pipe grabbing manipulator |
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| JP4192384B2 (en) * | 2000-02-29 | 2008-12-10 | 澁谷工業株式会社 | Article processing system |
| WO2006102421A2 (en) * | 2005-03-22 | 2006-09-28 | Applera Corporation | Pressure chamber clamp mechanism |
| CN106798990A (en) * | 2017-03-20 | 2017-06-06 | 朱读传 | The equipment for realizing quick assembling rescue |
| CN208265306U (en) * | 2018-03-22 | 2018-12-21 | 深圳市易胜德机械设备有限公司 | The rotating integrated workpiece gripper device of high-speed mobile and electronic components test equipment |
| CN109047202A (en) * | 2018-08-23 | 2018-12-21 | 国家电网有限公司 | A kind of cable preheating embedding line inspection obstacle removing robot |
| CN109132539B (en) * | 2018-09-17 | 2020-12-08 | 长沙理工大学 | Electronic device shifting equipment with accurate clamping function |
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