CN117104881B - Chip module encapsulation spouts seal with material loading manipulator - Google Patents
Chip module encapsulation spouts seal with material loading manipulator Download PDFInfo
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- CN117104881B CN117104881B CN202311384517.0A CN202311384517A CN117104881B CN 117104881 B CN117104881 B CN 117104881B CN 202311384517 A CN202311384517 A CN 202311384517A CN 117104881 B CN117104881 B CN 117104881B
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- 239000000463 material Substances 0.000 title claims description 72
- 238000011068 loading method Methods 0.000 title claims description 7
- 238000005538 encapsulation Methods 0.000 title claims description 4
- 238000004806 packaging method and process Methods 0.000 claims abstract description 14
- 238000007639 printing Methods 0.000 claims abstract description 9
- 239000007921 spray Substances 0.000 claims abstract description 7
- 230000000149 penetrating effect Effects 0.000 claims description 33
- 238000001179 sorption measurement Methods 0.000 claims description 26
- 238000007789 sealing Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims 2
- 238000001125 extrusion Methods 0.000 description 23
- 238000000034 method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 18
- 238000007599 discharging Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
-
- 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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of feeding manipulators, in particular to a feeding manipulator for chip module packaging spray printing, which comprises a base, a connecting seat connected to the inner side surface of the top of the base through a sliding rail, a vertical driving shaft connected to the top surface of the connecting seat and driven shafts connected to the top surface of the connecting seat in a sliding manner and close to two sides of the vertical driving shaft.
Description
Technical Field
The invention relates to the technical field of feeding manipulators, in particular to a feeding manipulator for chip module packaging spray printing.
Background
Chip module packaging is the process of packaging chips and other related components in an external protective shell. Such packaging may provide physical protection, electrical connection, and functional integrity. The specific packaging process may involve the following steps: substrate preparation, chip mounting, connector mounting, other component mounting, package housing mounting, package sealing, testing and verification;
in the process of installing other components, packaging shells and the like, the positions of chips, shells, substrates and the like are required to be adjusted by using a feeding manipulator, the feeding manipulator is used for transferring materials or parts from one position to another position so as to meet the production or processing requirements, and most of the manipulators in the prior art fix the materials or the parts in a sucking disc adsorption fixing mode;
when the existing manipulator suction disc is used for sucking and grabbing materials, if the main centers of the suction discs are not overlapped with the material center, the situation that the materials are unstable in swing and suction and fall down due to the fact that the materials are unstable in the rising process can occur;
for this reason, chinese patent net discloses a manipulator sucking disc of publication No. CN111216157a, which belongs to the technical field of manipulator, and comprises a mounting disc, wherein the mounting disc is provided with a pull rod, the bottom end of the pull rod is connected with a cross plate, the bottom of the cross plate is provided with a pillar, the bottom of the pillar is provided with a second sucking disc, the lower side of the cross plate is also provided with a first sucking disc and a third sucking disc, and the pillar is provided with a supporting mechanism for mounting the first sucking disc and the third sucking disc;
the manipulator sucking disc can rotate the first lantern ring and the second lantern ring, and the cross beam rotates together with the first lantern ring and the second lantern ring so as to adjust the positions of the first sucking disc and the third sucking disc; the distance between the first sucker and the second sucker and the distance between the third sucker and the second sucker can be adjusted, the heights of the first sucker and the third sucker can be adjusted by stretching the first inner rod and the second inner rod, workpieces with different sizes can be sucked, and the application range is enlarged;
but above-mentioned patent is in the in-process of using, above-mentioned structure is comparatively complicated, in the in-process of using to first sucking disc, second sucking disc and third sucking disc troublesome poeration, reduce the convenience of device in the use, and above-mentioned device passes through the mode of staff's adjustment first lantern ring and second lantern ring and first interior pole and second interior pole, position and the height of adjustment first sucking disc, second sucking disc and third sucking disc, still can not guarantee to snatch the central problem that is in unanimity with the center of sucking disc, and then the in-process of loading still can lead to snatching the operation unstable, and simultaneously, above-mentioned device is in the in-process of using, because the position of adsorbing can set up the influence of material position, it only can accomplish the material loading work at the in-process of encapsulation casing installation, after the material loading is accomplished, still need the staff to adjust the position of two casings, until two casings align just can carry out the installation work of two casings, the convenience of device in the use has been reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the feeding manipulator for the chip module packaging spray printing, which can effectively solve the problem of poor stability of the feeding manipulator sucker after fixing materials in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides a feeding manipulator for chip module packaging spray printing, which comprises a base, a connecting seat connected to the inner side surface of the top of the base through a sliding rail, a vertical driving shaft connected to the top surface of the connecting seat, a driven shaft connected to the top surface of the connecting seat in a sliding manner and close to two sides of the vertical driving shaft, and further comprises:
the adjusting assembly is arranged at the lower end of the vertical driving shaft and used for adjusting the position of a workpiece to be fed, the adjusting assembly comprises a connecting block fixedly arranged at the lower end of the vertical driving shaft, the middle parts of four side surfaces of the connecting block are fixedly connected with first mounting blocks, the middle parts of the inner side surfaces of the first mounting blocks far away from the connecting block are connected with adjusting blocks through corrugated air bags, the adjusting blocks are elastically connected with the inner side surfaces of the first mounting blocks far away from the corrugated air bags, and a driving piece is arranged at the outer side, close to one driven shaft, of the inner bottom surface of the connecting seat and used for driving the adjusting blocks to move;
the adsorption assemblies are uniformly arranged on the side surfaces of the two sides of the connecting block and are used for carrying out adsorption fixing work on the workpiece to be fed;
and the blanking assemblies are symmetrically arranged at the edge positions of the two sides of the top surface of the connecting block and are used for blanking work of the workpiece.
