CN110510403B - Automatic unloading equipment of going up of difunctional fast switch over - Google Patents

Automatic unloading equipment of going up of difunctional fast switch over Download PDF

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Publication number
CN110510403B
CN110510403B CN201910833736.XA CN201910833736A CN110510403B CN 110510403 B CN110510403 B CN 110510403B CN 201910833736 A CN201910833736 A CN 201910833736A CN 110510403 B CN110510403 B CN 110510403B
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CN
China
Prior art keywords
station
guide rail
tray
clamping jaw
conveying
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Active
Application number
CN201910833736.XA
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Chinese (zh)
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CN110510403A (en
Inventor
徐齐孝
李晨
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Suzhou Weibang Automation Machinery Co ltd
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Suzhou Weibang Automation Machinery Co ltd
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Application filed by Suzhou Weibang Automation Machinery Co ltd filed Critical Suzhou Weibang Automation Machinery Co ltd
Priority to CN201910833736.XA priority Critical patent/CN110510403B/en
Publication of CN110510403A publication Critical patent/CN110510403A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/005Stacking of articles by using insertions or spacers between the stacked layers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00Feeding articles separated from piles; Feeding articles to machines
    • B65H5/22Feeding articles separated from piles; Feeding articles to machines by air-blast or suction device
    • B65H5/222Feeding articles separated from piles; Feeding articles to machines by air-blast or suction device by suction devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention discloses a dual-function quick-switching automatic feeding and discharging device which is provided with three stations, namely a product conveying station, an operation station positioned in the middle and a material tray conveying station comprising a switching mechanism; the manipulator is movably arranged above the three stations and is used for selecting and grabbing products or trays of the three stations; the switching mechanism is a placing platform; when the shallow basin is placed, the placing platform is horizontally arranged, and the separating paper is placed on the placing platform and is placed above the tray conveying station; when placing the single piece dish, place the vertical setting of platform to place the outside of charging tray transport station. The beneficial effects of the invention are mainly as follows: the automatic degree is high, the universality is strong, the switching is convenient, and the automatic feeding and discharging device can be compatible with feeding and discharging of a single-piece tray and a shallow basin.

