CN115385098A - Multi-shaft feeding and discharging mechanism and method - Google Patents
Multi-shaft feeding and discharging mechanism and method Download PDFInfo
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- CN115385098A CN115385098A CN202211330567.6A CN202211330567A CN115385098A CN 115385098 A CN115385098 A CN 115385098A CN 202211330567 A CN202211330567 A CN 202211330567A CN 115385098 A CN115385098 A CN 115385098A
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- moving assembly
- servo motor
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007599 discharging Methods 0.000 title claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 241000252254 Catostomidae Species 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A multi-shaft feeding and discharging mechanism and a method comprise a gantry, wherein an X-axis servo moving assembly is arranged on the gantry, a Y-axis servo moving assembly is arranged at the moving end of the X-axis servo moving assembly, a support is fixedly connected to the Y-axis servo moving assembly, a plurality of Z-axis guide rails are arranged on the support, a Z-axis synchronous belt transmission mechanism is arranged between every two adjacent Z-axis guide rails on the support, a forward synchronous belt in the synchronous belt transmission mechanism is connected with sliders on the two Z-axis guide rails through connecting plates respectively, and a clamp is connected to a slider on the Z-axis guide rail. The invention is used for solving the problems of higher purchasing cost and inconvenience in installation and maintenance when a plurality of Z-axis moving assemblies are assembled in the existing vacuum chuck feeding and discharging mechanism.
Description
Technical Field
The invention belongs to the technical field of automatic control feeding and discharging, and particularly relates to a multi-shaft feeding and discharging mechanism and a method.
Background
The existing feeding and discharging of the vacuum chuck is that after the vacuum chuck is moved to a designated position by an XY-axis moving assembly, the vacuum chuck is driven to move up and down by a Z-axis moving assembly so as to adsorb and grab materials by the vacuum chuck, a synchronous belt servo driving mechanism or a servo lead screw module is adopted to start the Z-axis moving assembly, when a plurality of materials are required to be grabbed at one time, a plurality of Z-axis moving assemblies are required to be assembled on a moving end of the Y-axis moving assembly correspondingly to complete the grabbing, so that Z-axis servo motors with the number corresponding to that of the vacuum chuck are required to be prepared, because the number of the Z-axis servo motors is too large, on one hand, the equipment purchasing cost is higher, on the other hand, the whole feeding and discharging mechanism is bulky in structure, and the installation and the maintenance are not facilitated.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-shaft feeding and discharging mechanism and a method, which are used for solving the problems of higher purchase cost and inconvenience in installation and maintenance when a plurality of Z-axis moving components are assembled in the conventional vacuum chuck feeding and discharging mechanism.
In order to solve the problems, the technical scheme of the invention is as follows:
the utility model provides a unloading mechanism in multiaxis, the door frame comprises a door frame, be equipped with X axle servo moving assembly on the door frame, it is equipped with Y axle servo moving assembly to move to serve at X axle servo moving assembly, fixedly connected with support on Y axle servo moving assembly, be equipped with many Z axle guide rails on the support, install Z axle synchronous belt drive mechanism on the support between two adjacent Z axle guide rails, the positive and negative hold-in range among the synchronous belt drive mechanism is connected with the slider on two Z axle guide rails through the link plate respectively, be connected with anchor clamps on Z axle guide rail slider.
The fixture comprises a folded plate, and a vacuum chuck is assembled on the folded plate.
X-axis travel switches are respectively arranged at two ends of an X-axis guide rail in the X-axis servo moving assembly.
And Y-axis travel switches are respectively arranged at two ends of a Y-axis guide rail in the Y-axis servo moving assembly.
A method of the multi-shaft feeding and discharging mechanism comprises the following steps that after clamps are moved to designated positions by an X-axis servo moving assembly and a Y-axis servo moving assembly, a Z-axis synchronous belt reciprocates up and down, the Z-axis synchronous belt which reciprocates up and down drives vacuum suckers on the two clamps to move up and down, and the vacuum suckers suck or discharge materials at the designated positions.
The beneficial effects of the invention are as follows: the design proportion of Z axle servo motor quantity and control cabinet quantity, this design proportion is: x = y/2+1. Wherein y is the number of going up the unloading sucking disc, and x is Z axle servo motor's number, and 1 is for being used for switching the quantity of the switching suction pen when going up the unloading process, compares current Z axle removal subassembly and corresponds a vacuum chuck, has simplified whole platform and has gone up unloading mechanism, simultaneously easy to assemble and maintenance.