Further, the adsorption component comprises a connecting groove formed in the connecting block, second installation blocks which are uniformly distributed are connected to the side faces of two sides of the connecting block, a piston cylinder is connected to the top face of each second installation block, a connecting cylinder is connected to the inner bottom face of each second installation block in a penetrating mode, a sucker is connected to one end, far away from each second installation block, of each connecting cylinder, the sucker is connected with the corresponding connecting cylinder in a communicating mode, and an air suction piece is arranged in each piston cylinder and used for conducting air suction operation on the inside of the sucker.
Further, the air extraction piece comprises a partition plate fixedly connected to the middle part of the inner side surface of the piston cylinder, an I-shaped block is connected to the middle part of the inner top surface of the partition plate in a penetrating and sliding manner, the top surface of the I-shaped block is elastically connected with the inner top surface of the piston cylinder, a first connecting pipe is connected to the inner side surface of the piston cylinder, which is close to the partition plate, in a penetrating manner, a first connecting pipe extends to a position, which is close to the connecting groove, away from one end of the piston cylinder, and is connected to the connecting groove in a penetrating manner, a second connecting pipe is connected to the inner side surface of the piston cylinder, which is corresponding to the first connecting pipe in a penetrating manner, and one end, which is away from the piston cylinder, extends to a position, which is close to the corrugated air bag, and is connected to the corrugated air bag in a penetrating manner.
Further, the upper end of the side face of the I-shaped block is located close to the opening of the first connecting pipe and shields the opening of the first connecting pipe.
Further, the adsorption component further comprises a through groove formed in the middle of the inner bottom surface of the piston cylinder, a movable rod is connected to the inside of the through groove in a sliding mode, the diameter of the upper end portion of the movable rod is larger than the inner diameter of the through groove, a first sealing block is fixedly connected to the side surface of the movable rod at the upper position, close to the cavity of the connecting cylinder, the diameter of the first sealing block is identical to the inner diameter of the upper position of the cavity of the connecting cylinder, a second sealing block is connected to the side surface of the movable rod at the position, close to the through groove, of the second sealing block, the diameter of the second sealing block is identical to the inner diameter of the through groove, the upper end surface of the movable rod is in contact with the lower end surface of the I-shaped block, a universal ball is connected to the middle portion of the lower end surface of the movable rod in a rotating mode, and a discharging plate is connected to the edge position of the inner bottom surface of the base in a sliding mode through balls.
Further, the driving piece is including setting up in the interior bottom surface of connecting seat and being close to the elastic air bag in one of them driven shaft outside, elastic air bag's top surface is connected with the stripper plate, sliding connection between stripper plate and the driven shaft, the top surface of connecting seat is close to the position that the stripper plate was connected with first casing, the medial surface lower part through connection that is close to the stripper plate of first casing has communicating pipe, the one end that keeps away from first casing of communicating pipe extends to the position that is close to the stripper plate lower extreme to with stripper plate through connection, the medial surface lower part through connection that the communicating pipe was kept away from to first casing has the gas-supply pipe, the side of gas-supply pipe is equipped with first check valve, the one end that the first casing was kept away from to the gas-supply pipe extends to the position that is close to the connecting block to with spread groove through connection.
Further, the driving piece further comprises a sliding plate which is connected inside the first shell in a sliding mode, the sliding plate is elastically connected with the inner top surface of the first shell, an air inlet pipe is connected to the position, close to the air delivery pipe, of the side surface, away from the communicating pipe, of the first shell in a penetrating mode, and a second one-way valve is arranged on the side surface of the air inlet pipe.
Further, the unloading subassembly includes the third connecting pipe that the through connection is close to communicating pipe upper portion in first casing medial surface, the top surface of connecting block is close to the position through connection of gas-supply pipe has the fourth connecting pipe, communicate with each other between fourth connecting pipe and the spread groove and be connected, the top surface of fourth connecting pipe is equipped with the rotor plate, the lateral surface of fourth connecting pipe is close to the position of rotor plate and is connected with the second casing through the mounting bracket, the interior bottom surface elastic connection of second casing has the fly leaf, the top surface middle part of fly leaf runs through threaded connection and has the threaded rod, the lower extreme of threaded rod runs through the second casing and extends to the position that is close to the rotor plate top surface to be connected with the ratchet, the one end that the first casing was kept away from to the position that is close to the second casing to with the top surface through connection of second casing, the medial surface that the medial surface of second casing is close to the fly leaf has the blast pipe, the internal diameter of blast pipe is less than the internal diameter of third connecting pipe, evenly distributed's first connecting hole has been seted up in the top surface through of rotor plate, evenly distributed's top surface, evenly distributed's second connecting hole has been seted up to the corresponding position of fourth connecting pipe.
Further, the bottom surface of the rotating plate is connected with second magnets which are uniformly distributed, the positions of the second magnets and the first connecting holes are staggered, the position, close to the second connecting holes, of the top surface of the fourth connecting pipe is connected with first magnets, and the magnetism of the surfaces, close to the second magnets, of the first magnets is opposite.
