CN114871756A - Full-automatic feeding and discharging assembly equipment for camera module processing and processing method - Google Patents
Full-automatic feeding and discharging assembly equipment for camera module processing and processing method Download PDFInfo
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- CN114871756A CN114871756A CN202210619003.8A CN202210619003A CN114871756A CN 114871756 A CN114871756 A CN 114871756A CN 202210619003 A CN202210619003 A CN 202210619003A CN 114871756 A CN114871756 A CN 114871756A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Automatic Assembly (AREA)
Abstract
The invention discloses full-automatic feeding and discharging assembly equipment and a processing method for processing a camera module, and the equipment comprises a first-order feeding and discharging machine, a second-order feeding and discharging machine and a third-order feeding and discharging machine, wherein the first-order assembly machine is arranged between the first-order feeding and discharging machine and the second-order feeding and discharging machine, the second-order assembly machine is arranged between the second-order feeding and discharging machine and the third-order feeding and discharging machine, the third-order assembly machine is arranged on one side of the third-order feeding and discharging machine, each feeding and discharging machine comprises a PCBA cartridge feeding and discharging position and a lens cartridge feeding and discharging position on one side, a detection manipulator, a PCBA, a placing position, a material distributing manipulator and a finished product feeding position, and a front station finished product buffering position for buffering a front station material is arranged between the second-order feeding and discharging machine and the connection of the first-order assembly machine and the second-order assembly machine. The technical scheme of the invention solves the problems that in the prior art, only a single lens can be assembled by single assembly line action for loading and unloading the lens and assembling, and the efficiency is low.
Description
Technical Field
The technical scheme of the invention relates to the field of camera module processing, in particular to full-automatic feeding and discharging assembly equipment and a processing method for camera module processing.
Background
At present, a camera module is generally assembled and processed by matching a single feeding device with an assembling device, for example, for processing a monocular single lens, a feeding mechanism on one side is used for feeding the lens, and then the lens is conveyed to the assembling device on one side through a conveying assembly for assembling, so that the feeding, processing and assembling of the single lens can only be performed at one time, and the efficiency is low. If the multi-lens loading and assembling are required, and the loading and unloading assembling machine on the market does not have the synchronous assembling of a plurality of lenses at present, a single lens needs to be manually taken out after being assembled each time, and the single lens is put into the loading machine and the assembling machine again, so that the more the number of lenses is, the more the taking and placing times are needed. Therefore, a processing device with high automation degree, which can load and unload materials once and assemble a plurality of lenses is needed in the market at present.
Disclosure of Invention
The technical scheme of the invention aims to solve at least one of the technical problems in the related art to a certain extent. Therefore, the technical scheme of the invention mainly aims to provide full-automatic feeding and discharging assembly equipment and a processing method for processing a camera module, and aims to solve the problems that in the prior art, only a single lens can be assembled by single assembly line action for feeding and discharging the lens and assembling the lens, and the efficiency is low.
In order to achieve the above purpose, the technical scheme of the invention provides a full-automatic feeding and discharging assembly device and a processing method for processing a camera module, the full-automatic feeding and discharging assembly device comprises a first-order feeding and discharging machine, a second-order feeding and discharging machine and a third-order feeding and discharging machine, the first-order assembly machine is arranged between the first-order feeding and discharging machine and the second-order feeding and discharging machine, the second-order assembly machine is arranged between the second-order feeding and discharging machine and the third-order feeding and discharging machine, the third-order assembly machine is arranged on one side of the third-order feeding and discharging machine,
each feeding and discharging machine comprises a PCBA cartridge clip upper and lower material level and a lens cartridge clip upper and lower material level on one side, a detection manipulator is arranged on one side of the PCBA cartridge clip upper and lower material level and the lens cartridge clip upper and lower material level,
the other side of the upper and lower material levels of the PCBA cartridge clip and the upper and lower material levels of the lens cartridge clip is provided with an NG placing position,
one side of the NG placing position is provided with a material distributing manipulator, one side of the material distributing manipulator is provided with a finished product discharging position,
and front station finished product cache positions for caching front station materials are arranged between the second-order feeding and discharging machine and the third-order feeding and discharging machine and the joint of the first-order assembling machine and the second-order assembling machine.
