CN117714966A - Automatic wire dividing machine for voice coil - Google Patents
Automatic wire dividing machine for voice coil Download PDFInfo
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- CN117714966A CN117714966A CN202410061335.8A CN202410061335A CN117714966A CN 117714966 A CN117714966 A CN 117714966A CN 202410061335 A CN202410061335 A CN 202410061335A CN 117714966 A CN117714966 A CN 117714966A
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- voice coil
- annular
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- branching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
- H04R31/00—Apparatus or processes specially adapted for the manufacture of transducers or diaphragms therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
- H04R2231/00—Details of apparatus or processes specially adapted for the manufacture of transducers or diaphragms therefor covered by H04R31/00, not provided for in its subgroups
- H04R2231/003—Manufacturing aspects of the outer suspension of loudspeaker or microphone diaphragms or of their connecting aspects to said diaphragms
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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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Audible-Bandwidth Dynamoelectric Transducers Other Than Pickups (AREA)
Abstract
The invention relates to the technical field of loudspeaker automatic production equipment, in particular to a voice coil automatic branching machine which comprises a machine table, wherein the machine table is provided with an annular table, an annular supporting table is arranged in the middle of the annular table, an annular conveying mechanism arranged along the annular supporting table is arranged at the bottom of the annular supporting table, an annular sliding rail is arranged at the outer side of the annular supporting table, a plurality of jigs are arranged on the annular sliding rail in a sliding manner, and a feeding and overturning mechanism, a line hunting notch mechanism, a line clamping and branching mechanism, a welding mechanism, a line cutting and pulling mechanism, a soldering tin mechanism, a glue dispensing mechanism and a magnetizing swing disc mechanism are sequentially arranged along the conveying direction of the annular conveying mechanism. According to the voice coil assembly machine, the annular conveying mechanisms are reasonably arranged on the machine table, so that the working procedures of the voice coil leads are automatically completed, the space occupied by equipment is reduced, one person can operate one or more pieces of equipment, the labor cost is reduced, the automation degree is high, and the working efficiency and the product quality are greatly improved.
Description
Technical Field
The invention relates to the technical field of loudspeaker automatic production equipment, in particular to an automatic wire dividing machine for a voice coil.
Background
The voice coil (Vo ice Coi) is defined directly as the coil through which the speaker passes current, and is an important component of the mechanical wave system of the electrodynamic speaker, also known as the heart of the speaker. The performance of the voice coil can affect the sound intensity characteristics, sound intensity levels, impedance curves, distortion, transient characteristics, speaker parameters, sound quality, etc. of the speaker, particularly with respect to the power and life of the speaker. Just as a fatal factor in heart disease, damage to the speaker often begins with the voice coil.
Traditional voice coil loudspeaker voice coil lead wire opening reason line, separated time work are accomplished through the manual work, and workman intensity of labour is big, work efficiency is low, and product quality is not high. With the development of economy, the mechanization replaces manual operation, and the production efficiency and quality are gradually improved.
However, the voice coil processing procedures, such as welding, soldering tin, branching, wire arrangement, magnetizing and the like, are numerous, and most voice coil processing in the market is carried out by separate equipment one by one, so that the production equipment is numerous, the occupied space is large, and corresponding technical staff is required to operate, so that the labor cost and the equipment cost are increased; in addition, there are on the market to integrate the mechanism of functions such as welding, soldering tin, separated time, reason line together, form a process line, but the assembly line planning is unreasonable, and occupation space is big, needs a plurality of personnel to operate, can't reach the problem of saving space and reduce the cost of labor further.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the invention provides the automatic wire dividing machine for the voice coil, which solves the problems that the voice coil is processed one by a plurality of processing steps, the voice coil is processed by single equipment in the market, so that the production equipment is more, the occupied space is large, corresponding technical personnel are required to operate, the labor cost and the equipment cost are increased, and the mechanisms with the functions of welding, soldering tin, wire dividing, wire arranging and the like are integrated together to form a processing assembly line, but the assembly line is unreasonable in planning, occupies large space, needs a plurality of personnel to operate, and cannot further save space and reduce labor cost.
The technical scheme for solving the technical problems is as follows: an automatic wire dividing machine for voice coils, comprising:
the machine table is provided with an annular table, an annular supporting table is arranged in the middle of the annular table, an annular conveying mechanism arranged along the annular supporting table is arranged at the bottom of the annular supporting table, an annular sliding rail arranged along the conveying direction of the annular conveying mechanism is arranged at the outer side of the annular supporting table, and a plurality of jigs driven by the annular conveying mechanism are arranged on the annular sliding rail in a sliding manner;
and are sequentially arranged along the conveying direction of the annular conveying mechanism,
the feeding and overturning mechanism comprises a feeding manipulator and an overturning assembly, wherein the feeding manipulator places the voice coil on the overturning assembly, the voice coil is grabbed by a gripper on the overturning assembly, and the gripper is overturned by 180 degrees through a rotating device on the overturning assembly;
the line hunting gap mechanism comprises a mechanical arm and a rotating device, wherein an output end of the rotating device is provided with a first suction nozzle, the rotating device is arranged at the tail end of the mechanical arm and is used for adsorbing a voice coil on a gripper, the rotating device rotates the voice coil, a light ray sensing device fixed at the tail end of the mechanical arm is arranged at the side of the first suction nozzle, the light ray sensing device is electrically connected with the mechanical arm, and the rotating device rotates the voice coil to enable the light ray sensing device to sense a lead wire of the voice coil;
the wire clamping and branching mechanism comprises a long wire branching component for branching long leads and a short wire branching component for branching short leads;
the welding mechanism is used for welding and positioning the lead wire of the voice coil;
the wire cutting and pulling mechanism is used for cutting off redundant parts of the lead and removing the cut lead;
the soldering mechanism is used for soldering the lead wires;
the dispensing mechanism is used for coating glue on the lead;
the magnetizing swing disc mechanism comprises a magnetizing machine, a feeding assembly used for conveying voice coils from a jig to the magnetizing machine, and a discharging manipulator used for placing the voice coils in the magnetizing machine to a tray.