Description

Automatic unloading equipment of going up of difunctional fast switch over
Technical Field
The invention relates to the technical field of automatic processing equipment, in particular to dual-function rapid switching automatic feeding and discharging equipment.
Background
The tray, also called a tray, is used for containing the utensils of material. The tray is widely applied to the assembly line production of electronic enterprises, and for the placement of circuit boards (PCB boards), the automatic feeding and discharging of the tray can shorten the production and detection period of products, reduce the labor cost and improve the production efficiency.
In general, trays used in current production are various, and it is common to divide adjacent products by a separator between a single tray for holding a plurality of products (PCB boards) and a shallow tub for holding a plurality of products (PCB boards). The loading and unloading of these trays is performed manually, and an automated manipulator is also used for grabbing, for example, an automatic loading and unloading mechanism for trays is disclosed in chinese patent CN 201510351554.0.
However, the mechanism is suitable for automatic feeding and discharging of a single-piece tray, cannot be used for feeding and discharging production by using a shallow basin, and has insufficient universality because equipment mechanisms are needed to be replaced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides dual-function rapid switching automatic feeding and discharging equipment.
The aim of the invention is achieved by the following technical scheme:
a dual-function fast-switching automatic loading and unloading device is provided with three stations, namely a product conveying station, an operation station positioned in the middle and a tray conveying station comprising a switching mechanism,
a manipulator which is movably arranged above the three stations and is used for selecting and grabbing products or trays of the three stations,
the switching mechanism is a placement platform,
when the material tray is a shallow basin, the placing platform is horizontally arranged and is arranged above the material tray conveying station, and the placing platform is provided with partition paper;
when the material tray is a single-piece tray, the placing platform is vertically arranged and is arranged at the outer side of the material tray conveying station.
Preferably, the tray conveying station further comprises a clamping jaw, the clamping jaw moves between the operation station and the tray conveying station through the conveying line, and the clamping jaw is used for clamping and conveying the shallow basin.
Preferably, the product conveying station comprises a conveying device, a roller conveying line is arranged on the conveying device, and the product is placed on the conveying line and conveyed to the corresponding position.
Preferably, the device comprises two manipulators with fixed mutual spacing, wherein the manipulators are grabbing mechanisms consisting of a group of vacuum chucks, and the spacing is the spacing between adjacent stations.
Preferably, the manipulator comprises a bracket with an L-shaped structure and a sucker arranged at one end of the bracket, wherein the sucker is matched with the shape of a product and the shape of a material tray, a guide block is arranged at the other end of the bracket, and is connected with the bracket by a first motor driving a screw rod and moves back and forth along a vertical guide rail under the action of the screw rod.
Preferably, the rear side of the vertical guide rail is vertically provided with a transverse guide rail, one end of the transverse guide rail is provided with a second motor, and the second motor drives the screw rod to rotate so as to drive the vertical guide rail to horizontally move.
Preferably, two parallel translation guide rails are arranged below the placement platform, and the translation guide rails are parallel to the placement platform; the clamping jaw is arranged on the translation guide rail and can move along the direction of the translation guide rail, when the clamping jaw is positioned at the tray conveying station, the shallow basin is placed or moved out of the clamping jaw, and the clamping jaw clamps or loosens the shallow basin.
Preferably, the translation guide rail comprises rollers arranged on two sides and a conveyor belt between the rollers, the clamping jaws are fixed on the conveyor belt, and the rollers are respectively arranged at the operation station and the tray conveying station.
Preferably, the periphery of the placement platform is provided with a handle, the corners of the placement platform are provided with door bolts, and the outer sides of the placement platform are provided with hinges; by pulling the handle, the placing platform overturns along the hinge side, and after the placing platform finishes overturning, the placing platform is fixed by fixing the door bolt.
Preferably, the operation station and the tray conveying station are both provided with lifting platforms, and the lifting platforms are driven by lifting motors to automatically ascend or descend.
The beneficial effects of the invention are mainly as follows: the automatic degree is high, the universality is strong, the switching is convenient, and the automatic feeding and discharging device can be compatible with feeding and discharging of a single-piece tray and a shallow basin.
Drawings
The technical scheme of the invention is further described below with reference to the accompanying drawings:
fig. 1: a perspective view of a preferred embodiment of the present invention in a first state;
fig. 2: a perspective view of a preferred embodiment of the present invention in a second state;
fig. 3: a top view of a preferred embodiment of the present invention in a first state;
fig. 4: a front view of a preferred embodiment of the present invention in a first state;
fig. 5: a side view of the preferred embodiment of the present invention in a first state;
fig. 6: an enlarged view of portion a in fig. 1;
fig. 7: part B is an enlarged view in fig. 1.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. The embodiments are not limited to the present invention, and structural, methodological, or functional modifications of the invention from those skilled in the art are included within the scope of the invention.
Not limiting, structural, methodological, or functional transformations of one of ordinary skill in the art based on these embodiments are included within the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 7, the present invention discloses a dual-function fast switching automatic loading and unloading device, which has three stations, namely a product conveying station, an operation station located in the middle, and a tray conveying station comprising a switching mechanism.
The product conveying station comprises a conveying device 7, a roller conveying line is arranged on the conveying device 7, and a product 71 is placed on the conveying line and conveyed to a corresponding position through the roller conveying line. Of course, other means of product delivery are possible. Since more roller conveyor lines are used in the electronics industry, the present invention is exemplified.
In the present invention, the operation station includes:
the two manipulators are fixed in distance and are movably arranged above the three stations and used for selectively grabbing the products or the trays; the manipulator is a grabbing mechanism consisting of a group of vacuum chucks 5, and the distance between the two manipulators is the distance between adjacent stations. Of course, the invention is provided with two manipulators for efficiency improvement; for cost reasons, a single robot may also be provided.