In one embodiment, a finished product loading position for loading finished products is arranged on one side of the finished product blanking position, and an empty finished product tray stacking position is arranged on one side of the finished product loading position.
In one embodiment, each feeding and discharging machine further comprises a cleaning station for cleaning the PCBA and the lenses, and the cleaning station is provided with a turnover mechanism and can be used for carrying out 180-degree turnover cleaning and gluing on the PCBA and the lenses.
In one embodiment, the detection manipulator is a detection clamping arm with an optical CCD camera, the detection manipulator is a gantry clamping arm structure, and the detection manipulator is movably connected with a transfer fixture on one side.
In one embodiment, the transfer jig is further connected to the finished product cache.
In one embodiment, the material distributing manipulator is a four-axis force arm structure with an optical camera.
In one embodiment, the upper and lower material levels of the PCBA cartridge clip and the upper and lower material levels of the lens cartridge clip are of a stacking type feeding and discharging structure.
A full-automatic unloading assemblage equipment of going up for camera module processing includes following processing method:
after the upper and lower material levels of a PCBA cartridge clip and the upper and lower material levels of a lens cartridge clip of a first-order feeding and discharging machine are in place, photographing is carried out on the PCBA and a lens through a detection manipulator;
the detection manipulator puts the PCBA and the lens which are photographed into a transfer jig, then the sorting of the NG material and the OK material is carried out through the material distribution manipulator on one side, the material distribution manipulator respectively puts the NG material and the OK material into NG placement positions and finished product discharging positions on two sides according to the detection result from the detection manipulator, and at the moment, the number of the lenses in the finished product discharging positions is one;
each material in the finished product blanking position flows to the first eye assemblage machine for assembly, and flows to the second eye blanking machine at a front station finished product buffer position which is butted with the first eye assemblage machine through one end of the second eye blanking machine, and the number of lenses in the finished product blanking position in the second eye blanking machine is two after the steps are circulated;
and after the steps are further circulated, the number of the lenses in the third-mesh feeding and discharging machine is three, and finally, final assembly and discharging are completed through the third-mesh assembling machine.
In one embodiment, after the PCBA and the lens which are photographed by the detection manipulator are firstly placed into the transfer jig, the cleaning and gluing surface is further cleaned and glued by turning 180 degrees through the cleaning station.
In one embodiment, the material distributing manipulator is provided with an optical CCD for secondary detection, before material distributing action, secondary detection is carried out on incoming materials cleaned through the cleaning station, before finished products after detection are placed into a finished product discharging position, the finished products are firstly placed into a finished product loading position from an empty finished product tray stacking position on one side of the finished product discharging position, and finally the finished products are placed into the finished product discharging position, and the empty finished product tray stacking position, the finished product discharging position, the finished product loading position and a finished product buffering position of the front station are all conveyed through a linear rail at the bottom.
The technical scheme of the invention has the following beneficial effects:
according to the full-automatic loading and unloading assembly equipment and the processing method for processing the camera module, the loading and unloading machines and the assembly machine are arranged in a staggered mode, and the effect that one action is performed and three-eye lens finished products flow out finally can be achieved by the aid of front station finished product buffer positions arranged at the front ends of the second loading and unloading machine and the third loading and unloading machine and the assembly machine. PCBA and camera lens are single lens finished products after unloading machine and first mesh assemblage machine on first mesh, and the final finished product that forms three camera lenses after unloading machine, second mesh assemblage machine, third mesh unloading machine, third mesh assemblage machine on the follow-up second mesh is urgently needed, need not frequent taking out and putting into, has saved a large amount of manpowers, and efficiency has obtained very big promotion. Every is gone up inside the material loading and unloading machine and all has set up complete flow table and detection, divides the material structure, only carries out simple unloading with prior art and compares, and this technical scheme's full-automatic unloading assemblage equipment degree of automation is higher, and output quality is more excellent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the technical solutions of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic connection diagram of a three-mesh feeding and discharging machine and a three-mesh assembling machine in the technical scheme of the invention.