On the basis of the technical scheme, the invention can be improved as follows.
Further, still include visual detection mechanism, visual detection mechanism is equipped with 2, locates respectively between clamp line separated time mechanism and the welding mechanism and between some gum machine construct and the material loading subassembly, visual detection mechanism includes CC camera and light source.
Further, the bottom of the jig is provided with a roller group which slides in a matched manner with the annular slide rail, the roller group is arranged on two sides of the annular slide rail to clamp the annular slide rail, and the bottom of the annular supporting table is provided with a blocking component for blocking the jig from moving;
the blocking assembly comprises a rotating shaft, a stop block arranged on the rotating shaft and corresponding to the jig on each processing mechanism, and a first pushing cylinder with an output end provided with a swing arm for pushing the rotating shaft to rotate.
Further, the turnover assembly is further provided with a base, the base is provided with a vertical sliding rail with a sliding seat, the rotating device is arranged on the sliding seat, the base on one side deviating from the vertical sliding rail is provided with a first telescopic cylinder with an output end connected with the sliding seat, and the bases on two sides of the rotating device are provided with suckers for adsorbing voice coils.
Further, the long wire branching component and the short wire branching component have the same structure and comprise a wire clamping component arranged on the annular supporting table and a branching component arranged on the machine table;
the wire clamping assembly comprises a first Y-axis horizontal moving mechanism and a first air claw which is arranged on the first Y-axis horizontal moving mechanism and driven to advance by the first Y-axis horizontal moving mechanism, two L-shaped connecting rods which face opposite directions are arranged on two grippers of the first air claw, the tail ends of the two L-shaped connecting rods are respectively connected with a connecting rod, and the tail ends of the two connecting rods are respectively provided with clamping pieces which are clamped with each other;
the branching assembly comprises a second Y-axis horizontal moving mechanism, a first X-axis moving mechanism, a first Z-axis moving mechanism, a second air claw and first clamping blocks, wherein the first X-axis moving mechanism is arranged on the second Y-axis horizontal moving mechanism and driven by the second Y-axis horizontal moving mechanism to move forward, the first Z-axis moving mechanism is arranged on the first X-axis moving mechanism and driven by the first X-axis moving mechanism to move back and forth, the second air claw is arranged on the first Z-axis moving mechanism and driven by the first Z-axis moving mechanism to move up and down, and the first clamping blocks are arranged on the two grippers of the second air claw.
Further, the welding mechanism comprises an XY-axis moving platform, a second Z-axis moving mechanism arranged on the XY-axis moving platform and a welding head arranged on the second Z-axis moving mechanism.
Further, still include the ink jet numbering mechanism, the ink jet numbering mechanism is located between welding mechanism and the tangent line wire drawing mechanism, and the ink jet numbering mechanism is used for beating label or two-dimensional code to the voice coil loudspeaker voice coil, and the ink jet numbering mechanism is including beating the ink recorder, beats the outside that the ink recorder located the board.
Further, tangent line wire drawing mechanism is including the base that has the horizontal guide rail and promote the supporting seat that the air cylinder promotes and slide locates on the horizontal guide rail by the second, the supporting seat front side is equipped with vertical guide rail and locates the first lift seat on the vertical guide rail and locates the second telescopic cylinder that the first lift seat of supporting seat rear side promotion goes up and down, be equipped with vertical even axle on the first lift seat, be equipped with the connecting block on the vertical even axle, and be equipped with a set of pole of cutting on the connecting block, be equipped with the cutter piece that is used for cutting long lead wire and short lead wire on the set of pole of cutting respectively, the symmetry is equipped with a set of U type even seat on the first lift seat, be equipped with the third air claw on a set of U type even seat respectively, be equipped with the second clamp splice on the two grippers of third air claw, and still be equipped with the optic fibre inductor that is used for the lead wire of response to cut off even seat of a set of U type.
Further, the dispensing mechanism comprises a third Y-axis horizontal moving mechanism, a second X-axis moving mechanism which is arranged on the third Y-axis horizontal moving mechanism and driven by the third Y-axis horizontal moving mechanism to move forward, a third Z-axis moving mechanism which is arranged on the second X-axis moving mechanism and driven by the second X-axis moving mechanism to move back and forth, and a dispensing nozzle which is arranged on the third Z-axis moving mechanism and driven by the third Z-axis moving mechanism to move up and down.
Further, the material loading subassembly is including having the bottom plate of guide rail group and promote the support that the cylinder promotes and slide was located on the guide rail group by the third, and the support is gone up to slide and is equipped with the second and goes up and down the seat, and is equipped with the third cylinder that contracts that promotes the second and go up and down the seat on the support, and the top of second goes up and down the seat is equipped with the revolving cylinder, and the output of revolving cylinder is equipped with the revolving plate, and the end of revolving plate is equipped with the second suction nozzle.