Drawings
The invention is further described below with reference to the accompanying drawings:
figure 1 is a schematic structural view of the present invention,
FIG. 2 is a schematic diagram of a Y-axis servo moving assembly according to the present invention,
figure 3 is a partial structural schematic view of the stent of the present invention,
figure 4 is a pneumatic control schematic diagram of the vacuum chuck of the present invention,
figure 5 is a schematic diagram of the connection between the electric devices of the present invention,
fig. 6 is a schematic diagram showing the connection relationship of the electric devices of the present invention.
In the figure: the device comprises a gantry 1, an X-axis servo moving assembly 2, a Y-axis servo moving assembly 3, a support 4, an X-axis travel switch 201, an X-axis guide rail 202, a rack 203, a moving box 204, an X-axis servo motor 205, a Y-axis travel switch 301, a Y-axis synchronous belt transmission mechanism 302, a Y-axis guide rail 303, a mounting plate 304, a Z-axis guide rail 501, a vacuum chuck 502, a folded plate 503, a Z-axis synchronous belt 504, a Z-axis servo motor 505 and a connecting plate 506.
In fig. 4: YA 1-YA 6 are electromagnets communicated with the vacuum chuck and the electromagnetic valve.
Detailed Description
As shown in fig. 1 to 6, a multi-axis loading and unloading mechanism comprises a gantry 1, wherein an X-axis servo moving assembly 2 is arranged on the gantry 1; be equipped with Y axle servo moving assembly 3 on the servo moving assembly 2 removal end of X axle, fixedly connected with support 4 on the servo moving assembly 3 removal end of Y axle (both Y axle slider), be equipped with many Z axle guide rails 501 on support 4, install Z axle synchronous belt drive mechanism on support 4 between two adjacent Z axle guide rails 501, Z axle synchronous belt drive mechanism includes two Z axle synchronous pulleys, be equipped with Z axle synchronous belt 504 on two Z axle synchronous pulleys, Z axle synchronous pulley is connected with the transmission of Z axle servo motor 505 of installing on support 4, Z axle synchronous pulley both sides Z axle synchronous belt 504 is connected with the Z axle slider on two Z axle guide rails 501 through link plate 506 respectively, be connected with anchor clamps on the Z axle slider.
The fixture includes a flap 503 with a vacuum cup 502 mounted on the flap 503.
Two ends of an X-axis guide rail in the X-axis servo moving assembly 2 are respectively provided with an X-axis travel switch 201; two ends of a Y-axis guide rail in the Y-axis servo moving assembly 3 are respectively provided with a Y-axis travel switch 301. The X-axis travel switch 201 and the Y-axis travel switch 301 are used for limiting the X-axis sliding block and the Y-axis sliding block, and when the X-axis travel switch 201 and the Y-axis travel switch 301 are triggered, the PLC controls the X-axis servo motor and the Y-axis servo motor to stop or controls the X-axis sliding block and the Y-axis sliding block to move reversely.
The X-axis servo moving assembly comprises a rack 203 fixedly connected to the gantry and a plurality of X-axis guide rails 202, a moving box 204 is mounted on a sliding block of the X-axis guide rails 202, an X-axis servo motor 205 is mounted on the moving box 204, and the X-axis servo motor 205 is in transmission connection with the rack 203 through gears. The structure can ensure that the movable box can walk stably.
The Y-axis servo moving assembly comprises a mounting plate 304 which is vertically and fixedly connected to the moving end of the X-axis servo moving assembly 2, a Y-axis guide rail 303 is assembled on the side face and the lower end of the mounting plate 304 respectively, a Y-axis servo motor and a Y-axis synchronous belt transmission mechanism 302 are installed at the upper end of the mounting plate 304, a support 4 is assembled on a slide block of the Y-axis guide rail 303, and the Y-axis servo motor is in transmission connection with the support 4 through the Y-axis synchronous belt transmission mechanism 302. The two Y-axis guide rails 303 limit the up-down direction and the left-right direction of the support 4, and maintain the stability and reliability of the support 4 when moving forward and backward.