Fig. 2 is a schematic view of the internal structure of each feeding and discharging machine in the technical scheme of the invention.
Fig. 3 is a schematic view of the internal operation flow of each feeding and discharging machine in the technical scheme of the invention.
Fig. 4 shows a single feeding and discharging machine and an assembling machine structure in the prior art.
FIG. 5 is a schematic diagram of the operation steps of the product according to the present invention.
[ list of reference numerals for main parts/components ]
Detailed Description
In order to make the purpose and advantages of the technical solution of the present invention more clearly apparent, the technical solution in the embodiment of the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the technical solution of the present invention. It is obvious that the described embodiments are only some embodiments of the technical solution of the present invention, not all embodiments.
Based on the embodiments in the technical solution of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the technical solution of the present invention.
It should be noted that all the directional indicators (e.g., upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement condition, etc. in a specific state (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Descriptions such as references to "first", "second", etc. in the technical solutions of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the technical solution of the present invention, unless explicitly stated or limited otherwise, the terms "connected" and "fixed" should be understood broadly, for example, "fixed" may be a fixed connection, a detachable connection, or an integral formation; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. Specific meanings of the above terms in the technical solutions of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent, and is not within the protection scope of the technical solution claimed in the present invention.
The specific embodiment of the technical scheme of the invention is as follows:
different from the existing single-lens feeding and discharging assembly machine which can only carry out single-lens feeding and discharging assembly once, after an operator carries out manual feeding, the assembly equipment carries out one-time assembly processing without synchronous assembly of a plurality of lenses, so that the single lens is required to be manually taken out after being assembled each time and then put into the feeding machine and the assembly machine again. In the multi-view feeding and discharging assembly processing provided by the technical scheme, after the PCBA cartridge clip feeding and discharging material level 101 and the lens cartridge clip feeding and discharging material level 102 of the first-view feeding and discharging machine 1 are in place, the PCBA and the lens are photographed through the detection manipulator 1010; the detection manipulator 1010 firstly puts the photographed PCBA and the lenses into a transfer jig, then the sorting of the NG material and the OK material is carried out through the material distribution manipulator 105 on one side, the material distribution manipulator 105 respectively puts the NG material and the OK material into the NG placing position 104 and the finished product discharging position 106 on two sides according to the detection result from the detection manipulator 1010, and at the moment, the number of the lenses in the finished product discharging position 106 is one; each material in the finished product blanking position 106 flows to the first target assembling machine 2 for assembling, flows to the second target blanking machine 10 at a front station finished product buffer position 109 which is butted with the first target assembling machine 2 through one end of the second target blanking machine 10, and circulates the steps, and the number of the lenses in the finished product blanking position 106 in the second target blanking machine 10 is two; after the above steps are further circulated, the number of the lenses in the third-mesh feeding and discharging machine 11 is three, and finally, the final assembly and discharging are completed by the third-mesh assembling machine 21.
Further, after the PCBA and the lens photographed by the detection manipulator 1010 are placed into the transfer tool, the cleaning station 103 is used for cleaning and gluing the surface by turning 180 degrees. The material distributing manipulator 105 is provided with an optical CCD for secondary detection, before material distribution, the material cleaned through the cleaning station 103 is subjected to secondary detection, before a detected finished product is placed into the finished product discharging position 106, the material is firstly layered from the empty finished product tray stacking position 108 on one side of the finished product discharging position 106 to the finished product loading position 107, and finally the finished product discharging position 106 is placed, and the empty finished product tray stacking position 108, the finished product discharging position 106, the finished product loading position 107 and the front station finished product buffer position 109 are all conveyed through a linear track at the bottom.