Further, the elastic coefficient of elastic connection between the I-shaped block and the piston cylinder is larger than that of elastic connection between the adjusting block and the first mounting block, and the lower end face of the adjusting block and the lower end face of the movable rod are positioned on the same horizontal line.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
in the using process, the center of the material and the center of the connecting block are located at the same center shaft through the adjusting component, when the center of the material and the center of the connecting block are located at the same center shaft, the adsorbing component adsorbs and fixes the material around the center of the material, so that the problem that the adsorption effect is affected due to shaking of a material mode caused by insufficient overlapping of the main centers of the plurality of sucking discs and the center of the material in the ascending process of the material is solved, the stability of the material in the ascending process is ensured, meanwhile, the material is extruded and adjusted through the adjusting blocks, the plurality of adjusting blocks limit and fix the material after the adjustment of the center of the material is completed, the stability of the material in the moving process is ensured, and further, because the center of the material moved each time is located at the same center shaft with the center of the connecting block, when alignment work is needed for every two materials, such as in the installation process of the packaging shell, the alignment work of every two materials can be completed rapidly, and convenience in the using process of the device is improved.
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 described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of the complete structure of the present invention;
FIG. 2 is a schematic view of the structure of the adjusting assembly of the present invention;
FIG. 3 is a schematic view of the connection between the first mounting block and the connection block according to the present invention;
FIG. 4 is a schematic view of the structure of the fixing assembly of the present invention;
FIG. 5 is an enlarged view of the invention at A in FIG. 3;
FIG. 6 is a schematic view of the structure of the blanking assembly of the present invention;
FIG. 7 is a schematic view of the structure of the second connecting hole of the present invention;
FIG. 8 is a schematic diagram of the structure of a second magnet according to the present invention;
FIG. 9 is a state diagram of the suction assembly in an initial state of the present invention;
FIG. 10 is a view showing the state of the invention after the chuck contacts the workpiece to be fed;
FIG. 11 is a state diagram of the suction assembly of the present invention after the suction operation is completed.
Reference numerals in the drawings represent respectively: 1. a base; 2. a connecting seat; 3. a horizontal drive shaft; 4. a vertical drive shaft; 5. a driven shaft; 6. an adjustment assembly; 61. a connecting block; 62. a first mounting block; 63. a bellows balloon; 64. adjusting the block; 65. an extrusion plate; 66. an elastic air bag; 67. a communicating pipe; 68. a first housing; 69. a gas pipe; 610. a sliding plate; 611. an air inlet pipe; 7. an adsorption assembly; 71. a connecting groove; 72. a first connection pipe; 73. a piston cylinder; 74. a second mounting block; 75. a connecting cylinder; 76. a suction cup; 77. a movable rod; 78. a first sealing block; 79. a through groove; 710. a second sealing block; 711. a partition plate; 712. a I-shaped block; 713. a second connection pipe; 714. a universal ball; 715. a discharging plate; 8. a blanking assembly; 81. a third connection pipe; 82. a fourth connection pipe; 83. a rotating plate; 84. a second housing; 85. a movable plate; 86. a threaded rod; 87. an exhaust pipe; 88. a ratchet wheel; 89. a first connection hole; 810. a second connection hole; 811. a first magnet; 812. and a second magnet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Examples: referring to fig. 1 to 11, a chip module encapsulates spouts seal and uses material loading manipulator, including base 1, through slide rail connection in the connecting seat 2 of base 1 top medial surface, connect in the vertical drive shaft 4 of connecting seat 2 top surface and sliding connection in the driven shaft 5 that connecting seat 2 top surface is close to vertical drive shaft 4 both sides, the right side middle part of connecting seat 2 is connected with horizontal drive shaft 3, still includes:
the adjusting component 6 is arranged at the lower end of the vertical driving shaft 4 and is used for adjusting the position of a workpiece to be fed, the adjusting component 6 comprises a connecting block 61 fixedly arranged at the lower end of the vertical driving shaft 4, the middle parts of four side surfaces of the connecting block 61 are fixedly connected with first mounting blocks 62, the middle parts of the inner side surfaces of the first mounting blocks 62 far away from the connecting block 61 are connected with adjusting blocks 64 through corrugated air bags 63, the adjusting blocks 64 are elastically connected with the inner side surfaces of the first mounting blocks 62 far away from the corrugated air bags 63, and a driving piece is arranged at the outer side, close to one driven shaft 5, of the inner bottom surface of the connecting seat 2 and is used for driving the adjusting blocks 64 to move;
the adsorption assemblies 7 are uniformly arranged on the side surfaces of the two sides of the connecting block 61 and are used for carrying out adsorption fixing work on the workpiece to be fed;
the blanking components 8 are symmetrically arranged at the edge positions of the two sides of the top surface of the connecting block 61 and are used for blanking workpieces;
when feeding is needed, a worker drives the connecting seat 2 to move through the horizontal driving shaft 3 until the connecting seat 2 is positioned at a position close to the middle of the material, and then drives the connecting block 61 to move towards a direction close to the material through the vertical driving shaft 4;
the driving piece comprises an elastic air bag 66 arranged on the inner bottom surface of the connecting seat 2 and close to the outer side of one driven shaft 5, the top surface of the elastic air bag 66 is connected with an extrusion plate 65, the extrusion plate 65 is in sliding connection with the driven shaft 5, the position of the top surface of the connecting seat 2 close to the extrusion plate 65 is connected with a first shell 68, the lower part of the inner side surface of the first shell 68 close to the extrusion plate 65 is in penetrating connection with a communicating pipe 67, one end of the communicating pipe 67 far away from the first shell 68 extends to the position close to the lower end of the extrusion plate 65 and is in penetrating connection with the extrusion plate 65, the lower part of the inner side surface of the first shell 68 far away from the communicating pipe 67 is in penetrating connection with a gas pipe 69, the side surface of the gas pipe 69 is provided with a first one-way valve, and one end of the gas pipe 69 far away from the first shell 68 extends to the position close to the connecting block 61 and is in penetrating connection with a connecting groove 71;