Specifically, the manipulator includes the support 4 of L type structure and sets up sucking disc 5 in support 4 one end, sucking disc 5 and product shape, charging tray shape assorted, in the figure square example, other shapes are also possible. The other end of the bracket 4 is provided with a guide block 32, and the guide block 32 is connected with a driving screw rod in the first motor 31 and moves reciprocally along a vertical guide rail 33 under the action of the screw rod.
The rear side of the vertical guide rail 33 is vertically provided with a transverse guide rail 1, one end of the transverse guide rail 1 is provided with a second motor 11, and the second motor 11 drives a screw rod to rotate so as to drive the vertical guide rail 33 to horizontally move. In this way, the suction cup 5 moves up and down and left and right in the stroke of the lateral rail 1 and the vertical rail 33. In the present invention, the moving modes and moving distances of the two suction cups 5 are the same.
A supporting frame 2 is arranged on one side of the transverse guide rail 1, the supporting frame 2 is used for supporting the whole equipment, a plurality of supporting holes 21 are formed in the supporting frame 2, and the supporting holes 21 are used for reinforcing connection.
In the invention, the switching mechanism is a multifunctional placement platform 6, a handle 61 is arranged on the periphery of the placement platform 6, a door bolt 62 is arranged at a corner of the placement platform, and a hinge 63 is arranged at the outer side of the placement platform; when the tray is a single-piece tray, the placing platform 6 is turned over along the hinge 63 by pulling the handle 61, the placing platform 6 is vertically arranged, the placing platform 6 is fixed by the door bolt 62, and the placing platform 6 is arranged at the outer side of the tray conveying station; when the tray is a shallow basin, the placement platform 6 is horizontally arranged and is disposed above the tray conveying station, and at this time, a piece of partition paper (not shown in the figure) is placed on the placement platform.
The outside of the area of placing the partition paper on the placing platform 6 is provided with a limiting block 64, the placing platform 6 is also provided with a guide groove for sliding the limiting block 64, namely, the size of the area formed by the limiting block 64 can be adjusted. The size of the area formed by the particular stopper 64 may be adjusted according to the size of the separator.
Of course, the placement platform 6 as the switching mechanism may be other switching modes, such as moving, rotating, or other irregular movements, and the like, only needs to change at the tray conveying station.
In the invention, two parallel translation guide rails 8 are arranged below the placing platform 6 and are parallel to the placing platform 6; the clamping jaw 9 is arranged on the translation guide rail 8 and can move along the direction of the translation guide rail 8, when the clamping jaw 9 is positioned at the tray conveying station, a shallow basin is placed or moved out on the clamping jaw 9, and the clamping jaw 9 clamps or unclamps the shallow basin. The clamping or unclamping action may be accomplished by a pneumatic cylinder.
Preferably, the translation guide 8 comprises rollers 81 arranged on both sides and a conveyor belt 82 arranged between the rollers, the clamping jaw 9 is fixed on the conveyor belt 82, and the rollers 81 are respectively arranged at the operation station and the tray conveying station.
The third motor 10 is perpendicular to the translation guide rail 8, a driving wheel 101 is arranged on the end face of the third motor 10, and the driving wheel 101 is connected with the roller 81 through a belt. After the third motor 10 is electrified, the driving wheel 101 is driven to rotate, and then one end of the driving wheel 81 is driven to rotate, the conveyor belt 82 works, and the clamping jaw 9 arranged on the translation guide rail 8 slides along the translation guide rail 8 under the driving of the conveyor belt 82.
The lifting platform 100 is arranged on the operation station and the tray conveying station, and the lifting platform 100 is driven by the lifting motor 1001 to automatically ascend or descend, so that the tray placed on the lifting platform 100 is driven to ascend or descend. In the present invention, the moving directions of the lifting platform 100 respectively located at the operation station and the tray conveying station are always opposite.
The operation of the preferred embodiment of the present invention is described below:
as shown in fig. 1, when it is required to perform blanking on the adopted shallow basins, a stack of shallow basins is placed on the lifting platform 100 located at the tray conveying station, then the placement platform 6 is placed horizontally, and finally the partition paper is placed in a designated area in the placement platform 6. The shallow basin at the uppermost layer is clamped by the clamping jaw 9 and then moves to an operation station; then, the suction cup 5 positioned at the left side in the figure moves to above the product 71 through the vertical guide rail 33 and the transverse guide rail 1, the bracket 4 is lowered, and when the suction cup 5 contacts the product 71, the suction cup continues to be lowered and the air in the suction nozzle 51 is pumped out to finish suction; after the suction is completed, the suction cup moves to the upper part of the shallow basin and descends, and the product 71 is placed in the shallow basin; then, the suction cup 5 positioned on the right side in the figure moves to the upper side of the partition paper through the vertical guide rail 33 and the transverse guide rail 1, the bracket 4 is lowered, and when the suction cup 5 contacts the partition paper, the suction cup is continuously lowered while the air in the suction nozzle 51 is pumped out to finish suction; after the suction of the separator is completed, the suction cup is moved to above the basin and lowered, and the separator is placed above the product 71 in the basin. Then the two suckers are used for discharging the next product, including stacking of the partition paper. The feeding sequence is opposite to the above.
When it is desired to perform blanking using a single-piece tray, a stack of single-piece trays is placed on the lifting platform 100, and the placement platform 6 is turned to the vertical state of the apparatus, as shown in fig. 2. The single-piece disc is lifted to the lower side of the suction disc 5 on the right side in the figure by the driving of the lifting motor 1001, and the suction disc 5 sucks the single-piece disc; then, the two suction cups 5 are moved by the vertical rail 33 and the transverse rail 1, while the suction cup 5 on the left in the figure is moved above said product 71, while the suction cup 5 on the right in the figure is just moved to the operating station; then, the bracket 4 is lowered again, and when the suction disc 5 at the left side in the drawing contacts the product 71, the bracket continues to be lowered and the air in the suction nozzle 51 is pumped out to finish suction; the single-piece disc is placed on a lifting platform positioned at an operation station on the right side in the drawing; then, the two suction cups 5 are moved again by the vertical guide rail 33 and the transverse guide rail 1, and when the suction cup 5 on the left side in the figure is moved above the single-piece disc, the suction cup on the right side in the figure is reset to be above the disc conveying station, and the next disc suction is ready. At this point, the carriage 4 is lowered and the suction cup 5 on the left in the figure places the product 71 in the single-piece tray; the suction cup on the right side of the figure then sucks the next single piece of disc. And the lift platform 100, on which the single-piece tray with product is then placed, is lowered by one cell under the control of the lift motor 1001. And (5) product blanking is carried out periodically. The feeding sequence is opposite to the above.
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 for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (8)