The working principle of the technical scheme of the invention is as follows:
the feeding and discharging machines and the assembling machine are arranged in a staggered mode, and the front station finished product buffer positions 109 are arranged at the front ends of the second feeding and discharging machine and the third feeding and discharging machine and the assembling machine, so that the effect that one action is performed and the finished products of the trinocular lenses are finally discharged can be achieved. PCBA and camera lens are single lens finished products after going through first mesh blanking machine 1 and first mesh assemblage machine 2, and need promptly to pass through subsequent second mesh blanking machine 10, second mesh assemblage machine 20, third mesh blanking machine 11, third mesh assemblage machine 21 after, finally form the finished product of three camera lenses, need not frequent taking out and putting into, have saved a large amount of manpowers, and efficiency has obtained very big promotion. The interior of each feeding and discharging machine is provided with a complete flow disc and a detection and distribution structure.
The above description is only a preferred embodiment of the technical solution of the present invention, and is not intended to limit the scope of the technical solution of the present invention, and all the technical solutions of the present invention are included in the scope of the patent protection of the technical solution of the present invention by using the equivalent structural changes made in the technical solution specification and the accompanying drawings of the present invention, or by directly/indirectly applying to other related technical fields.
Claims (10)
1. A full-automatic feeding and discharging assembly device for processing a camera module is characterized by comprising a first-order feeding and discharging machine, a second-order feeding and discharging machine and a third-order feeding and discharging machine, wherein the first-order assembly machine is arranged between the first-order feeding and discharging machine and the second-order feeding and discharging machine, the second-order assembly machine is arranged between the second-order feeding and discharging machine and the third-order feeding and discharging machine, the third-order assembly machine is arranged on one side of the third-order feeding and discharging machine,
each feeding and discharging machine comprises a PCBA cartridge clip upper and lower material level and a lens cartridge clip upper and lower material level on one side, a detection manipulator is arranged on one side of the PCBA cartridge clip upper and lower material level and the lens cartridge clip upper and lower material level,
the other sides of the upper material level and the lower material level of the PCBA cartridge clip and the upper material level and the lower material level of the lens cartridge clip are provided with NG placing positions,
a material distributing manipulator is arranged on one side of the NG placing position, a finished product discharging position is arranged on one side of the material distributing manipulator,
and front station finished product cache positions for caching front station materials are arranged between the joints of the second-order feeding and discharging machine and the third-order feeding and discharging machine and the joints of the first-order assembling machine and the second-order assembling machine.
2. The fully-automatic loading and unloading assembly equipment for processing the camera module as claimed in claim 1, wherein a finished product loading position for loading finished products is arranged on one side of the finished product unloading position, and an empty finished product tray stacking position is arranged on one side of the finished product loading position.
3. The full-automatic feeding and discharging assembly equipment for processing the camera module as claimed in claim 1, wherein each feeding and discharging machine further comprises a cleaning station for cleaning the PCBA and the lens, and the cleaning station is provided with a turnover mechanism capable of turning the PCBA and the lens 180 degrees and cleaning and gluing the surfaces.
4. The fully automatic loading and unloading assembly equipment for processing the camera module as claimed in claim 1, wherein the detection manipulator is a detection clamp arm with an optical CCD camera, the detection manipulator is a gantry clamp arm structure, and the detection manipulator is movably connected with a transfer jig on one side.
5. The full-automatic loading and unloading assemblage device for processing of camera module set according to claim 4, wherein said transfer fixture is further connected with said finished product buffer memory location correspondingly.
6. The full-automatic loading and unloading assemblage equipment for processing of camera module set of claim 1, wherein the material distributing manipulator is a four-axis arm structure with optical camera.
7. The fully automatic feeding and discharging assembly equipment for processing the camera module as claimed in claim 1, wherein the upper and lower material levels of the PCBA cartridge clip and the upper and lower material levels of the lens cartridge clip are all of a stacking type feeding and discharging structure.
