CN110769613A - PCBA ultrasonic cleaning system and cleaning method thereof - Google Patents
PCBA ultrasonic cleaning system and cleaning method thereof Download PDFInfo
- Publication number
- CN110769613A CN110769613A CN201911086784.3A CN201911086784A CN110769613A CN 110769613 A CN110769613 A CN 110769613A CN 201911086784 A CN201911086784 A CN 201911086784A CN 110769613 A CN110769613 A CN 110769613A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- pcba
- ultrasonic
- characteristic information
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/22—Secondary treatment of printed circuits
- H05K3/26—Cleaning or polishing of the conductive pattern
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2203/00—Indexing scheme relating to apparatus or processes for manufacturing printed circuits covered by H05K3/00
- H05K2203/02—Details related to mechanical or acoustic processing, e.g. drilling, punching, cutting, using ultrasound
- H05K2203/0285—Using ultrasound, e.g. for cleaning, soldering or wet treatment
Abstract
The invention discloses a PCBA ultrasonic cleaning system, which comprises an ultrasonic guiding cleaning device, intelligent equipment and a 3D image acquisition device. The ultrasonic guiding and cleaning device is in communication connection with the intelligent equipment, and the 3D image acquisition device is in communication connection with the intelligent equipment; the intelligent device is internally provided with a memory and a processor, the memory in the intelligent device is provided with an automatic cleaning program, and the automatic cleaning program runs through the processor in the intelligent device. The invention adopts the computer vision to guide the ultrasonic probe on the mechanical arm to clean the stain on the PCBA at fixed points in a non-contact way, and the product does not need to contact the liquid cleaning agent, thereby avoiding the problem of secondary pollution; the invention does not need to clean the whole product in the cleaning process, only needs to locally clean the polluted position and has high efficiency.
Description
Technical Field
The invention belongs to the field of PCBA processing, relates to an automatic PCBA cleaning system, and particularly relates to an ultrasonic cleaning system and a cleaning method for PCBA welding spots.
Background
PCBA is short for Printed Circuit Board + Assembly, means PCB blank Board is through SMT upper part, pass through the whole process of DIP plug-in components, namely assemble various electronic devices on PCB blank Board through the surface packaging technology.
In the PCBA processing process, residual substances can be generated by the solder paste and the soldering flux, potential safety hazards can exist on PCBA boards by the residual substances, short-circuit faults are easy to cause, and in addition, the requirement of customers on product cleanliness is not met. Therefore, it is very necessary to clean the PCBA.
Currently, ultrasonic cleaning is commonly used in the industry to clean PCBA boards, but such methods have the following major disadvantages:
A) requiring the PCBA to contact water or cleaning fluids presents the potential for secondary contamination of the product.
B) The cleaning process is directed to the entire product, causing unnecessary time waste.
C) Needs manual work to participate in the cleaning process, increases the cost and has high effect control difficulty.
Disclosure of Invention
In order to solve the problems, the invention provides an ultrasonic cleaning system and a cleaning method of PCBA, and the technical scheme is as follows:
the utility model provides a PCBA ultrasonic cleaning system, includes ultrasonic wave guide belt cleaning device, smart machine and 3D image acquisition device. Ultrasonic wave guide belt cleaning device and smart machine pass through communication connection, and 3D image acquisition device and smart machine pass through communication connection.
The intelligent device is internally provided with a memory and a processor, the memory in the intelligent device is provided with an automatic cleaning program, and the automatic cleaning program runs through the processor in the intelligent device.
Ultrasonic wave guide belt cleaning device includes ultrasonic wave guiding device and ultrasonic cleaning head, and ultrasonic cleaning head installs on ultrasonic wave guiding device, ultrasonic wave guiding device and smart machine communication connection.
The ultrasonic cleaning head comprises an ultrasonic generator and a beam forming head, the ultrasonic generator is arranged on the ultrasonic guiding device and is in communication connection with the intelligent equipment, and the beam forming head is in circuit connection with the ultrasonic generator.