the driving piece further comprises a sliding plate 610 which is slidably connected inside the first shell 68, the sliding plate 610 is elastically connected with the inner top surface of the first shell 68, an air inlet pipe 611 is connected with the side surface of the first shell 68 far away from the communicating pipe 67 and close to the air delivery pipe 69 in a penetrating way, and a second one-way valve is arranged on the side surface of the air inlet pipe 611;
the adsorption assembly 7 comprises a connecting groove 71 which is formed in the connecting block 61, second installation blocks 74 which are uniformly distributed are connected to the side surfaces of the two sides of the connecting block 61, a piston cylinder 73 is connected to the top surface of the second installation blocks 74, a connecting cylinder 75 is connected to the inner bottom surface of the second installation blocks 74 in a penetrating manner, a sucker 76 is connected to one end, far away from the second installation blocks 74, of the connecting cylinder 75, the sucker 76 is connected with the connecting cylinder 75 in a communicating manner, and an air suction piece is arranged in the piston cylinder 73 and used for carrying out air suction on the interior of the sucker 76;
it is noted that when the vertical driving shaft 4 drives the connecting block 61 to move in a direction approaching to the material, the driven shaft 5 drives the extrusion plate 65 to move downwards, during the movement of the extrusion plate 65, the extrusion plate 65 gradually extrudes the elastic air bag 66, the extrusion force makes the air in the extrusion plate 65 enter the first housing 68 through the communicating pipe 67, and during the downward movement of the driven shaft 5, the upper end of the side surface of the i-shaped block 712 is located at a position approaching to the opening of the first connecting pipe 72, so as to shield the opening of the first connecting pipe 72, therefore, the air entering the first housing 68 through the communicating pipe 67 cannot enter the connecting groove 71 through the air pipe 69, and then the air entering the first housing 68 gradually extrudes the sliding plate 610, and the extrusion force gradually makes the sliding plate 610 overcome the elasticity between the sliding plate and the first housing 68 to move in a direction approaching to the top surface of the first housing 68, so as to buffer the air entering the first housing 68;
the adsorption assembly 7 further comprises a through groove 79 which is formed in the middle of the inner bottom surface of the piston cylinder 73, a movable rod 77 is connected in the through groove 79 in a sliding manner, the diameter of the upper end part of the movable rod 77 is larger than the inner diameter of the through groove 79, a first sealing block 78 is fixedly connected to the side surface of the movable rod 77 at the upper position close to the inner cavity of the connecting cylinder 75, the diameter of the first sealing block 78 is the same as the inner diameter of the upper position of the cavity of the connecting cylinder 75, a second sealing block 710 is connected to the side surface of the movable rod 77 at the position close to the through groove 79, the diameter of the second sealing block 710 is the same as the inner diameter of the through groove 79, and the upper end surface of the movable rod 77 is in contact with the lower end surface of the I-shaped block 712;
the air pumping piece comprises a baffle 711 fixedly connected to the middle part of the inner side surface of the piston cylinder 73, an I-shaped block 712 is penetrated and slidingly connected to the middle part of the inner top surface of the baffle 711, the top surface of the I-shaped block 712 is elastically connected with the inner top surface of the piston cylinder 73, a first connecting pipe 72 is penetrated and connected at the position of the inner side surface of the piston cylinder 73, which is close to the baffle 711, a first connecting pipe 72 extends to the position, which is close to the connecting groove 71, of one end of the first connecting pipe 72, which is far away from the piston cylinder 73, is penetrated and connected with a second connecting pipe 713, a second connecting pipe 713 extends to the position, which is close to the corrugated air bag 63, of one end of the second connecting pipe 713, which is far away from the piston cylinder 73, and is penetrated and connected with the corrugated air bag 63;
further, when the vertical driving shaft 4 drives the connecting block 61 and the suction cup 76 to move to a position close to the material, the material gradually extrudes the movable rod 77 along with the descending operation, the extrusion force enables the movable rod 77 to drive the I-shaped block 712 to move upwards in the piston cylinder 73, after the suction cup 76 is attached to the material, the first sealing block 78 and the I-shaped block 712 are in the state of fig. 10, the second mounting block 74 is in the communicating state with the piston cylinder 73, the second mounting block 74 is in the communicating state with the connecting cylinder 75, at this time, the I-shaped block 712 does not shade the opening of the first connecting pipe 72, the first connecting pipe 72 is in the communicating state with the piston cylinder 73, the sliding plate 610 extrudes the gas in the first housing 68 under the elastic force of recovering elastic deformation between the sliding plate 610 and the first housing 68, the gas in the first housing 68 enters the piston cylinder 73 through the gas pipe 69, then enters the corrugated air bag 63 through the second connecting pipe 713 and gradually extrudes the adjusting block 64, the corrugated air bag 63 can elastically stretch to a certain extent, so the extrusion force enables the adjusting block 64 to move towards the direction close to the material against the elastic force between the adjusting block 64 and the first mounting block 62 and gradually extrudes the material, the extrusion force enables the material to move against the adsorption force of the sucking disc 76, and it is worth noting that the gas amount entering the corrugated air bag 63 from each second connecting pipe 713 is the same, namely the moving distance of each adjusting block 64 is the same, the distance between the corresponding two adjusting blocks 64 and the center point of the connecting block 61 is the same, and further after the adjusting block 64 drives the material to move, the center of the material and the center of the connecting block 61 are in the same center axis, the adsorption components 7 are distributed around the side surfaces of the connecting blocks 61, namely the adsorption components 7 are uniformly distributed around the center of the connecting blocks 61, when the center of the material and the center of the connecting blocks 61 are located at the same center axis, the adsorption components 7 adsorb and fix the material around the center of the material, so that the problem that the adsorption effect is affected due to shaking of the material mode caused by insufficient overlapping of the main centers of the suckers 76 and the center of the material in the process of lifting the material is avoided, the stability of the material in the process of lifting is ensured, meanwhile, the material is extruded and adjusted by the adjusting blocks 64, and after the material center adjustment is finished, the material is limited and fixed by the adjusting blocks 64, so that the stability of the material in the process of moving is ensured.