The X-axis travel switch 201 and the Y-axis travel switch 301 are connected with the input end of the PLC, and the PLC controls the X-axis servo motor, the Y-axis servo motor, the Z-axis servo motor and the vacuum chuck 502.
Z axle synchronous belt drive mechanism includes Z axle servo motor, Z axle servo motor is connected with Z axle servo driver, Z axle servo driver is connected with PLC controller output, PLC controller input is connected to the encoder among the Z axle servo motor, detect Z axle servo motor number of revolutions by Z axle servo motor encoder, the PLC controller passes through the data that the encoder conveying was come, confirm position about two vacuum chuck on the guide rail, from this control the height position of suction pen.
The design proportion of the number of Z-axis servo motors to the number of control consoles is as follows: x = y/2+1. Wherein y is the number of unloading sucking discs, and x is the number of Z axle servo motor, and 1 is the quantity of switching suction pen when being used for switching unloading process.
When 6 vacuum chucks are arranged, 4 products are taken, namely 2 tested products are taken out firstly, 2 untested products are placed, the products are moved, 2 tested products are taken out again, 2 untested products are placed again, 4 tested products are placed back, and more material taking and placing time can be saved.
The working process of the present invention is described in detail below;
as shown in fig. 2,6 vacuum chucks 502 are shown, 6 vacuum chucks 502 are respectively set as 1#, 2#, 3#, 4#, 5# and 6# vacuum chucks 502, 3Z-axis servomotors are correspondingly arranged, and 3Z-axis servomotors are respectively set as Z1, Z2 and Z3 servomotors.
The PLC is communicated with a servo driver in an XYZ-axis servo motor through an EtherCAT communication protocol, and an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor of the manipulator are controlled through a PLC additional axis motion control library.
When a certain point is removed and the material is discharged, the PLC controls the X-Y axis servo motor to move the vacuum chuck 502 to a specified position through the linear interpolation function library. When material taking is carried out, the Z1 servo motor rotates forwards, the No. 1 vacuum chuck 502 is opened to take material in vacuum, the Z1 servo motor moves to an initial position, the X Y-axis servo motor drives the No. 2 vacuum chuck 502 to move to a next material taking point, then the Z1 servo motor rotates backwards, the No. 2 vacuum chuck 502 is opened to take material in vacuum, the Z1 servo motor operates to the initial position, the X Y-axis servo motor drives the No. 3 vacuum chuck 502 to move to a next material taking point, the Z2 servo motor rotates forwards, the No. 3 vacuum chuck 502 takes material, the Z2 servo motor moves to the initial position, the X Y-axis servo motor moves to a test position 1, the Z3 servo motor rotates forwards, the No. 5 vacuum chuck 502 takes test material, the X Y-axis servo motor drives the No. 1 vacuum chuck 502 to move to the test position 1, the Z1 servo motor closes vacuum, unmeasured material taking in forward, the Z1 servo motor is placed to the initial position, the Z1, the No. 5 vacuum chuck 502 takes test material, the No. 1 vacuum chuck 502 takes material after the test position reaches the first position, the No. 4 servo motor, the No. 2 vacuum chuck 502 reaches the test position, the No. 4 vacuum chuck 502 reaches the test position, the No. 6 chuck 502, the test position, and the No. 6 chuck 502 can take material after the test position, the No. 6 vacuum chuck can be taken material can be taken by one time, and the vacuum chuck 502, the test station, the vacuum chuck 502 can be taken material can be taken by one time, the test station, the vacuum chuck 502 can be taken by one time, the vacuum chuck 502, the vacuum chuck can be taken material can be taken by the test station, the vacuum chuck at one time, the test station, the No. 6 chuck can be taken by the vacuum chuck 502, the vacuum chuck can be taken by the vacuum chuck 502 can be taken by the vacuum chuck once, the test station, the vacuum chuck 502, the vacuum chuck can be taken by the test station, the vacuum chuck once.