The ultrasonic guiding device is a six-axis mechanical arm, and the six-axis mechanical arm is in communication connection with the intelligent equipment; the ultrasonic generator is arranged at the wrist part of the six-axis mechanical arm.
The 3D image acquisition device is one or more 3D cameras; when the 3D image acquisition device is a plurality of 3D cameras, the plurality of 3D cameras form a 3D camera array.
The intelligent device is also internally provided with a learning module, and the learning module at least comprises a characteristic information identification unit, a characteristic information classification unit and a cleaning learning unit which are related to the PCBA; the characteristic information identification unit identifies characteristic information of the PCBA, the characteristic information classification unit classifies the identified characteristic information of the PCBA, the cleaning learning unit calls the classified cleaning characteristic information to learn and correct, and the optimized cleaning execution script replaces an original cleaning execution script.
The cleaning method of the PCBA ultrasonic cleaning system comprises the following steps:
s1, presetting PCBA image parameters in the intelligent equipment;
s2, positioning and identifying the PCBA to be cleaned through the 3D image acquisition device, and acquiring the characteristic information of the PCBA to be cleaned;
s3, the intelligent equipment compares the identified PCBA image with a preset PCBA image, finds out stains needing to be cleaned, and generates a corresponding control instruction packet;
and S4, controlling the cleaning work of the PCBA to be cleaned according to the control instruction packet.
In step S4, the cleaning operation of the PCBA to be cleaned is controlled according to the control command packet, which includes:
s4-1, under the control of a control instruction packet, the intelligent equipment and the 3D image acquisition device cooperate to guide the six-axis mechanical arm to move, so that an ultrasonic cleaning head on the six-axis mechanical arm is ensured to be close to a stain to be cleaned and an effective distance is kept;
s4-2, the intelligent equipment controls the ultrasonic generator to emit ultrasonic waves, and the beam forming head is utilized to concentrate energy so as to clean the PCBA;
s4-3, the intelligent equipment controls the power and the duration of the ultrasonic waves according to the identified stain type and the size on the PCBA;
and S4-4, capturing the PCBA image in real time through the 3D image acquisition device to judge whether the cleaning is finished.
After the step S4 is executed to control the cleaning operation of the PCBA to be cleaned according to the control command packet, the cleaning method further includes:
s5, recording the cleaning characteristic information of the PCBA cleaning work, and storing the cleaning characteristic information of the PCBA;
s6, calling the cleaning characteristic information of the PCBA to perform cleaning learning;
s7, optimizing and cleaning the control instruction packet of the corresponding PCBA according to the cleaning learning result;
and S8, replacing the optimized PCBA control instruction packet with the corresponding PCBA initial cleaning control instruction packet.
The invention has the beneficial effects that: 1) the invention adopts the computer vision to guide the ultrasonic probe on the mechanical arm to clean the stain on the PCBA at fixed points in a non-contact way, and the product does not need to contact the liquid cleaning agent, thereby avoiding the problem of secondary pollution;
2) the whole product is not required to be cleaned in the cleaning process, only partial cleaning is required to be carried out on the polluted position, and the efficiency is high;
3) the automatic cleaning machine disclosed by the invention is operated automatically in the cleaning process, manual intervention is not required, the cleaning time is saved, the labor cost is reduced, and the cleaning effect is ensured.
Drawings
FIG. 1 is a schematic view of the structure of example 2 of the present invention;
reference numerals: the ultrasonic guided cleaning device comprises an ultrasonic guided cleaning device 1, intelligent equipment 2 and a 3D image acquisition device 3; an ultrasonic guide device 11, an ultrasonic cleaning head 12; an ultrasonic generator 121 and a beam forming head 122.
Detailed Description
Example 1
The ultrasonic cleaning system of the PCBA comprises six mechanical arms, an ultrasonic cleaning head 12, intelligent equipment 2 and a 3D camera; six arms, ultrasonic cleaning head 12 and 3D camera pass through communication connection with smart machine 2 respectively.