The middle part of the lower end surface of the movable rod 77 is rotationally connected with a universal ball 714, and the edge position of the inner bottom surface of the base 1 is slidably connected with a discharging plate 715 through a ball;
it is worth noting that the middle part of the lower end surface of the movable rod 77 is rotationally connected with the universal ball 714, the edge position of the inner bottom surface of the base 1 is slidably connected with the discharging plate 715 through balls, so that sliding friction among the movable rod 77, the base 1 and materials is changed into rolling friction, the extrusion force of the adjusting block 64 on the materials is ensured to be capable of stably moving the materials, the operation difficulty of the materials in moving is reduced, friction damage among the movable rod 77, the base 1 and the materials is reduced, and the working effect of the adjusting assembly 6 is further improved;
notably, the gas entering the interior of the piston cylinder 73 extrudes the I-shaped block 712, the extrusion force enables the I-shaped block 712 to move upwards continuously in the interior of the piston cylinder 73 against the elastic force between the I-shaped block 712 and the piston cylinder 73, and in the process that the I-shaped block 712 moves upwards in the interior of the piston cylinder 73, the gas in the interior of the sucker 76 enters the interior of the piston cylinder 73 through the connecting cylinder 75, the second mounting block 74 and the through groove 79, the air pressure in the interior of the sucker 76 is reduced, the material is fixed by the negative pressure adsorption force, and the adsorption fixing effect of the sucker 76 on the material is further improved;
it is worth noting that, by arranging the lower end face of the adjusting block 64 and the lower end face of the movable rod 77 to be in the same horizontal line, the side face of the adjusting block 64 is located at a position close to the side face of the material after the movable rod 77 is extruded and moved, so that the adjusting block 64 can conveniently extrude the material;
by setting the elastic coefficient of the elastic connection between the I-shaped block 712 and the piston cylinder 73 to be larger than the elastic coefficient of the elastic connection between the adjusting block 64 and the first mounting block 62, namely, the gas entering the interior of the piston cylinder 73 firstly enters the corrugated air bag 63 to drive the adjusting block 64 to move, after the moving work of the adjusting block 64 is completed, the gas extrusion force can drive the I-shaped block 712 to move along with the gradual increase of the gas quantity entering the interior of the piston cylinder 73, so as to perform air extraction work, namely, the material center adjusting work is performed firstly, then the material adsorption fixing work is performed, and the consistency of the device in the operation process is ensured;
the blanking assembly 8 comprises a third connecting pipe 81 which is connected with the inner side surface of the first shell 68 in a penetrating way and is close to the upper part of the communicating pipe 67, a fourth connecting pipe 82 is connected with the top surface of the connecting block 61 in a penetrating way, the fourth connecting pipe 82 is connected with the connecting groove 71 in a communicating way, the top surface of the fourth connecting pipe 82 is provided with a rotating plate 83, the position of the outer side surface of the fourth connecting pipe 82, which is close to the rotating plate 83, is connected with a second shell 84 through a mounting frame, the inner bottom surface of the second shell 84 is elastically connected with a movable plate 85, the middle part of the top surface of the movable plate 85 is connected with a threaded rod 86 in a penetrating way, the lower end of the threaded rod 86 penetrates through the second shell 84 to a position close to the top surface of the rotating plate 83, a ratchet 88 is connected with the rotating plate 83, one end of the third connecting pipe 81, which is far from the first shell 68, extends to a position close to the second shell 84, is connected with the top surface of the second shell 84 in a penetrating way, the inner diameter of the exhaust pipe 87 is smaller than the inner diameter of the third connecting pipe 81, the top surface of the rotating plate 84 is penetrated by the inner surface of the movable plate 84, the top surface of the rotating plate 84 is provided with uniformly distributed first connecting holes 89, the uniformly distributed first connecting holes 89 are distributed uniformly penetrating the first connecting holes 82 are correspondingly distributed in the first penetrating positions of the rotating plate 83;
further, in the process that the sliding plate 610 moves upward in the interior of the first housing 68, when the sliding plate 610 moves to the upper portion of the third connection pipe 81, the gas in the interior of the first housing 68 enters the interior of the third connection pipe 81 and then enters the interior of the second housing 84 through the third connection pipe 81, since the inner diameter of the exhaust pipe 87 is smaller than the inner diameter of the third connection pipe 81, that is, the amount of gas entering the interior of the second housing 84 through the third connection pipe 81 is larger than the amount of gas exhausted through the exhaust pipe 87, the amount of gas in the interior of the second housing 84 is gradually increased, the gas presses the movable plate 85, the elastic force between the movable plate 85 and the second housing 84 moves downward on the side of the threaded rod 86 due to the pressing force, the screw connection between the movable plate 85 and the threaded rod 86, and the screw groove gap is larger, when the movable plate 85 moves downwards on the side surface of the threaded