The material taking action flow of the 1# vacuum chuck 502 and the 2# vacuum chuck 502:
the Z1 servo motor respectively controls the 1# vacuum sucker 502 and the 2# vacuum sucker 502 to take and place materials, when the Z1 servo motor rotates forwards, the 1# vacuum sucker 502 descends to a material taking position, the 1# vacuum sucker 502 opens vacuum, the 1# vacuum sucker 502 takes materials, when the Z1 servo motor rotates backwards, the 1# vacuum sucker 502 ascends, the 2# vacuum sucker 502 descends, the 2# vacuum sucker 502 is opened in vacuum, and the 2# vacuum sucker 502 takes materials; when the XY axis servo moving component 3 needs to move, the Z1 servo motor moves to the initial position, and the 1# vacuum chuck 502 and the 2# vacuum chuck 502 are flush, avoiding the corresponding obstacle.
Claims (11)
1. The utility model provides a unloading mechanism in multiaxis, includes portal (1), is equipped with X axle servo moving assembly (2) on portal (1), moves to hold at X axle servo moving assembly (2) and is equipped with Y axle servo moving assembly (3), its characterized in that: fixedly connected with support (4) on Y axle servo moving assembly (3), be equipped with many Z axle guide rails (501) on support (4), install Z axle hold-in range drive mechanism between two adjacent Z axle guide rails (501) on support (4), Z axle hold-in range (504) are connected with the Z axle slider on two Z axle guide rails (501) through even board (506), are connected with anchor clamps on Z axle slider.
2. The multi-shaft loading and unloading mechanism of claim 1, wherein: the clamp comprises a flap (503), and a vacuum suction cup (502) is assembled on the flap (503).
3. The multi-shaft loading and unloading mechanism of claim 2, wherein: the X-axis servo moving component (2), the Y-axis servo moving component (3), the Z-axis synchronous belt transmission mechanism and the vacuum chuck (502) are controlled by the PLC.
4. The multi-shaft loading and unloading mechanism of claim 3, wherein: z axle synchronous belt drive mechanism includes Z axle servo motor, and Z axle servo motor is connected with Z axle servo driver, and Z axle servo driver is connected with PLC controller output.
5. The multi-axis loading and unloading mechanism as claimed in any one of claims 1 to 4, wherein: x-axis travel switches (201) are respectively installed at two ends of an X-axis guide rail (202) in the X-axis servo moving assembly (2), and Y-axis travel switches (301) are respectively installed at two ends of a Y-axis guide rail (303) in the Y-axis servo moving assembly (3).
6. The multi-axis loading and unloading mechanism as claimed in any one of claims 1 to 4, wherein: the X-axis servo moving assembly (2) comprises a rack (203) fixedly connected to the gantry (1) and a plurality of X-axis guide rails (202), a moving box (204) is installed on a sliding block of the X-axis guide rails (202), an X-axis servo motor (205) is installed on the moving box (204), and the X-axis servo motor (205) is in transmission connection with the rack (203) through a gear.
7. The multi-axis loading and unloading mechanism as claimed in any one of claims 1 to 4, wherein: x axle servo moving subassembly (2) include that vertical fixed connection removes mounting panel (304) on the end at X axle servo moving subassembly (2), are equipped with Y axle guide rail (303) respectively at mounting panel (304) side and lower extreme, install Y axle servo motor and Y axle synchronous belt drive mechanism (302) in mounting panel (304) upper end, support (4) assemble on Y axle guide rail (303) slider, Y axle servo motor passes through Y axle synchronous belt drive mechanism (302) and is connected with support (4) transmission.
8. A method of using the multi-axis loading and unloading mechanism of any one of claims 1 to 4, wherein: the method comprises the following steps that after the clamps are moved to the designated positions by the X-axis servo moving assembly (2) and the Y-axis servo moving assembly (3), the Z-axis synchronous belt (504) reciprocates up and down, the Z-axis synchronous belt (504) which reciprocates up and down drives the two clamps to move up and down, and materials on the designated positions are loaded and unloaded.
9. The method of using a multi-axis loading and unloading mechanism of claim 8, wherein: after one of them Z axle hold-in range (504) drove two anchor clamps and accomplish material loading or unloading, two anchor clamps of Z axle hold-in range (504) drive move to the parallel and level to avoid corresponding barrier.
10. The method of using a multi-axis loader unloader as claimed in claim 8, wherein: the Z-axis synchronous belt (504) is driven by a Z-axis servo motor (505) to reciprocate up and down, the number of rotation turns of the servo motor is transmitted to the PLC in real time by an encoder in the Z-axis servo motor (505), and the PLC determines the up-and-down position of the vacuum chuck according to data transmitted by the encoder.