8. The fully-automatic loading and unloading assembly equipment for processing the camera module as claimed in any one of claims 1 to 7, comprising the following processing methods:
s100, taking pictures of the PCBA and the lens through a detection manipulator after the upper and lower material levels of the PCBA cartridge clip and the upper and lower material levels of the lens cartridge clip of the first-eye feeding and discharging machine are in place;
s200, placing the shot PCBA and the shot lens into a transfer jig by a detection manipulator, classifying NG (bright ground) materials and OK (OK) materials by a material distribution manipulator on one side, and respectively placing the NG materials and the OK materials into NG placing positions and finished product discharging positions on two sides by the material distribution manipulator according to a detection result from the detection manipulator, wherein the number of the shot PCBA and the shot lens is one;
s300, enabling all materials in the finished product blanking position to flow to a first eye assembling machine for assembling, enabling the materials to flow to a second eye blanking machine at a front station finished product buffer position which is in butt joint with the first eye assembling machine through one end of the second eye blanking machine, and circulating the steps, wherein the number of lenses in the finished product blanking position in the second eye blanking machine is two;
s400, after the steps are further circulated, the number of the lenses in the third-mesh feeding and discharging machine is three, and finally, final assembly and discharging are completed through the third-mesh assembling machine.
9. The processing method of the full-automatic loading and unloading assembly equipment for processing the camera module as claimed in claim 8, wherein after the PCBA and the lens photographed by the detection manipulator are firstly placed into the transfer jig, the cleaning and gluing surface is further cleaned and glued by 180-degree overturning through the cleaning station.
10. The processing method of the full-automatic loading and unloading assembly equipment for processing the camera module as claimed in claim 9, wherein the material distributing manipulator is provided with an optical CCD for secondary detection, before material distributing operation, the incoming material cleaned by the cleaning station is subjected to secondary detection, before the detected finished product is placed into the finished product unloading station, the empty finished product tray on one side of the finished product unloading station is stacked to the finished product loading station from the layered tray, and finally the finished product unloading station is placed, and the empty finished product tray stacking station, the finished product unloading station, the finished product loading station and the finished product buffer station of the front station are all conveyed by the linear track at the bottom.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210619003.8A CN114871756B (en) | 2022-06-01 | 2022-06-01 | Full-automatic feeding and discharging assembly equipment for processing camera module and processing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210619003.8A CN114871756B (en) | 2022-06-01 | 2022-06-01 | Full-automatic feeding and discharging assembly equipment for processing camera module and processing method |
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| CN114871756A true CN114871756A (en) | 2022-08-09 |
| CN114871756B CN114871756B (en) | 2023-07-25 |
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| JP2006198712A (en) * | 2005-01-20 | 2006-08-03 | Nec Engineering Ltd | Lens module assembling device and method |
| CN108326548A (en) * | 2018-03-30 | 2018-07-27 | 深圳市鹰眼在线电子科技有限公司 | Automatic loading/unloading recycle unit and multi-cam module group assembling system |
| CN108857381A (en) * | 2018-06-22 | 2018-11-23 | 深圳市科益展自动化有限公司 | A kind of mobile phone camera LED part-auto-assembling machine |
| CN109317354A (en) * | 2018-10-16 | 2019-02-12 | 珠海市广浩捷精密机械有限公司 | A kind of camera automatic three-position AA kludge and its working method |
| CN112338506A (en) * | 2020-10-12 | 2021-02-09 | 义乌聚龙自动化科技有限公司 | Camera module and automatic assembling equipment and process thereof |
-
2022
- 2022-06-01 CN CN202210619003.8A patent/CN114871756B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509191A (en) * | 1994-01-26 | 1996-04-23 | Best; Norman D. | Apparatus for assembling and processing small parts using a robot |
| JP2006198712A (en) * | 2005-01-20 | 2006-08-03 | Nec Engineering Ltd | Lens module assembling device and method |
| CN108326548A (en) * | 2018-03-30 | 2018-07-27 | 深圳市鹰眼在线电子科技有限公司 | Automatic loading/unloading recycle unit and multi-cam module group assembling system |
| CN108857381A (en) * | 2018-06-22 | 2018-11-23 | 深圳市科益展自动化有限公司 | A kind of mobile phone camera LED part-auto-assembling machine |
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