rod 86, the threaded rod 86 is rotated by the screw extrusion force, when the threaded rod 86 rotates, the rotating plate 83 is driven by the ratchet 88 to rotate, the rotating plate 83 drives the first connecting hole 89 to rotate in a direction away from the second connecting hole 810 until the second connecting hole 810 and the first connecting hole 89 are in a staggered position, the movable plate 85 moves to the bottom of the side surface of the threaded rod 86, the threaded rod 86 does not rotate any more, at this time, the first magnet 811 corresponds to the second magnet 812 (at this time, the bottom surface of the rotating plate 83 is connected with uniformly distributed second magnets 812, the second magnets 812 are staggered with the positions of the first connecting holes 89, the top surface of the fourth connecting pipe 82 is connected with a first magnet 811 near the second connecting hole 810, and the magnetism of the first magnet 811 is opposite to that of the second magnet 812 near surface), the magnetic attraction force between the second magnet 812 and the first magnet 811 limits the position of the rotating plate 83, that is, the fourth connecting pipe 82 is no longer in a communication state with the outside through the second connecting hole 810 and the first connecting hole 89, and the gas in the connecting groove 71 is not discharged through the fourth connecting pipe 82, so that the gas in the connecting groove 71 can normally enter the piston cylinder 73 for subsequent work;
it is noted that by providing the exhaust pipe 87 with a small inner diameter, the amount of the gas exhausted per unit time does not affect the gas pressure inside the first housing 68, and when the material moves upward, the gas pressure inside the first housing 68 disappears, the sliding plate 610 gradually moves downward inside the first housing 68 under the elastic force of restoring the elastic deformation between the sliding plate 610 and the first housing 68, the gas inside the second housing 84 does not enter any more, the gas inside the second housing 84 is gradually exhausted through the exhaust pipe 87, the movable plate 85 gradually returns to the original state under the elastic force of restoring the elastic deformation between the movable plate 85 and the second housing 84, it is noted that the threaded rod 86 and the rotating plate 83 are connected by the ratchet 88, the ratchet 88 is a gear with a rigid tooth surface or friction surface on the outer edge or inner edge, the ratchet 88 is pushed by a pawl to perform a step motion, the meshing motion is characterized in that the ratchet 88 can only rotate in one direction but cannot reverse, the working principle of the ratchet 88 is that when the driving member rocker swings anticlockwise, a driving pawl is inserted into a tooth slot of the ratchet 88 to push the ratchet 88 to rotate by one angle, at the moment, a stop pawl slides on the tooth back of the ratchet 88, when the driving member rocker swings clockwise, the stop pawl prevents the ratchet 88 from rotating clockwise, but the driving ratchet 88 can slide on the tooth back of the ratchet 88, so that the ratchet 88 is stationary, namely, when the threaded rod 86 rotates anticlockwise, the rotating plate 83 is driven by the ratchet 88, when the threaded rod 86 rotates clockwise in the resetting process of the movable plate 85, the rotating plate 83 is not driven by the ratchet 88 to rotate, namely, the situation that when the movable plate 85 resets, the rotating plate 83 rotates, the first connecting hole 89 and the second connecting hole 810 are in a communicating state is avoided, the problem of discharging the gas in the connecting groove 71 ensures the stability of the adsorption fixing work in the feeding process;
after the material is adsorbed and fixed, the vertical driving shaft 4 is controlled to drive the connecting block 61 and the material to move upwards, at this time, the gas in the first shell 68 enters the elastic air bag 66 through the communicating pipe 67, the gas in the gas pipe 69 is prevented from generating back by arranging the first one-way valve at the gas pipe 69, the problem of influencing the adsorption effect is avoided, the external gas enters the first shell 68 through the gas inlet pipe 611 under the action of the gas pressure, then enters the extrusion plate 65 through the first shell 68 to supplement the gas for the extrusion plate 65, after the movement is completed, the connecting seat 2 is controlled to move left and right through the horizontal driving shaft 3 until the material is at a required position, the vertical driving shaft 4 is controlled to drive the connecting block 61 and the material to move downwards, the gas in the extrusion plate 65 enters the first shell 68 in the downward movement process, the sliding plate 610 is extruded, when the sliding plate 610 moves to the upper portion of the third connecting tube 81, gas enters the second housing 84, the movable plate 85 is pressed, the pressing force drives the threaded rod 86 to rotate the rotating plate 83, at this time, the rotating plate 83 drives the first connecting hole 89 to rotate in a direction close to the second connecting hole 810, after the rotation is completed, the positions of the first connecting hole 89 and the second connecting hole 810 correspond to each other, the connecting slot 71 is in a communicating state with the outside through the fourth connecting tube 82, the first connecting hole 89 and the second connecting hole 810, at this time, the gas inside the connecting slot 71 and the piston cylinder 73 is gradually discharged, under the elastic force of recovering elastic deformation between the I-shaped block 712 and the piston cylinder 73, the gas inside the piston cylinder 73 gradually returns to the inside of the suction cup 76, the suction force of the suction cup 76 to the material is reduced, the gas inside the corrugated air bag 63 gradually passes through the second connecting tube 713, the piston cylinder 73 is released, the adjusting block 64 gradually returns to the initial state, the limiting and fixing of the materials are canceled, and the material blanking work is facilitated;