The voice coil wire feeding device has the beneficial effects that the annular conveying mechanism is arranged on the machine table, the feeding and overturning mechanism, the wire-hunting notch mechanism, the wire-clamping and wire-dividing mechanism, the welding mechanism, the wire-cutting and wire-pulling mechanism, the soldering mechanism, the glue dispensing mechanism and the magnetizing swing disc mechanism are sequentially arranged on the conveying direction of the annular conveying mechanism, and all functional mechanisms are reasonably arranged on the machine table, so that all working procedures of voice coil wires are automatically completed, the space occupied by equipment is further reduced, one person can operate one or more pieces of equipment, the labor cost is reduced, the degree of automation is high, and the working efficiency and the product quality are greatly improved.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic view of the overall structure of a view angle of the present invention;
FIG. 3 is a diagram showing the positional relationship between a machine and a ring-shaped table according to the present invention;
FIG. 4 is a diagram showing the positional relationship between the feeding and turning mechanism and the hunting gap mechanism according to the present invention;
FIG. 5 is a schematic diagram of a wire-clamping and wire-separating mechanism according to the present invention;
FIG. 6 is a schematic view of a welding mechanism according to the present invention;
FIG. 7 is a schematic view of a tangential wire drawing mechanism according to the present invention;
FIG. 8 is a schematic diagram of a soldering mechanism according to the present invention;
FIG. 9 is a diagram showing the positional relationship between the dispensing mechanism and the visual inspection mechanism according to the present invention;
FIG. 10 is a schematic diagram of a structure of a magnetizing wobble plate mechanism according to the present invention.
Detailed Description
The voice coil (Vo ice Coi) is defined directly as the coil through which the speaker passes current, and is an important component of the mechanical wave system of the electrodynamic speaker, also known as the heart of the speaker. The performance of the voice coil can affect the sound intensity characteristics, sound intensity levels, impedance curves, distortion, transient characteristics, speaker parameters, sound quality, etc. of the speaker, particularly with respect to the power and life of the speaker. Just as a fatal factor in heart disease, damage to the speaker often begins with the voice coil.
The voice coil processing procedures, such as welding, soldering tin, branching, wire arrangement, magnetizing and the like, are multiple, and most voice coil processing in the market is carried out by separate equipment one by one, so that the production equipment is more, the occupied space is large, and corresponding technical staff is required to operate, so that the labor cost and the equipment cost are increased; in addition, there are mechanisms integrating functions of welding, soldering, branching, wire arrangement and the like on the market to form a processing assembly line, but the assembly line is unreasonable in planning, occupies a large space, needs a plurality of personnel to operate, cannot further achieve the problems of saving space and reducing labor cost, and the inventor proposes an automatic voice coil branching machine to solve the problems.
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The present invention provides the following preferred embodiments
As shown in fig. 1, 2 and 3, the automatic voice coil deconcentrator comprises a machine table 1, wherein a PLC control system for controlling all mechanisms of equipment to operate in a matching way is arranged on the machine table 1, the machine table 1 is provided with an annular table 2, an annular supporting table 20 is arranged in the middle of the annular table 2, an annular conveying mechanism 21 arranged along the annular supporting table 20 is arranged at the bottom of the annular supporting table 20, an annular sliding rail 22 arranged along the conveying direction of the annular conveying mechanism 21 is arranged on the outer side of the annular supporting table 20, a plurality of jigs 23 driven by the annular conveying mechanism 21 are arranged on the annular sliding rail 22 in a sliding manner, and a feeding and overturning mechanism 3, a line hunting notch mechanism 4, a line clamping and deconcentrating mechanism 5, a welding mechanism 6, a line cutting and pulling mechanism 7, a soldering mechanism 8, a glue dispensing mechanism 9 and a magnetizing swing disc mechanism 10 are sequentially arranged on the machine table 1 along the conveying direction of the annular conveying mechanism 21; the annular conveying mechanism 21 comprises a synchronous wheel set arranged on the annular table 2 through a shaft, a synchronous belt arranged on the synchronous wheel set, a motor arranged on the machine table 1 and connected with one synchronous wheel at the output end, and a jig 23 connected with the synchronous belt.
In addition, in order to avoid the movement of the jig 23 during the processing of each mechanism, a roller set 230 which is matched with the annular slide rail 22 to slide is arranged at the bottom of the jig 23, the roller sets 230 are arranged at two sides of the annular slide rail 22 to clamp the annular slide rail 22, and a blocking component 24 for blocking the movement of the jig 23 is arranged at the bottom of the annular support table 20; the blocking component 24 comprises a rotating shaft 240, a baffle 241 and a first pushing cylinder 242, wherein the baffle 241 and the first pushing cylinder 242 are arranged on the rotating shaft 240 and correspond to the jigs 23 on each processing mechanism respectively, the output end of the first pushing cylinder is provided with a swinging arm for pushing the rotating shaft 240 to rotate, the swinging arm is driven by the first pushing cylinder 242 to drive the rotating shaft 240 to rotate, the baffle 241 on the rotating shaft 240 rotates towards the jigs 23, the baffle 241 is inserted into a positioning groove on the jigs 23, each mechanism is prevented from moving during processing, the stability during processing is ensured, the quality of products is improved, and meanwhile, the roller group 230 is arranged to clamp and slide the annular slide rail 22 so as to ensure the stability during moving of the jigs 23, and the sign of one side deviation during moving of the jigs 23 is avoided.
Specifically, the feeding and tilting mechanism 3 includes feeding manipulator 30 and tilting assembly, tilting assembly includes base 31, be equipped with the vertical slide rail that has slide 32 at base 31, slide 32 is equipped with rotary device 33, be equipped with on rotary device 33 by rotary device 33 drive rotatory tongs 34, in this embodiment rotary device 33 can drive tongs 34 rotatory 180 degrees, and the base 31 that deviates from vertical slide rail one side is equipped with the first telescopic cylinder 35 that the output is connected with slide 32, move about along vertical slide rail through first telescopic cylinder 35 drive slide 32, in order to adjust tongs 34's position, make tongs 34 can be better snatch the voice coil loudspeaker voice coil, be equipped with the sucking disc 36 that is used for adsorbing the voice coil loudspeaker voice coil on the base 31 of rotary device 33 both sides, during operation, feeding manipulator 30 snatchs the voice coil loudspeaker voice coil that waits to process in the tray and transfers to one side on sucking disc 36, adsorb the voice coil loudspeaker voice coil by sucking disc 36, simultaneously, after grabbing the voice coil loudspeaker voice coil 34 rotation, the tongs 34 rotation 180 degrees are driven to the rotary device 33, place on the voice coil loudspeaker voice coil 36 of opposite side after overturning 180 degrees, the wire saw coil loudspeaker voice coil, the manual wire system is improved through the wire hunting, the automatic wire system is realized, the wire system is cut off, and the wire system is improved.