11. The method of using a multi-axis loading and unloading mechanism of claim 8, wherein: the design proportion of the number of the Z-axis servo motors (505) to the number of the control consoles is as follows: x = y/2+1, wherein y is the number of the feeding and discharging suckers, x is the number of the Z-axis servo motors (505), and 1 is the number of the switching suckers for switching the feeding and discharging process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330567.6A CN115385098A (en) | 2022-10-28 | 2022-10-28 | Multi-shaft feeding and discharging mechanism and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330567.6A CN115385098A (en) | 2022-10-28 | 2022-10-28 | Multi-shaft feeding and discharging mechanism and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115385098A true CN115385098A (en) | 2022-11-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211330567.6A Pending CN115385098A (en) | 2022-10-28 | 2022-10-28 | Multi-shaft feeding and discharging mechanism and method |
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| Country | Link |
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| CN (1) | CN115385098A (en) |
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| JP2000040900A (en) * | 1998-07-22 | 2000-02-08 | Tenryuu Technics:Kk | Electronic part-fitting device and method for mounting fitting head to it |
| JP2007182299A (en) * | 2006-01-06 | 2007-07-19 | Atsushi Sato | Article holding device and article holding and transferring device |
| CN107499926A (en) * | 2017-08-04 | 2017-12-22 | 杭州长川科技股份有限公司 | Position rotating mechanical hand |
| CN109941748A (en) * | 2019-04-30 | 2019-06-28 | 深圳格兰达智能装备股份有限公司 | A kind of integrated circuit material pick-and-place device |
| CN111924537A (en) * | 2020-09-16 | 2020-11-13 | 昆山鸿仕达智能科技有限公司 | Double-station material transfer device |
| CN212739792U (en) * | 2020-07-01 | 2021-03-19 | 深圳市芯特智能装备有限公司 | Vacuum material suction device for IC recorder |
| CN215248106U (en) * | 2021-07-09 | 2021-12-21 | 苏州乾鸣半导体设备有限公司 | Automatic chip testing equipment |
| CN114056928A (en) * | 2021-11-12 | 2022-02-18 | 江苏比微曼智能科技有限公司 | Four-head independent movement material taking and placing mechanism |
| CN216357553U (en) * | 2021-10-18 | 2022-04-19 | 东莞理工学院 | Full-automatic SMT chip mounter |
| CN114590564A (en) * | 2022-05-11 | 2022-06-07 | 广东福能东方技术研发有限公司 | PCB detection device and detection method thereof |
-
2022
- 2022-10-28 CN CN202211330567.6A patent/CN115385098A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000040900A (en) * | 1998-07-22 | 2000-02-08 | Tenryuu Technics:Kk | Electronic part-fitting device and method for mounting fitting head to it |
| JP2007182299A (en) * | 2006-01-06 | 2007-07-19 | Atsushi Sato | Article holding device and article holding and transferring device |
| CN107499926A (en) * | 2017-08-04 | 2017-12-22 | 杭州长川科技股份有限公司 | Position rotating mechanical hand |
| CN109941748A (en) * | 2019-04-30 | 2019-06-28 | 深圳格兰达智能装备股份有限公司 | A kind of integrated circuit material pick-and-place device |
| CN212739792U (en) * | 2020-07-01 | 2021-03-19 | 深圳市芯特智能装备有限公司 | Vacuum material suction device for IC recorder |
| CN111924537A (en) * | 2020-09-16 | 2020-11-13 | 昆山鸿仕达智能科技有限公司 | Double-station material transfer device |
| CN215248106U (en) * | 2021-07-09 | 2021-12-21 | 苏州乾鸣半导体设备有限公司 | Automatic chip testing equipment |
| CN216357553U (en) * | 2021-10-18 | 2022-04-19 | 东莞理工学院 | Full-automatic SMT chip mounter |
| CN114056928A (en) * | 2021-11-12 | 2022-02-18 | 江苏比微曼智能科技有限公司 | Four-head independent movement material taking and placing mechanism |
| CN114590564A (en) * | 2022-05-11 | 2022-06-07 | 广东福能东方技术研发有限公司 | PCB detection device and detection method thereof |
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Application publication date: 20221125 |