it is worth noting that, the second connecting hole 810 is located on the upper portion of the inner side surface of the first housing 68, that is, when the vertical driving shaft 4 drives the connecting block 61 and the material to move to a position close to the inner bottom surface of the base 1, the sliding plate 610 is located on the upper portion of the third connecting pipe 81, the fourth connecting pipe 82 is in a communicating state with the outside, so as to perform air release work, avoid the problem that the material falls from a high place to cause damage when the distance between the material and the inner bottom surface of the base 1 is large, and repeatedly perform the material adsorption fixing feeding work and the material desorption fixing discharging work continuously, so that convenience of the feeding manipulator in the use process is ensured.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a chip module encapsulation spouts seal with material loading manipulator, includes base (1), connects in connecting seat (2) of base (1) top medial surface through the slide rail, connects in vertical drive shaft (4) and sliding connection of connecting seat (2) top surface in driven shaft (5) that connecting seat (2) top surface is close to vertical drive shaft (4) both sides, its characterized in that still includes:
the adjusting assembly (6) is arranged at the lower end of the vertical driving shaft (4) and is used for adjusting the position of a workpiece to be fed, the adjusting assembly (6) comprises a connecting block (61) fixedly arranged at the lower end of the vertical driving shaft (4), first mounting blocks (62) are fixedly connected to the middle parts of four side surfaces of the connecting block (61), adjusting blocks (64) are connected to the middle parts of the inner side surfaces of the first mounting blocks (62) away from the connecting block (61) through corrugated air bags (63), the adjusting blocks (64) are elastically connected with the inner side surfaces of the first mounting blocks (62) away from the corrugated air bags (63), and driving parts are arranged on the outer sides, close to one driven shaft (5), of the inner bottom surfaces of the connecting seats (2) and are used for driving the adjusting blocks (64) to move;
the driving piece comprises an elastic air bag (66) which is arranged on the inner bottom surface of the connecting seat (2) and is close to the outer side of one driven shaft (5), the top surface of the elastic air bag (66) is connected with a squeezing plate (65), the squeezing plate (65) is connected with the driven shaft (5) in a sliding mode, a first shell (68) is connected to the position, close to the squeezing plate (65), of the top surface of the connecting seat (2), a communicating pipe (67) is connected to the lower portion, close to the squeezing plate (65), of the inner side surface of the first shell (68) in a penetrating mode, one end, far from the first shell (68), of the communicating pipe (67) extends to the position, close to the lower end of the squeezing plate (65) in a penetrating mode, of the communicating pipe (68) is connected to a gas pipe (69) in a penetrating mode, and a first one-way valve is arranged on the side surface of the gas pipe (69), and one end, far from the first shell (68) extends to the position, close to the connecting block (61), of the communicating pipe is connected to the connecting groove (71) in a penetrating mode;
the adsorption assemblies (7) are uniformly arranged on the side surfaces of the two sides of the connecting block (61) and are used for carrying out adsorption fixing work on the workpiece to be fed;
the adsorption component (7) comprises a connecting groove (71) formed in the connecting block (61), second installation blocks (74) which are uniformly distributed are connected to the side faces of two sides of the connecting block (61), a piston cylinder (73) is connected to the top face of each second installation block (74), a connecting cylinder (75) is connected to the inner bottom face of each second installation block (74) in a penetrating mode, a sucker (76) is connected to one end, far away from each second installation block (74), of each connecting cylinder (75), the sucker (76) is connected with the corresponding connecting cylinder (75) in a communicating mode, and an air suction piece is arranged in each piston cylinder (73) and used for conducting air suction operation on the inside of the sucker (76);
the air extraction piece comprises a baffle (711) fixedly connected to the middle part of the inner side surface of the piston cylinder (73), an I-shaped block (712) is connected in a penetrating and sliding manner in the middle part of the inner top surface of the baffle (711), the top surface of the I-shaped block (712) is elastically connected with the inner top surface of the piston cylinder (73), a first connecting pipe (72) is connected in a penetrating manner at the position, close to the baffle (711), of the inner side surface of the piston cylinder (73), one end, far away from the piston cylinder (73), of the first connecting pipe (72) extends to the position, close to the connecting groove (71) and is connected in a penetrating manner with the connecting groove (71), a second connecting pipe (713) is connected in a penetrating manner at the position, corresponding to the first connecting pipe (72), of the inner side surface of the piston cylinder (73), and one end, far away from the piston cylinder (73), of the second connecting pipe (713) extends to the position, close to the corrugated air bag (63) and is connected in a penetrating manner with the corrugated air bag (63).