1. Automatic unloading equipment of going up of difunctional fast switch over, its characterized in that: has the following characteristics of
Three stations, namely a product conveying station, an operation station positioned in the middle and a material tray conveying station comprising a switching mechanism,
a manipulator which is movably arranged above the three stations and is used for selecting and grabbing products or trays of the three stations,
the switching mechanism is a placement platform (6),
when the material tray is a shallow basin, the placing platform (6) is horizontally arranged and is arranged above the material tray conveying station, and the placing platform is provided with partition paper;
when the material tray is a single-piece tray, the placing platform (6) is vertically arranged and is arranged at the outer side of the material tray conveying station;
the tray conveying station further comprises a clamping jaw (9), the clamping jaw (9) moves between the operation station and the tray conveying station through a conveying line, and the clamping jaw (9) is used for clamping and conveying the shallow basin; the automatic unloading equipment of going up of difunctional fast switch over includes two manipulators fixed in mutual interval, the manipulator is the mechanism of snatching that comprises a set of vacuum chuck, the interval is the interval of adjacent station.
2. The dual function fast switching automatic loading and unloading device of claim 1, wherein: the product conveying station comprises a conveying device (7), a roller conveying line is arranged on the conveying device (7), and products (71) are placed on the conveying line and conveyed to corresponding positions.
3. The dual function fast switching automatic loading and unloading device of claim 1, wherein: the manipulator comprises a support (4) with an L-shaped structure and a sucker (5) arranged at one end of the support (4), wherein the sucker (5) is matched with the shape of a product and the shape of a material tray, a guide block (32) is arranged at the other end of the support (4), and the guide block (32) is connected with a first motor (31) by driving a screw rod and moves back and forth along a vertical guide rail (33) under the action of the screw rod.
4. A dual function fast switching automatic loading and unloading device according to claim 3, characterized in that: the rear side of the vertical guide rail (33) is vertically provided with a transverse guide rail (1), one end of the transverse guide rail (1) is provided with a second motor (11), and the second motor (11) drives the screw rod to rotate so as to drive the vertical guide rail (33) to horizontally move.
5. The dual function fast switching automatic loading and unloading device of claim 1, wherein: two parallel translation guide rails (8) are arranged below the placement platform (6), and the translation guide rails (8) are parallel to the placement platform (6); the clamping jaw (9) is arranged on the translation guide rail (8) and can move along the direction of the translation guide rail (8), when the clamping jaw (9) is positioned at the tray conveying station, a shallow basin is placed or moved out on the clamping jaw (9), and the clamping jaw (9) clamps or loosens the shallow basin.
6. The dual function fast switching automatic feeding and discharging device of claim 5, wherein: the translation guide rail (8) comprises rollers (81) arranged on two sides and a conveyor belt (82) arranged between the rollers, the clamping jaw (9) is fixed on the conveyor belt (82), and the rollers (81) are respectively arranged at the operation station and the tray conveying station.
7. The dual function fast switching automatic loading and unloading device according to any one of claims 1 to 6, characterized in that: the periphery of the placement platform (6) is provided with a handle (61), a door bolt (62) is arranged at the corner of the placement platform, and a hinge (63) is arranged at the outer side of the placement platform; by pulling the handle (61), the placing platform (6) turns over along the hinge (63), and after the placing platform (6) turns over, the placing platform (6) is fixed by fixing the door bolt (62).
8. The dual function fast switching automatic loading and unloading device according to any one of claims 1 to 6, characterized in that: the automatic lifting device is characterized in that lifting platforms (100) are arranged on the operation station and the tray conveying station, and the lifting platforms (100) are driven by lifting motors (1001) to automatically lift or descend.
CN201910833736.XA 2019-09-04 2019-09-04 Automatic unloading equipment of going up of difunctional fast switch over Active CN110510403B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201910833736.XA CN110510403B (en) 2019-09-04 2019-09-04 Automatic unloading equipment of going up of difunctional fast switch over