The ultrasonic cleaning head 12 comprises an ultrasonic generator 121 and a beam forming head 122, the ultrasonic generator 121 is mounted on the wrist portion of the six-axis mechanical arm, the ultrasonic generator 121 is in communication connection with the intelligent device 2, and the beam forming head 122 is in circuit connection with the ultrasonic generator 121.
The intelligent device 2 is internally provided with a memory and a processor, the memory in the intelligent device 2 is provided with an automatic cleaning program, and the automatic cleaning program runs through the processor in the intelligent device 2.
When the processor executes the automatic cleaning program, the ultrasonic cleaning method of the PCBA can be realized, and the method specifically comprises the following steps:
and S1, presetting PCBA image parameters in the intelligent device 2.
And S2, positioning and identifying the PCBA to be cleaned through the 3D image acquisition device 3, and acquiring the characteristic information of the PCBA to be cleaned.
S3, the intelligent device 2 compares the identified PCBA image with a preset PCBA image;
if the identified PCBA characteristic information is matched with the preset PCBA characteristic information, finding out stains needing to be cleaned, and generating a corresponding control instruction packet;
and if the identified PCBA characteristic information is not matched with the preset PCBA characteristic information, not generating a corresponding control instruction packet, switching to the next preset PCBA image for comparison until the PCBA characteristic information is switched to the matched preset PCBA image for comparison, finding the stain needing to be cleaned, and generating the corresponding control instruction packet.
S4, controlling the cleaning work of the PCBA to be cleaned according to the control instruction packet; under the control of the control command packet, the intelligent device 2 and the 3D camera cooperate to guide the six-axis mechanical arm to move, so that the beam forming head 122 on the six-axis mechanical arm is ensured to be close to the stain to be cleaned and keep an effective distance.
S5, the smart device 2 controls the ultrasonic generator 121 to emit ultrasonic waves and concentrates the energy using the beam forming head 122 to clean the PCBA.
S6, the intelligent device 2 controls the power and duration of the ultrasonic wave according to the type and the size of the identified stain on the PCBA.
And S7, capturing the PCBA image in real time through the 3D camera to judge whether the cleaning is finished.
The control instruction packet is a cleaning execution script, the cleaning execution script at least comprises a script for controlling the cleaning action, a script for stopping the cleaning action and the like, and the cleaning execution script controls the corresponding cleaning action and stops the execution of the cleaning action so as to complete the automatic cleaning process.
Example 2
The ultrasonic cleaning system of the PCBA comprises six mechanical arms, an ultrasonic cleaning head 12, intelligent equipment 2 and a 3D camera array; six arms, ultrasonic cleaning head 12 and 3D camera array pass through communication connection with smart machine 2 respectively.
The ultrasonic cleaning head 12 comprises an ultrasonic generator 121 and a beam forming head 122, the ultrasonic generator 121 is mounted on the wrist portion of the six-axis mechanical arm, the ultrasonic generator 121 is in communication connection with the intelligent device 2, and the beam forming head 122 is in circuit connection with the ultrasonic generator 121.
The intelligent device 2 is internally provided with a memory and a processor, the memory in the intelligent device 2 is provided with an automatic cleaning program, and the automatic cleaning program runs through the processor in the intelligent device 2. Still be equipped with the study module in the smart machine 2, the treater can be with waiting to wash PCBA's that shoots characteristic information upload to the study module.
The learning module at least comprises a characteristic information identification unit, a characteristic information classification unit and a cleaning and learning unit which are related to the PCBA. The characteristic information identification unit identifies characteristic information of the PCBA, the characteristic information classification unit classifies the identified characteristic information of the PCBA, the cleaning learning unit calls the classified cleaning characteristic information to learn and correct, the optimized cleaning execution script replaces an original cleaning execution script, and finally the optimized control instruction packet can be output. And storing the original cleaning execution script into an original database, and automatically generating an optimized control instruction packet according to the matched characteristic information of the PCBA to be cleaned to control and execute cleaning work when the embodiment is restarted next time.
When the processor executes the automatic cleaning program, the ultrasonic cleaning method of the PCBA can be realized, and the method specifically comprises the following steps:
and S1, presetting PCBA image parameters in the intelligent device 2.