The blanking components (8) are symmetrically arranged at the edge positions of the two sides of the top surface of the connecting block (61) and are used for blanking workpieces;
the blanking component (8) comprises a third connecting pipe (81) which is connected with the inner side surface of the first shell (68) in a penetrating way and is close to the upper part of the communicating pipe (67), a fourth connecting pipe (82) is connected with the top surface of the connecting block (61) in a penetrating way at a position close to the gas conveying pipe (69), the fourth connecting pipe (82) is connected with a connecting groove (71) in a communicating way, the top surface of the fourth connecting pipe (82) is provided with a rotating plate (83), the outer side surface of the fourth connecting pipe (82) is close to the rotating plate (83) and is connected with a second shell (84) through a mounting frame, the inner bottom surface of the second shell (84) is elastically connected with a movable plate (85), the middle part of the top surface of the movable plate (85) is connected with a threaded rod (86) in a penetrating way, the lower end of the threaded rod (86) penetrates through the second shell (84) to a position close to the top surface of the rotating plate (83) and is connected with a ratchet wheel (88), the ratchet wheel (88) is connected with the rotating plate (83), the position close to the first shell (68) at one end of the third connecting pipe (81) is far from the second shell (84) and is connected with the top surface of the second shell (84) which is close to the top surface of the second shell (84), the internal diameter of blast pipe (87) is less than the internal diameter of third connecting pipe (81), evenly distributed's first connecting hole (89) have been seted up in the top surface penetration of rotor plate (83), evenly distributed's second connecting hole (810) have been seted up in the position of the top surface of fourth connecting pipe (82) corresponding to first connecting hole (89) penetration.
2. The feeding manipulator for chip module packaging and jet printing according to claim 1, wherein the upper end of the side surface of the I-shaped block (712) is located close to the opening of the first connecting pipe (72) and shields the opening of the first connecting pipe (72).
3. The feeding manipulator for chip module packaging jet printing according to claim 1, wherein the adsorption assembly (7) further comprises a through groove (79) formed in the middle of the inner bottom surface of the piston cylinder (73), a movable rod (77) is slidably connected in the through groove (79), the diameter of the upper end part of the movable rod (77) is larger than the inner diameter of the through groove (79), a first sealing block (78) is fixedly connected to the side surface of the movable rod (77) close to the upper part of the inner cavity of the connecting cylinder (75), the diameter of the first sealing block (78) is the same as the inner diameter of the upper part of the cavity of the connecting cylinder (75), a second sealing block (710) is connected to the side surface of the movable rod (77) close to the position of the through groove (79), the diameter of the second sealing block (710) is the same as the inner diameter of the through groove (79), the upper end surface of the movable rod (77) is contacted with the lower end surface of the I-shaped block (714), a first sealing block (78) is fixedly connected to the middle part of the lower end surface of the movable rod (77) close to the inner end surface of the connecting cylinder (75), and the inner edge of the ball (714) is connected with the inner edge of the ball (1).
4. The feeding manipulator for chip module packaging spray printing according to claim 1, wherein the driving piece further comprises a sliding plate (610) which is connected inside the first shell (68) in a sliding mode, the sliding plate (610) is elastically connected with the inner top surface of the first shell (68), an air inlet pipe (611) is connected to the side surface, away from the communicating pipe (67), of the first shell (68) in a penetrating mode, close to the air conveying pipe (69), and a second one-way valve is arranged on the side surface of the air inlet pipe (611).
5. The feeding manipulator for chip module packaging spray printing according to claim 1, wherein the bottom surface of the rotating plate (83) is connected with second magnets (812) which are uniformly distributed, the positions of the second magnets (812) and the first connecting holes (89) are staggered, the positions, close to the second connecting holes (810), of the top surface of the fourth connecting pipe (82) are connected with first magnets (811), and the magnetism of the surfaces, close to the second magnets (812), of the first magnets (811) is opposite.
6. The feeding manipulator for chip module packaging spray printing according to claim 1, wherein the elastic coefficient of elastic connection between the I-shaped block (712) and the piston cylinder (73) is larger than the elastic coefficient of elastic connection between the adjusting block (64) and the first mounting block (62), and the lower end surface of the adjusting block (64) and the lower end surface of the movable rod (77) are positioned on the same horizontal line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311384517.0A CN117104881B (en) | 2023-10-25 | 2023-10-25 | Chip module encapsulation spouts seal with material loading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311384517.0A CN117104881B (en) | 2023-10-25 | 2023-10-25 | Chip module encapsulation spouts seal with material loading manipulator |
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| CN117104881B true CN117104881B (en) | 2024-01-23 |
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| CN109703206A (en) * | 2018-12-13 | 2019-05-03 | 东莞智得电子制品有限公司 | Mobile phone glass spray printing device |
| CN116835193A (en) * | 2023-07-12 | 2023-10-03 | 南京威顶自动化科技有限公司 | Intelligent manipulator for taking up stock |
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2023
- 2023-10-25 CN CN202311384517.0A patent/CN117104881B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000002748A (en) * | 1998-06-15 | 2000-01-07 | Advantest Corp | Ic suction device, ic carrying device using it and ic testing device |
| JP2002001686A (en) * | 2001-06-25 | 2002-01-08 | Seiko Epson Corp | Semiconductor storage container carrying device and method, and suction pad used for it |
| JP2005138254A (en) * | 2003-11-10 | 2005-06-02 | Fuji Photo Film Co Ltd | Suction device |
| CN102390718A (en) * | 2011-06-29 | 2012-03-28 | 苏州新协力机器制造有限公司 | Automatically-centering vacuum transportation truck |
| CN207874254U (en) * | 2018-02-27 | 2018-09-18 | 东莞市邦鸿机械有限公司 | A kind of aerial positioning sucker disk frame |
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| CN117104881A (en) | 2023-11-24 |
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