It should be noted that, the machine 1 near one side of the feeding manipulator 30 is provided with a lifting device 100 for placing trays, the trays are lifted one by the lifting device 100, a worker only needs to place the stacked trays on the lifting device 100, and the feeding manipulator 30 conveys voice coils on the trays one by one, so as to reduce the labor intensity of the worker, and realize that one person can operate a plurality of devices; in addition, in the present embodiment, the rotating device 33 adopts the rotating cylinder 108, in other embodiments, the rotating device 33 may adopt a motor, or other rotation modes to realize rotation, which is not described in detail in the present embodiment; in addition, the gripper 34 employs an air gripper.
In order to enable the subsequent wire clamping and branching mechanism 5 to rapidly branch wires, the problem that the wire clamping and branching mechanism 5 cannot finish branching is avoided, the wire guiding device 4 is required to be adjusted to a uniform direction, the wire guiding device 4 is arranged, the wire guiding device 4 is used for adjusting the wire guiding direction of the voice coil to facilitate the wire clamping and branching mechanism 5 to clamp wires, the wire guiding device 4 comprises a mechanical arm 40 and a rotating device 42, an output end of the rotating device 42 is provided with a first suction nozzle 41, the first suction nozzle 41 adsorbs the voice coil on the gripper 34, the rotating device 42 rotates the voice coil, a light sensing device 43 fixed at the tail end of the mechanical arm 40 is arranged at the side of the first suction nozzle 41, the light sensing device 43 is electrically connected with the mechanical arm 40, the rotating device 42 rotates the wire guiding device 43 to sense the wire guiding of the voice coil, after the light sensing device 43 senses the wire guiding direction, signals are fed back to the rotating device 42, the rotating device 42 is stopped to operate after receiving the signals, the wire guiding direction is uniform, the voice coil guiding position is adjusted, the adsorbed voice coil is transferred to the jig 23 by the mechanical arm 40, and the jig 23 is transferred to the wire clamping and the wire branching mechanism 5 by the annular conveying mechanism 21. It should be noted that, in this embodiment, the rotating device 42 may be a motor, in other embodiments, the rotating device 42 may be an air cylinder, or may be rotated by other rotation methods, which is not described in detail in this embodiment.
The wire clamping and branching mechanism 5 is mainly used for separating long leads and short leads of a voice coil, the wire clamping and branching mechanism 5 comprises a long wire branching component 51 used for branching the long leads and a short wire branching component 51 used for branching the short leads, and the long wire branching component 51 and the short wire branching component 51 have the same structure, and comprise a wire clamping component 50 arranged on the annular supporting table 20 and a wire branching component 51 arranged on the machine table 1; the wire clamping assembly 50 comprises a first Y-axis horizontal moving mechanism 501 and a first air jaw 502 which is arranged on the first Y-axis horizontal moving mechanism 501 and is driven to advance by the first Y-axis horizontal moving mechanism 501, two L-shaped connecting rods 503 which face opposite directions are arranged on two grippers of the first air jaw 502, the tail ends of the two L-shaped connecting rods 503 are respectively connected with a connecting rod 504, the tail ends of the two connecting rods 504 are respectively provided with clamping pieces 505 which are clamped with each other, and when the wire clamping assembly works, the first air jaw 502 is pushed by the first Y-axis horizontal moving mechanism 501 to move forward so that the first air jaw 502 is close to a voice coil on the jig 23, the first air jaw 502 is started, the clamping pieces 505 at the tail ends of the two connecting rods 504 clamp the clamping wires, and the clamping pieces 505 are installed on the connecting rods 504 through the two L-shaped connecting rods 503 which are arranged in a reverse direction, so that collision of the jig 23 can be avoided;
in addition, after the clamping piece 505 clamps the lead, the lead is separated by the separating component 51, the separating component 51 comprises a second Y-axis horizontal moving mechanism 511, a first X-axis moving mechanism 512 which is arranged on the upper part and driven to move forward by the second Y-axis horizontal moving mechanism 511, a first Z-axis moving mechanism 513 which is arranged on the first X-axis moving mechanism 512 and driven to move back and forth by the first X-axis moving mechanism 512, and a second air claw 514 which is arranged on the first Z-axis moving mechanism 513 and driven to move up and down by the first Z-axis moving mechanism 513, wherein first clamping blocks are arranged on two grippers of the second air claw 514, and when the voice coil is operated, the second air claw 514 is driven to move by the cooperation of the second Y-axis horizontal moving mechanism 511, the first X-axis moving mechanism 512 and the first Z-axis moving mechanism 513, so that long leads and short leads of the voice coil are bent in opposite directions. It should be noted that
In order to avoid the voice coil that incomplete separated time flows to next mechanism, prevent the flow of defective products, all be provided with visual detection mechanism 11 between double-layered line separation mechanism 5 and welding mechanism 6 and between some gum machine constructs 9 and the material loading subassembly, this visual detection mechanism 11 is used for detecting whether the voice coil loudspeaker voice coil is good or not, this visual detection mechanism 11 includes CC camera 110 and light source 111, CC camera 110 and light source 111 pass through the montant and install on board 1, the light source 111 aligns the voice coil loudspeaker voice coil on tool 23, CC camera 110 shoots the voice coil loudspeaker voice coil through light source 111, and with the information feedback who shoots to PLC control system, judge whether be good or not by PLC control system, be not good product PLC control system and send out the alarm, remind operating personnel.