And S2, positioning and identifying the PCBA to be cleaned through the 3D image acquisition device 3, and acquiring the characteristic information of the PCBA to be cleaned.
S3, the intelligent device 2 compares the identified PCBA image with a preset PCBA image;
if the identified PCBA characteristic information is matched with the preset PCBA characteristic information, finding out stains needing to be cleaned, and generating a corresponding control instruction packet;
and if the identified PCBA characteristic information is not matched with the preset PCBA characteristic information, not generating a corresponding control instruction packet, switching to the next preset PCBA image for comparison until the PCBA characteristic information is switched to the matched preset PCBA image for comparison, finding the stain needing to be cleaned, and generating the corresponding control instruction packet.
S4, controlling the cleaning work of the PCBA to be cleaned according to the control instruction packet; under the control of the control command packet, the intelligent device 2 and the 3D camera array cooperate to guide the six-axis mechanical arm to move, so that the beam forming head 122 on the six-axis mechanical arm is ensured to be close to the stain to be cleaned and keep an effective distance.
S5, the smart device 2 controls the ultrasonic generator 121 to emit ultrasonic waves and concentrates the energy using the beam forming head 122 to clean the PCBA.
S6, the intelligent device 2 controls the power and duration of the ultrasonic wave according to the type and the size of the identified stain on the PCBA.
And S7, capturing the PCBA image in real time through the 3D camera array to judge whether the cleaning is finished.
And S8, shooting and recording the cleaning characteristic information of the PCBA cleaning work, and storing the cleaning characteristic information of the PCBA.
And S9, calling the cleaning characteristic information of the PCBA to perform cleaning learning.
And S10, optimizing and cleaning the control instruction packet of the corresponding PCBA according to the cleaning learning result.
And S11, replacing the optimized PCBA control instruction packet with the corresponding PCBA initial cleaning control instruction packet.
By the cleaning method, the more times the PCBA is cleaned, the further optimization of the control command packet is realized, the correspondingly optimized cleaning execution script is realized, the better and better cleaning effect is realized, the cleaner and thorough cleaning is realized, and the cleaning efficiency is higher; meanwhile, the intelligent device 2 strengthens learning and is more intelligent.
Claims (10)
1. A PCBA ultrasonic cleaning system is characterized by comprising an ultrasonic guiding cleaning device (1), intelligent equipment (2) and a 3D image acquisition device (3);
the ultrasonic guiding and cleaning device (1) is in communication connection with the intelligent equipment (2), and the 3D image acquisition device (3) is in communication connection with the intelligent equipment (2);
the intelligent device (2) is internally provided with a memory and a processor, the memory in the intelligent device (2) is provided with an automatic cleaning program, and the automatic cleaning program runs through the processor in the intelligent device (2).
2. A PCBA ultrasonic cleaning system as claimed in claim 1,
the ultrasonic guiding and cleaning device (1) comprises an ultrasonic guiding device (11) and an ultrasonic cleaning head (12), wherein the ultrasonic cleaning head (12) is installed on the ultrasonic guiding device (11), and the ultrasonic guiding device (11) is in communication connection with the intelligent equipment (2).
3. A PCBA ultrasonic cleaning system as claimed in claim 2,
the ultrasonic cleaning head (12) comprises an ultrasonic generator (121) and a beam forming head (122), the ultrasonic generator (121) is installed on the ultrasonic guiding device (11), the ultrasonic generator (121) is in communication connection with the intelligent device (2), and the beam forming head (122) is in circuit connection with the ultrasonic generator (121).
4. A PCBA ultrasonic cleaning system as claimed in claim 3,
the ultrasonic guiding device (11) is a six-axis mechanical arm, and the six-axis mechanical arm is in communication connection with the intelligent equipment (2); the ultrasonic generator (121) is mounted on the wrist of the six-axis robot arm.
5. A PCBA ultrasonic cleaning system according to claim 4, characterised in that the 3D image capture device (3) is one or more 3D cameras.