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CN110510403A CN110510403A (en) 2019-11-29
CN110510403B true CN110510403B (en) 2024-03-22

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CN112547548A (en) * 2020-11-11 2021-03-26 奥士康科技股份有限公司 Method for detecting PCB forming dimension out of tolerance through appearance
CN112357576B (en) * 2020-11-20 2022-07-08 深圳市锦龙科技有限公司 Automatic PCB board processing of material loading is with separating cardboard trigger
CN114682936A (en) * 2020-12-31 2022-07-01 大族激光科技产业集团股份有限公司 Feeding and discharging device, laser processing equipment and feeding and discharging method
CN113044584B (en) * 2021-04-16 2022-12-30 迅得机械(东莞)有限公司 Double-material continuous non-stop automatic material receiving and discharging method

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CN208345156U (en) * 2018-06-08 2019-01-08 昆山索莱能光电科技有限公司 Tray disk automatic loading and unloading device and Tray disk transportation system
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CN208932474U (en) * 2018-08-02 2019-06-04 深圳市智信精密仪器有限公司 Double-station high speed feeding manipulator
CN209337651U (en) * 2018-12-13 2019-09-03 深圳市诺峰光电设备有限公司 A kind of glass back cover automatic loading and unloading device
CN210763113U (en) * 2019-09-04 2020-06-16 苏州威邦自动化机械有限公司 Double-functional fast switching automatic feeding and discharging equipment

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Publication number Priority date Publication date Assignee Title
CN103863818A (en) * 2014-03-25 2014-06-18 彭富国 Material reciprocating transferring device and method
CN205419029U (en) * 2016-01-19 2016-08-03 深圳市天慧谷科技股份公司 Intelligence supplies to receive material machine
CN108059001A (en) * 2017-12-13 2018-05-22 宁波德晶元科技有限公司 A kind of pcb board feed mechanism of carrier module
CN207792114U (en) * 2017-12-26 2018-08-31 深圳连硕自动化科技有限公司 A kind of charging tray loading and unloading component
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CN208932474U (en) * 2018-08-02 2019-06-04 深圳市智信精密仪器有限公司 Double-station high speed feeding manipulator
CN209337651U (en) * 2018-12-13 2019-09-03 深圳市诺峰光电设备有限公司 A kind of glass back cover automatic loading and unloading device
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