After detection, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular sliding rail 22 to move to the welding mechanism 6, the welding mechanism 6 performs welding positioning on the lead, the welding mechanism 6 comprises an XY-axis moving platform 60, a second Z-axis moving mechanism 61 arranged on the XY-axis moving platform 60 and a welding head 62 arranged on the second Z-axis moving mechanism 61, the XY-axis moving platform 60 drives the welding head 62 on the second Z-axis moving mechanism 61 to be close to the jig 23, the second Z-axis moving mechanism 61 drives the welding head 62 to move downwards to be close to the lead, and the welding head 62 welds the corresponding position of the lead so as to realize automatic welding, ensure the welding yield of products and the production efficiency.
For better recording the information of each voice coil, the information of each voice coil is effectively traced, and therefore, the voice coil is transferred to the position of the code spraying mechanism after welding is completed by arranging the code spraying mechanism, the code spraying mechanism comprises a code printer (not shown in the figure), the code printer (not shown in the figure) is arranged on the outer side of the machine table 1, and the code printer (not shown in the figure) is used for marking the voice coil with a label or a two-dimensional code.
The wire cutting and pulling mechanism 7, the wire cutting and pulling mechanism 7 is used for cutting off redundant parts of the lead and removing the cut lead, the wire cutting and pulling mechanism 7 comprises a base 70 with a horizontal guide rail and a supporting seat 72 pushed by a second pushing cylinder 71 and arranged on the horizontal guide rail in a sliding way, a vertical guide rail, a first lifting seat 73 arranged on the vertical guide rail in a sliding way and a second telescopic cylinder 74 arranged on the rear side of the supporting seat 72 and pushing the first lifting seat 73 to lift, a vertical connecting shaft 75 is arranged on the first lifting seat 73, a connecting block is arranged on the vertical connecting shaft 75, a group of cutting rods 76 are arranged on the connecting block, cutter blades 77 for cutting long lead and short lead are respectively arranged on the group of cutting rods 76, a group of U-shaped connecting seats 78 are symmetrically arranged on the first lifting seat 73, a group of U-shaped connecting seats 78 are respectively provided with third air claws 79, two grippers of the third air claws 79 are provided with second clamping blocks, and a group of U-shaped connecting seats 78 are also provided with optical fiber sensors for sensing cut leads, when the U-shaped connecting seats work, the second pushing air cylinder 71 pushes the cutter blade 77 on the supporting seat 72 to be close to the jig 23, the second telescopic air cylinder 74 drives the first lifting seat 73 to descend, so that the cutter blade 77 presses down the voice coil leads on the cutting jig 23, when the optical fiber sensors sense the leads while the cutter blade 77 presses down the cut leads, the optical fiber sensors feed back signals to the third air claw 79, so that the third air claw 79 drives the second clamping block to clamp the cut leads, after cutting is finished, the second telescopic air cylinder 74 resets, the first lifting seat 73 is lifted, the cutter blade 77 is separated from the jig 23, then the second pushing air cylinder 71 drives the first lifting seat 73 to return to reset, after resetting, the third air claw 79 loosens the clamped redundant leads, and the redundant leads fall into a recovery box below, for recycling.
The lead wire that accomplishes the cutting needs to carry out soldering tin, drive tool 23 by annular conveying mechanism 21 and drive the voice coil and slide along annular slide rail 22 and remove to soldering tin mechanism 8, this soldering tin mechanism 8 is similar with the structure of welding mechanism 6, this soldering tin mechanism 8 comprises XY axle moving platform 81 and locate the second Z axle moving mechanism 82 on the XY axle moving platform 81 and locate the soldering tin head 83 on the second Z axle moving mechanism 82, drive the soldering tin head 83 on the second Z axle moving mechanism 82 and be close to tool 23 through XY axle moving platform 81, drive soldering tin head 83 by second Z axle moving mechanism 82 and move down and be close to the lead wire again, carry out soldering tin to the corresponding position of lead wire by soldering tin head 83, in order to realize automatic soldering tin, ensure the yield of product soldering tin, and the efficiency of production.
After soldering tin is completed, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular sliding rail 22 to move to the dispensing mechanism 9, glue is smeared on the lead by the dispensing mechanism 9 to be fixed, the dispensing mechanism 9 comprises a third Y-axis horizontal moving mechanism 90, a second X-axis moving mechanism 91 which is arranged on the lead and driven by the third Y-axis horizontal moving mechanism 90 to move forward, a third Z-axis moving mechanism 92 which is arranged on the second X-axis moving mechanism 91 and driven by the second X-axis moving mechanism 91 to move back and forth, and a dispensing nozzle 93 which is arranged on the third Z-axis moving mechanism 92 and driven by the third Z-axis moving mechanism 92 to move up and down, and when the dispensing mechanism is in operation, the dispensing nozzle 93 is matched with the third Y-axis horizontal moving mechanism 90, the second X-axis moving mechanism 91 and the third Z-axis moving mechanism 92 to move the dispensing nozzle 93 to be close to the voice coil, so that the lead is smeared in the moving process; after the glue coating is finished, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to the visual detection mechanism 11, and the visual detection mechanism 11 detects whether defective products are generated.
After detection, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to move to the magnetizing wobble plate mechanism 10, and the magnetizing wobble plate mechanism 10 comprises a magnetizing machine 101, a feeding assembly for conveying the voice coil from the jig 23 to the magnetizing machine 101 and a discharging manipulator 102 for placing the voice coil in the magnetizing machine 101 to a tray; the feeding assembly comprises a bottom plate 103 with a guide rail set and a support 105 which is pushed by a third pushing cylinder 104 and is arranged on the guide rail set in a sliding mode, a second lifting seat 106 is arranged on the support 105 in a sliding mode, a third telescopic cylinder 107 which pushes the second lifting seat 106 is arranged on the support 105, a rotary cylinder 108 is arranged at the top of the second lifting seat 106, a rotary plate 109 is arranged at the output end of the rotary cylinder 108, a second suction nozzle is arranged at the tail end of the rotary plate 109, when the voice coil moves to the right front of the feeding assembly, the third pushing cylinder 104 pushes the second suction nozzle on the support 105 to be close to the jig 23, the third telescopic cylinder 107 drives the second lifting seat 106 to descend, the second lifting seat 106 is driven by the third telescopic cylinder 107 to reset, meanwhile, the third pushing cylinder 104 drives the second lifting seat 106 to retract, the rotary cylinder 108 drives the second suction nozzle to rotate to the magnetizing machine 101, the voice coil on the second suction nozzle is loosened, the voice coil falls into the magnetizing machine 101, the voice coil is automatically placed in the magnetizing machine 101, and the voice coil is automatically placed in the magnetizing machine 101 after the voice coil is placed in the magnetizing machine, and the voice coil is automatically placed in the lifting machine 10.
In the present embodiment, the first Y-axis horizontal movement mechanism 501, the second Y-axis horizontal movement mechanism 511, the first X-axis horizontal movement mechanism 512, the first Z-axis movement mechanism 513, the second Z-axis movement mechanism 82, the third Y-axis horizontal movement mechanism 90, the second X-axis movement mechanism 91, and the third Z-axis movement mechanism 92 may be composed of a motor, a screw, a guide rail, and a slide, and in other embodiments, the first Y-axis horizontal movement mechanism 501, the second Y-axis horizontal movement mechanism 511, the first X-axis movement mechanism 512, the first Z-axis movement mechanism 513, the second Z-axis movement mechanism 82, the third Y-axis horizontal movement mechanism 90, the second X-axis movement mechanism 91, and the third Z-axis movement mechanism 92 may be composed of a motor, a synchronizing wheel, a timing belt, a guide rail, and a slide; in other embodiments, the first Y-axis horizontal movement mechanism 501, the second Y-axis horizontal movement mechanism 511, the first X-axis movement mechanism 512, the first Z-axis movement mechanism 513, the second Z-axis movement mechanism 82, the third Y-axis horizontal movement mechanism 90, the second X-axis movement mechanism 91, and the third Z-axis movement mechanism 92 may also employ a movement module.
In summary, this embodiment provides a voice coil automatic wire-dividing machine, its theory of operation is:
the feeding manipulator 30 transfers the voice coil to be processed on the tray to a sucking disc 36 on one side of the base 31, the sucking disc 36 adsorbs the voice coil, meanwhile, the rotating device 33 drives the gripper 34 to rotate to grasp the voice coil, after grasping the voice coil, the rotating device 33 drives the gripper 34 to rotate 180 degrees, the voice coil is turned over 180 degrees and then is placed on the sucking disc 36 on the other side, and a hunting notch mechanism 4 searches for notches of two leads of the voice coil;
the mechanical arm 40 drives the first suction nozzle 41 to adsorb the voice coil on the suction cup 36, the voice coil is rotated by the rotating device 42, a light sensing device 43 fixed at the tail end of the mechanical arm 40 is arranged at the side of the first suction nozzle 41, the light sensing device 43 is electrically connected with the mechanical arm 40, the rotating device 42 rotates the voice coil to enable the light sensing device 43 to sense the lead wire of the voice coil, after the light sensing device 43 senses the lead wire, a signal is fed back to the rotating device 42, the rotating device 42 stops operating after receiving the signal, so that the lead wire orientation is uniform, after the lead wire position of the voice coil is adjusted, the mechanical arm 40 transfers the adsorbed voice coil to the jig 23, and the annular conveying mechanism 21 transfers the jig 23 to the wire clamping and branching mechanism 5;
the long lead wire and the short lead wire on the wire clamping and branching mechanism 5 are processed according to the mechanism position setting without separating, during operation, the wire clamping assembly 50 clamps wires, the first air jaw 502 is pushed to move forwards by the first Y-axis horizontal moving mechanism 501, the first air jaw 502 is close to the voice coil on the jig 23, the first air jaw 502 is started, the clamping pieces 505 at the tail ends of the two connecting rods 504 clamp and clamp the lead wires, when the clamping pieces 505 clamp and clamp the lead wires to avoid branching, the whole voice coil is pulled, only the lead wires are pulled when branching is ensured, after wire clamping is completed, the wire branching assembly 51 is used for branching, and during operation, the second air jaw 514 is driven to move by the cooperation of the second Y-axis horizontal moving mechanism 511, the first X-axis moving mechanism 512 and the first Z-axis moving mechanism 513, and the long lead wires and the short lead wires of the voice coil are bent towards the opposite directions;
after branching is completed, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to move to the visual detection mechanism 11, the CC camera 110 shoots the voice coil through the light source 111 and feeds back the shot information to the PLC control system, the PLC control system judges whether the voice coil is good or not, the PLC control system gives an alarm if the voice coil is not good, and the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to move to the welding mechanism 6 after detection is completed;
when the welding mechanism 6 works, the welding head 62 on the second Z-axis moving mechanism 61 is driven by the XY-axis moving platform 60 to be close to the jig 23, then the welding head 62 is driven by the second Z-axis moving mechanism 61 to move downwards to be close to the lead, and the corresponding position of the lead is welded by the welding head 62;
in order to better record the information of each voice coil, an ink jet mechanism is arranged for effectively tracing the information of each voice coil, and after welding is completed, the voice coil is transferred to the ink jet mechanism, wherein the ink jet mechanism comprises a code printer (not shown in the figure), the code printer (not shown in the figure) is arranged on the outer side of the machine table 1, and the code printer (not shown in the figure) is used for marking the voice coil with a label or a two-dimensional code;
after coding is completed, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular sliding rail 22 to move to the tangent line drawing mechanism 7, the tangent line drawing mechanism 7 cuts off redundant parts of leads and eliminates the cut leads, when the device works, the second pushing cylinder 71 pushes the cutter blade 77 on the supporting seat 72 to be close to the jig 23, the second telescopic cylinder 74 drives the first lifting seat 73 to descend, so that the cutter blade 77 presses down the voice coil leads on the cutting jig 23, when the optical fiber sensor senses the leads while the cutter blade 77 presses down the leads to be cut, the optical fiber sensor feeds back signals to the third air claw 79, so that the third air claw 79 drives the second clamping block to clamp the cut leads, after cutting is completed, the second telescopic cylinder 74 resets, the first lifting seat 73 is lifted, so that the cutter blade 77 leaves the jig 23, the second pushing cylinder 71 drives the first lifting seat 73 to reset, and after resetting, the third air claw 79 loosens the clamped redundant leads, and the redundant leads fall back into a recovery box below for recovery;
the cut lead wire is required to be soldered, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular sliding rail 22 to move to the soldering mechanism 8, the XY-axis moving platform 81 drives the soldering head 83 on the second Z-axis moving mechanism 82 to be close to the jig 23, the second Z-axis moving mechanism 82 drives the soldering head 83 to move downwards to be close to the lead wire, and the soldering head 83 performs soldering on the corresponding position of the lead wire, so that automatic soldering is realized;
after the soldering tin is finished, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to move to the dispensing mechanism 9, and the third Y-axis horizontal moving mechanism 90, the second X-axis moving mechanism 91 and the third Z-axis moving mechanism 92 are matched to drive the dispensing nozzle 93 to be close to the voice coil, so that the dispensing nozzle 93 can glue the lead in the moving process; after the glue coating is finished, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular slide rail 22 to the visual detection mechanism 11, and the visual detection mechanism 11 detects whether defective products are generated or not;
after detection, the annular conveying mechanism 21 drives the jig 23 to drive the voice coil to slide along the annular sliding rail 22 to move to the magnetizing swing disc mechanism 10, when the voice coil moves to the right front of the upper material assembly, the third pushing cylinder 104 pushes the second suction nozzle on the support 105 to approach the jig 23, the third shrinking cylinder 107 drives the second lifting seat 106 to descend, so that the second suction nozzle adsorbs the voice coil on the jig 23, after adsorption, the second lifting seat 106 is driven to reset by the third shrinking cylinder 107, meanwhile, the third pushing cylinder 104 drives the second lifting seat 106 to retract, after retraction, the rotating cylinder 108 drives the second suction nozzle to rotate, so that the voice coil on the second suction nozzle rotates to the magnetizing machine 101, the second suction nozzle loosens the voice coil, the voice coil falls into the magnetizing machine 101, the voice coil is magnetized by the magnetizing machine 101, and after magnetizing is completed, the voice coil in the magnetizing machine 101 is placed on the tray of the lifting device 10 by the blanking manipulator 102, so that automatic blanking is realized.
In summary, through setting up annular conveying mechanism 21 on board 1 to with material loading and tilting mechanism 3, hunting breach mechanism 4, clamp line branching mechanism 5, welding mechanism 6, tangent line pull out line mechanism 7, soldering tin mechanism 8, point gum mechanism 9 and magnetizing swaying dish mechanism 10 locate annular conveying mechanism 21's direction of delivery in proper order on, rationally lay each functional mechanism on board 1, automatic accomplish each process of voice coil loudspeaker voice coil lead wire, and then reduced the space that equipment occupy, can realize that one or more equipment of alone operation has reduced the cost of labor, and degree of automation is high, has improved work efficiency and product quality greatly.
In this embodiment, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present embodiment can be understood by those of ordinary skill in the art according to the specific circumstances.
In this embodiment, unless explicitly stated and limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, or may include both the first and second features not being in direct contact but being in contact by another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this embodiment belongs. The terms first, second and the like in the description and in the claims, are not used for describing any order, quantity or importance, but are used for distinguishing between different components. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An automatic wire dividing machine for voice coils, comprising:
the machine table is provided with an annular table, an annular supporting table is arranged in the middle of the annular table, an annular conveying mechanism arranged along the annular supporting table is arranged at the bottom of the annular supporting table, an annular sliding rail arranged along the conveying direction of the annular conveying mechanism is arranged at the outer side of the annular supporting table, and a plurality of jigs driven by the annular conveying mechanism are arranged on the annular sliding rail in a sliding manner;
and are sequentially arranged along the conveying direction of the annular conveying mechanism,
the feeding and overturning mechanism comprises a feeding manipulator and an overturning assembly, wherein the feeding manipulator places the voice coil on the overturning assembly, the voice coil is grabbed by a gripper on the overturning assembly, and the gripper is overturned by 180 degrees through a rotating device on the overturning assembly;
the line hunting gap mechanism comprises a mechanical arm and a rotating device, wherein an output end of the rotating device is provided with a first suction nozzle, the rotating device is arranged at the tail end of the mechanical arm and is used for adsorbing a voice coil on a gripper, the rotating device rotates the voice coil, a light ray sensing device fixed at the tail end of the mechanical arm is arranged at the side of the first suction nozzle, the light ray sensing device is electrically connected with the mechanical arm, and the rotating device rotates the voice coil to enable the light ray sensing device to sense a lead wire of the voice coil;
the wire clamping and branching mechanism comprises a long wire branching component for branching long leads and a short wire branching component for branching short leads;
the welding mechanism is used for welding and positioning the lead wire of the voice coil;
the wire cutting and pulling mechanism is used for cutting off redundant parts of the lead and removing the cut lead;
the soldering mechanism is used for soldering the lead wires;
the dispensing mechanism is used for coating glue on the lead;
the magnetizing swing disc mechanism comprises a magnetizing machine, a feeding assembly used for conveying voice coils from a jig to the magnetizing machine, and a discharging manipulator used for placing the voice coils in the magnetizing machine to a tray.