6. The PCBA ultrasonic cleaning system according to claim 5, wherein a plurality of 3D cameras constitute a 3D camera array.
7. The PCBA ultrasonic cleaning system according to claim 6, wherein a learning module is further arranged in the intelligent device (2), and the learning module at least comprises a characteristic information identification unit, a characteristic information classification unit and a cleaning learning unit which are related to the PCBA; the characteristic information identification unit identifies characteristic information of the PCBA, the characteristic information classification unit classifies the identified characteristic information of the PCBA, the cleaning learning unit calls the classified cleaning characteristic information to learn and correct, and the optimized cleaning execution script replaces an original cleaning execution script.
8. A method of cleaning a PCBA ultrasonic cleaning system as claimed in claim 6 or claim 7, the method including the steps of:
s1, presetting PCBA image parameters in the intelligent equipment (2);
s2, positioning and identifying the PCBA to be cleaned through the 3D image acquisition device (3) to obtain the characteristic information of the PCBA to be cleaned;
s3, the intelligent equipment (2) compares the identified PCBA image with a preset PCBA image, finds out stains needing to be cleaned, and generates a corresponding control instruction packet;
and S4, controlling the cleaning work of the PCBA to be cleaned according to the control instruction packet.
9. A method of cleaning a PCBA ultrasonic cleaning system as claimed in claim 8,
in the step S4, the cleaning operation of the PCBA to be cleaned is controlled according to the control instruction packet, including:
s4-1, under the control of a control instruction packet, the intelligent equipment (2) and the 3D image acquisition device (3) cooperate to guide the six-axis mechanical arm to move, and the ultrasonic cleaning head (12) on the six-axis mechanical arm is ensured to be close to a stain to be cleaned and keep an effective distance;
s4-2, the intelligent device (2) controls the ultrasonic generator (121) to emit ultrasonic waves, and the beam forming head (122) is used for concentrating energy to clean the PCBA;
s4-3, the intelligent device (2) controls the power and the duration of the ultrasonic waves according to the identified stain type and the size on the PCBA;
s4-4, the 3D image acquisition device (3) captures the PCBA image in real time to judge whether the cleaning is finished.
10. A method of cleaning a PCBA ultrasonic cleaning system as claimed in claim 9,
after the step S4 is to control the cleaning operation of the PCBA to be cleaned according to the control command packet, the cleaning method further includes:
s5, recording the cleaning characteristic information of the PCBA cleaning work, and storing the cleaning characteristic information of the PCBA;
s6, calling the cleaning characteristic information of the PCBA to perform cleaning learning;
s7, optimizing and cleaning the control instruction packet of the corresponding PCBA according to the cleaning learning result;
and S8, replacing the optimized PCBA control instruction packet with the corresponding PCBA initial cleaning control instruction packet.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911086784.3A CN110769613A (en) | 2019-11-08 | 2019-11-08 | PCBA ultrasonic cleaning system and cleaning method thereof |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911086784.3A CN110769613A (en) | 2019-11-08 | 2019-11-08 | PCBA ultrasonic cleaning system and cleaning method thereof |
Publications (1)
Publication Number | Publication Date |
---|---|
CN110769613A true CN110769613A (en) | 2020-02-07 |
Family
ID=69337005
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911086784.3A Pending CN110769613A (en) | 2019-11-08 | 2019-11-08 | PCBA ultrasonic cleaning system and cleaning method thereof |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110769613A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111230884A (en) * | 2020-02-28 | 2020-06-05 | 五邑大学 | Cleaning type robot and path moving method thereof under PID control |
CN113588680A (en) * | 2020-04-30 | 2021-11-02 | 华为技术有限公司 | PCBA residual pollutant detection method, PCBA cleaning detection system and simulated PCBA |