2. The automatic voice coil branching machine of claim 1, further comprising 2 visual detection mechanisms, wherein the visual detection mechanisms are respectively arranged between the wire clamping branching mechanism and the welding mechanism and between the dispensing mechanism and the feeding assembly, and the visual detection mechanisms comprise a CC camera and a light source.
3. The automatic voice coil branching machine according to claim 1, wherein a roller group which slides in a matched manner with the annular slide rail is arranged at the bottom of the jig, the roller groups are arranged at two sides of the annular slide rail to clamp the annular slide rail, and a blocking component for blocking the movement of the jig is arranged at the bottom of the annular support table;
the blocking assembly comprises a rotating shaft, a stop block arranged on the rotating shaft and corresponding to the jig on each processing mechanism, and a first pushing cylinder with an output end provided with a swing arm for pushing the rotating shaft to rotate.
4. The automatic wire dividing machine for voice coil according to claim 1, wherein the turnover assembly is further provided with a base, a vertical sliding rail with a sliding seat is arranged on the base, the rotating device is arranged on the sliding seat, the base on one side away from the vertical sliding rail is provided with a first telescopic cylinder, the output end of which is connected with the sliding seat, and sucking discs for sucking the voice coil are arranged on the bases on two sides of the rotating device.
5. The automatic voice coil branching machine according to claim 1, wherein the long wire branching assembly and the short wire branching assembly have the same structure, and the automatic voice coil branching machine comprises a wire clamping assembly arranged on the annular supporting table and a wire branching assembly arranged on the machine table;
the wire clamping assembly comprises a first Y-axis horizontal moving mechanism and a first air claw which is arranged on the first Y-axis horizontal moving mechanism and driven to advance by the first Y-axis horizontal moving mechanism, two L-shaped connecting rods which face opposite directions are arranged on two grippers of the first air claw, the tail ends of the two L-shaped connecting rods are respectively connected with a connecting rod, and the tail ends of the two connecting rods are respectively provided with clamping pieces which are clamped with each other;
the branching assembly comprises a second Y-axis horizontal moving mechanism, a first X-axis moving mechanism, a first Z-axis moving mechanism, a second air claw and first clamping blocks, wherein the first X-axis moving mechanism is arranged on the second Y-axis horizontal moving mechanism and driven by the second Y-axis horizontal moving mechanism to move forward, the first Z-axis moving mechanism is arranged on the first X-axis moving mechanism and driven by the first X-axis moving mechanism to move back and forth, the second air claw is arranged on the first Z-axis moving mechanism and driven by the first Z-axis moving mechanism to move up and down, and the first clamping blocks are arranged on the two grippers of the second air claw.
6. The automatic wire-dividing machine of claim 1, wherein the welding mechanism comprises an XY axis moving platform, a second Z axis moving mechanism arranged on the XY axis moving platform, and a welding head arranged on the second Z axis moving mechanism.
7. The automatic voice coil branching machine of claim 1, further comprising a code spraying mechanism, wherein the code spraying mechanism is arranged between the welding mechanism and the wire cutting and pulling mechanism, the code spraying mechanism is used for marking the voice coil with a label or a two-dimensional code, the code spraying mechanism comprises a code printing machine, and the code printing machine is arranged on the outer side of the machine.
8. The automatic voice coil branching machine according to claim 1, wherein the wire cutting and pulling mechanism comprises a base with a horizontal guide rail and a supporting seat pushed by a second pushing cylinder and arranged on the horizontal guide rail in a sliding manner, a vertical guide rail, a first lifting seat arranged on the vertical guide rail in a sliding manner, and a second telescopic cylinder arranged on the rear side of the supporting seat and pushing the first lifting seat to lift, a vertical connecting shaft is arranged on the first lifting seat, a connecting block is arranged on the vertical connecting shaft, a group of cutting rods are arranged on the connecting block, cutter blades for cutting long wires and short wires are respectively arranged on the group of cutting rods, a group of U-shaped connecting seats are symmetrically arranged on the first lifting seat, third air claws are respectively arranged on the group of U-shaped connecting seats, second clamping blocks are arranged on two grippers of the third air claws, and an optical fiber sensor for sensing cut wires is further arranged on the group of U-shaped connecting seats.
9. The automatic voice coil dispenser of claim 1, wherein the dispensing mechanism comprises a third Y-axis horizontal movement mechanism, a second X-axis movement mechanism arranged on the third Y-axis horizontal movement mechanism and driven to move forward by the third Y-axis horizontal movement mechanism, a third Z-axis movement mechanism arranged on the second X-axis movement mechanism and driven to move back and forth by the second X-axis movement mechanism, and a dispensing nozzle arranged on the third Z-axis movement mechanism and driven to move up and down by the third Z-axis movement mechanism.
10. The automatic voice coil branching machine according to claim 1, wherein the feeding assembly comprises a bottom plate with a guide rail group and a support which is pushed by a third pushing cylinder and is arranged on the guide rail group in a sliding manner, a second lifting seat is arranged on the support in a sliding manner, a third shrinkage cylinder for pushing the second lifting seat is arranged on the support, a rotary cylinder is arranged at the top of the second lifting seat, a rotary plate is arranged at the output end of the rotary cylinder, and a second suction nozzle is arranged at the tail end of the rotary plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410061335.8A CN117714966A (en) | 2024-01-16 | 2024-01-16 | Automatic wire dividing machine for voice coil |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410061335.8A CN117714966A (en) | 2024-01-16 | 2024-01-16 | Automatic wire dividing machine for voice coil |
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| CN117714966A true CN117714966A (en) | 2024-03-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118405481A (en) * | 2024-07-02 | 2024-07-30 | 赫比(成都)精密塑胶制品有限公司 | Product transfer device and automation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118405481A (en) * | 2024-07-02 | 2024-07-30 | 赫比(成都)精密塑胶制品有限公司 | Product transfer device and automation system |
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