CN116475158A (en) * | 2023-06-20 | 2023-07-25 | 国网浙江省电力有限公司宁波供电公司 | Method for controlling washing of transformer oil sample container, washing device and storage medium |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010287841A (en) * | 2009-06-15 | 2010-12-24 | Hitachi Kokusai Denki Engineering:Kk | Ultrasonic cleaning apparatus |
CN103611703A (en) * | 2013-09-07 | 2014-03-05 | 国家电网公司 | Combined type ultrasonic cleaning device and using method thereof |
CN106686904A (en) * | 2017-02-15 | 2017-05-17 | 深圳市景旺电子股份有限公司 | Method for reducing ionic contaminants of PCB after tin deposition surface treatment |
CN209174509U (en) * | 2018-12-11 | 2019-07-30 | 广东好菇婆食品有限公司 | A kind of ultrasonic wave bubbling cleaning device |
-
2019
- 2019-11-08 CN CN201911086784.3A patent/CN110769613A/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010287841A (en) * | 2009-06-15 | 2010-12-24 | Hitachi Kokusai Denki Engineering:Kk | Ultrasonic cleaning apparatus |
CN103611703A (en) * | 2013-09-07 | 2014-03-05 | 国家电网公司 | Combined type ultrasonic cleaning device and using method thereof |
CN106686904A (en) * | 2017-02-15 | 2017-05-17 | 深圳市景旺电子股份有限公司 | Method for reducing ionic contaminants of PCB after tin deposition surface treatment |
CN209174509U (en) * | 2018-12-11 | 2019-07-30 | 广东好菇婆食品有限公司 | A kind of ultrasonic wave bubbling cleaning device |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111230884A (en) * | 2020-02-28 | 2020-06-05 | 五邑大学 | Cleaning type robot and path moving method thereof under PID control |
CN113588680A (en) * | 2020-04-30 | 2021-11-02 | 华为技术有限公司 | PCBA residual pollutant detection method, PCBA cleaning detection system and simulated PCBA |
CN116475158A (en) * | 2023-06-20 | 2023-07-25 | 国网浙江省电力有限公司宁波供电公司 | Method for controlling washing of transformer oil sample container, washing device and storage medium |
CN116475158B (en) * | 2023-06-20 | 2023-11-03 | 国网浙江省电力有限公司宁波供电公司 | Method for controlling washing of transformer oil sample container, washing device and storage medium |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110769613A (en) | PCBA ultrasonic cleaning system and cleaning method thereof | |
CN205341405U (en) | Full -automatic laser cleaning system based on machine vision | |
CN104369188B (en) | Based on workpiece gripper device and the method for machine vision and ultrasonic sensor | |
CN106853639A (en) | A kind of battery of mobile phone automatic assembly system and its control method | |
CN202607195U (en) | Workpiece automatic assembling system | |
CN106292525B (en) | A kind of control system of chip mounting machine and method of the visual identity of both arms bull | |
CN114160507B (en) | Laser cleaning path automatic planning method based on multiple sensing detection | |
CN106493579A (en) | A kind of panel beating system and its workflow | |
CN110963298A (en) | Material taking device and method based on visual following | |
CN107755847A (en) | A kind of selective Wave-soldering device and welding method | |
CN106304675B (en) | Placement head control system and method | |
CN204295687U (en) | A kind of workpiece gripper device based on machine vision and ultrasonic sensor | |
CN110856362B (en) | Automatic replacing method and system for flexible smart phone mainboard chip | |
CN206153752U (en) | A laser welding system for collecting petticoat pipe | |
CN106292526B (en) | A kind of the attachment control system and method for the visual identity of both arms bull | |
CN110587609B (en) | Robot rust removal control method and system | |
CN102922133A (en) | Automatic optical detection laser welding system | |
CN207058019U (en) | Automobile door cover hinge automated installation of system | |
CN209334891U (en) | A kind of Intelligent welding system | |
CN205200750U (en) | Automatic welding process device | |
CN214375120U (en) | PCB board detection mechanism | |
CN207589287U (en) | A kind of full-automatic PCB Sheetmaking systems based on Internet of Things | |
CN114536323A (en) | Classification robot based on image processing | |
CN107855282A (en) | The automatic identifying method and device of a kind of electric contact | |
CN110560824A (en) | automatic tin slag removing system and method after PCB tin soldering |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |