CN201371299Y - Tin soldering robot- fully automatic tin soldering machine - Google Patents
Tin soldering robot- fully automatic tin soldering machine Download PDFInfo
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- CN201371299Y CN201371299Y CN200920079840U CN200920079840U CN201371299Y CN 201371299 Y CN201371299 Y CN 201371299Y CN 200920079840 U CN200920079840 U CN 200920079840U CN 200920079840 U CN200920079840 U CN 200920079840U CN 201371299 Y CN201371299 Y CN 201371299Y
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- stepper motor
- metallic plate
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- clamp
- soldering
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Abstract
The utility model provides a tin soldering robot, pertaining to the application of robots in the technical field of tin soldering. The tin soldering robot comprises an automatic manipulator, an X-direction motion system, a Y-direction moving system, a motion control system, a temperature control system, an automatic soldering tin adding system, a tin soldering furnace, a power supply circuit and a machine frame. Under the control of a single-chip computer, the tin soldering robot can automatically complete tasks including catching up circuit boards to be soldered, applying scaling powder, infrared preheating and drying, soldering tin, stripping plates, controlling the temperature of a solder furnace, automatically adding soldering tin and the like. The tin soldering robot can precisely ensure that the time for tin soldering and the angle of a soldering point leaving a tin surface. Compared with tin soldering by hands, the tin soldering robot has delicate soldering point and lowest cost, and not only can improve soldering quality, but also greatly improve working efficiency. With low price and good quality, the tin soldering robot is one of ideal and practical machines of small and medium-sized electronics enterprises, which is applicable to long-splice or short-splice technological tin soldering and can be directly connected with production lines.
Description
Technical field
The utility model relates to a kind of soldering robot, particularly a kind of soldering robot of circuit board welding usefulness.
Background technology
Crest welder commonly used need produce crest and weld, and power consumption is big.Semi-automatic plane tin soldering machine needs manually-operated.
The utility model content
In order to overcome above-mentioned deficiency, the utility model provides a kind of soldering robot.It is by automatic manipulator, directions X kinematic system, and Y direction kinematic system, kinetic control system, temperature control system, scolding tin added automatically system, soldering stove, power supply circuits and frame are formed.It is characterized in that
Described automatic manipulator by stepper motor C, can opening and closing claw and the rotation of stepper motor C is converted to the mechanical composition of the opening and closing of claw; Described Y direction kinematic system converts the mechanical composition that manipulator moves along the Y direction to by stepper motor B with the rotation of stepper motor B; Described directions X kinematic system converts the mechanical composition that the system of manipulator and Y direction motion moves along directions X to by stepper motor A with the rotation of stepper motor A; Described kinetic control system is made up of single-chip microcomputer, stepper motor driving circuit and photoelectricity positioning circuit; Described temperature control system is made up of temperature sensor, temperature signal amplifying circuit, temperature preset circuit and temperature-control circuit; Described scolding tin added automatically system is by tin amount testing circuit and automatic tin supplying mechanical composition; Described soldering stove is made up of steel pot and electric heater.
The U4 of described control circuit and the D0 of U6, D1, D2, D3, D4, D5, D6, D7, corresponding one by one, respectively with the P0.0 of single-chip microcomputer U1, P0.1, P0.2, P0.3, P0.4, P0.5, P0.6, P0.7 is connected, the Q0 of U4, Q1, Q2, Q3, Q4, Q5, Q6, corresponding one by one respectively with the D0 of U2, D1, D2, D3, D4, D5, D6 is connected with resistance R 1, the Q0 of U2, Q1, Q2, Q3 is corresponding one by one to be connected with the pin of stepper motor A respectively, the Q7 of U4, the P24 of U1, P25, P26, P27, corresponding one by one respectively with the D0 of U3, D1, D2, D3, D4 is connected with resistance R 2, the Q4 of U2, Q5, Q6, the Q0 of U3, correspondence is connected with the pin of stepper motor B respectively one by one, the Q1 of U3, Q2, Q3, Q4, correspondence is connected with the pin of stepper motor C respectively one by one, the OE ground connection of U4, the LE of U4 meets the P15 of U1, the A of charactron U5, B, C, D, E, F, G, corresponding one by one, respectively with the D0 of U7, D1, D2, D3, D4, D5, D6 is connected with resistance R 0,4 pin and the K switch of U6 are joined, 1 end of K, the end of C6 and the end of R14 join, 2 ends of K and the centre cap of W join, the end of W, the other end ground connection of C 6, another termination Vcc of W, 19 pin of another termination U6 of R14, the WR of U6, RD respectively with the WR of U1, RD joins, the CS of U6 meets the P23 of U1, the INT of U6 meets the INT0 of U1, the VIN of U6 connects the output of U9,7 of U6,8,10 pin ground connection, 10 of U1,11 pin meet the A of U7 respectively, B and CP pin, the MR of U7 meets Vcc, R9, the end ground connection of R10 and C4, the emitter stage of T1, the T0 of another termination U1 of R9 and C4, the base stage of T1 connects the negative electrode of D2, D1, the anode of D2 and the colelctor electrode of T1 meet Vcc, circuit DG1, DG1, DG2, DG3, the output of DG4 meets 15 of U1 respectively, 13,8 and 6 pin, the D1 of stepper motor and drive circuit D thereof, D2 meets 1 of U1 respectively, 2 pin, the R10 of DG4 and the junction of D1 disconnect and connect two copper cash, the P16 of the termination U1 of the base stage of T2 and R11, R11, another termination Vcc of R12, the anode of the termination D3 of R12, the negative electrode of D3 connects the colelctor electrode of T2, the grounded emitter of T2, the G of T3 connects the negative electrode of D4, the anode of D4, the M2 of the termination T3 of R13 and RL, the end of C5 and the M1 of T3 connect and exchange an end of 220 volts, the other end of another termination RL of 220 volts, the other end of another termination C5 of R13, U2, U3 is a stepper motor driving circuit, and P12 is through K switch 2 ground connection.
Described X, the transmission that turns to the screw mandrel rotating shaft of the stepper motor of Y direction kinematic system and automatic manipulator, can adopt direct drive-type, gear drive or belt drive, the essence of described direct drive-type is that the rotating shaft of stepper motor is a screw mandrel, the stepper motor A of the directions X kinematic system of described direct drive-type and rotating shaft 46, polished rod 7 and photoelectricity locator 49 all are fixed on the metallic plate 40, little metallic plate 42 has two circular holes 41 that can allow polished rod 7 slide therein, on little metallic plate 42, be fixed with frequency modulated light plate 48, clamp 45 and connecting rod 1 with nut function, an end of 2, connecting rod 1,2 the other end is fixed on the metallic plate 19, the mutual alignment of metallic plate 19 and metallic plate 40 can be parallel, it also can be vertical fixing, clamp 45 can be a nut in the rotating shaft 46, and clamp 45 is stuck in the rotating shaft 46.
The stepper motor B and the rotating shaft 4 thereof of the Y direction kinematic system of described direct drive-type, polished rod 12,9, connecting rod 1,2 and photoelectricity locator 53 all are fixed on the metallic plate 19, little metallic plate 15 has two circular holes 17 that can allow polished rod 12 slide therein, on little metallic plate 15, be fixed with frequency modulated light plate 52, have the clamp 5 of nut function and an end of connecting rod 11, the other end of connecting rod 11 is fixed on the metallic plate 20, and clamp 5 can be a nut in the rotating shaft 4, and clamp 5 is stuck in the rotating shaft 4.
The stepper motor C of the automatic manipulator of described direct drive-type and rotating shaft 23 thereof, polished rod 36,29, connecting rod 11, have and to make polished rod 12,9 respectively 38, the metalwork that is free to slide in 21 the circular hole all is fixed on the metallic plate 20, little metallic plate 34 has two circular holes 35 that can allow polished rod 36 slide therein, on little metallic plate 34, be fixed with frequency modulated light plate 50, have the clamp 24 of nut function and an end of connecting rod 30, the other end of connecting rod 30 is fixed on the disk 26, a plurality of apertures are arranged on the disk 26, on claw, be fixed with a copper conductor, under the effect of the forward and reverse rotation of stepper motor, claw can open, closed, clamp 24 can be a nut in the rotating shaft 23, and clamp 24 is stuck in the rotating shaft 23.
The stepper motor A of the directions X kinematic system of described gear driven type, polished rod 7, photoelectricity locator 49 all is fixed on the metallic plate 40, screw mandrel 64 by bearing fixing on metallic plate 40, on the rotating shaft 46 of stepper motor and screw mandrel 64, be fixed with a gear 63 respectively, 62, little metallic plate 42 has two circular holes 41 that can allow polished rod 7 slide therein, on little metallic plate 42, be fixed with frequency modulated light plate 48, clamp 45 and connecting rod 1 with nut function, an end of 2, connecting rod 1,2 the other end is fixed on the metallic plate 19, the mutual alignment of metallic plate 19 and metallic plate 40 can be parallel, it also can be vertical fixing, clamp 45 can be a nut on the screw mandrel 64, and clamp 45 is stuck on the screw mandrel 64.
The stepper motor B of the Y direction kinematic system of described gear driven type, polished rod 12,9, connecting rod 1,2 and photoelectricity locator 53 all be fixed on the metallic plate 19, screw mandrel 56 by bearing fixing on metallic plate 19, on the rotating shaft 4 of stepper motor and screw mandrel 56, be fixed with a gear 57 respectively, 55, little metallic plate 15 has two circular holes 17 that can allow polished rod 12 slide therein, on little metallic plate 15, be fixed with frequency modulated light plate 52, have the clamp 5 of nut function and an end of connecting rod 11, the other end of connecting rod 11 is fixed on the metallic plate 20, clamp 5 can be a nut on the screw mandrel 56, and clamp 5 is stuck on the screw mandrel 56.
The stepper motor C of the automatic manipulator of described gear driven type, polished rod 36,29, connecting rod 11, have and to make polished rod 12,9 respectively at circular hole 38,21 metalworks that are free to slide all are fixed on the metallic plate 20, screw mandrel 24 by bearing fixing on metallic plate 20, on the rotating shaft of stepper motor and screw mandrel, be fixed with a gear 59 respectively, 60, little metallic plate 34 has two circular holes 35 that can allow polished rod 36 slide therein, on little metallic plate 34, be fixed with frequency modulated light plate 50, have the clamp 24 of nut function and an end of connecting rod 30, the other end of connecting rod 30 is fixed on the disk 26, a plurality of apertures are arranged on the disk 26, on claw, be fixed with a copper conductor, under the effect of the forward and reverse rotation of stepper motor, claw can open, closure, clamp 24 can be nuts in the rotating shaft 23, and clamp 24 is stuck in the rotating shaft 23.
Described automatic tin supplying machinery is by fixing cogged stepper motor, cylinder and solder stick or the tin bar guide groove is formed in the rotating shaft, the synthetic hole of gear and cylinder is identical with the cross section of Xi Si or tin bar.
Compared with prior art, the beneficial effects of the utility model are: under the control of one-chip computer, can finish automatically and pick up circuit board to be welded, apply scaling powder, infrared preheating oven dry, scolding tin, unload the work such as interpolation automatically of plate, the control of tin furnace temperature, scolding tin.Can guarantee accurately that soldering time and pad leave the angle of tin face.With manually compare, the solder joint of soldering robot is exquisite reliable, cost is minimum, can not only improve welding quality, simultaneously improved operating efficiency greatly, good and cheap, be one of the ideal of middle-size and small-size electronic enterprise and practical machine, be applicable to long inserting or the short technology scolding tin of inserting, can be directly and streamline join.
Description of drawings
Fig. 1 is the circuit theory diagrams of soldering of the present utility model robot.
Fig. 2 A, 2B, 2C are first embodiment of the present utility model.
Fig. 3 A, 3B, 3C are second embodiment of the present utility model.
Fig. 4 is an outline drawing of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is elaborated.
First embodiment of the present utility model.
In Fig. 2, A, B, C stepper motor, 4,23,46 stepper motor rotating shafts, 7,9,12,29,36 polished rods, 15,34,42 little metallic plates, 17,35,41,21,38 circular holes, 1,2,11,30 connecting rods, 48,50,52 light barriers, 26 disks, 27 retainer rings, 28 claws, 49,51,53 light-sensitive devices, 10,31,47 bearings, 6,8,13,18,25,32,37,39,43 fixtures, 19,20,40 metallic plates.
Directly the soldering robot of drive-type is under the control of single-chip microcomputer, and on directions X, stepper motor A rotates, and makes the kinematic system of Y direction move to the A point, and under the effect of stepper motor B and C, manipulator is picked up circuit board to be welded; Stepper motor A reruns, and makes the kinematic system of Y direction move to the B point, under the effect of stepper motor B and C, and manipulator is caught circuit board coating scaling powder to be welded; Stepper motor A reruns, and makes the kinematic system of Y direction move to the C point, makes circuit board to be welded carry out the infrared preheating oven dry of timing; Stepper motor A reruns, make the kinematic system of Y direction move to the D point, under the effect of stepper motor B and C, manipulator catches circuit board to be welded to carry out timing scolding tin, stepper motor A reruns, make the kinematic system of Y direction move to the E point, under the effect of stepper motor B and C, manipulator puts down the circuit board that welds.Stepper motor A antiport makes the kinematic system of Y direction move back to the A point, repeats above-mentioned work.
Second embodiment of the present utility model: the soldering robot of gear driven type.
In Fig. 2, A, B, C stepper motor, 4,23,46 stepper motor rotating shafts, 7,9,12,29,36 polished rods, 15,34,42 little metallic plates, 17,35,41,21,38 circular holes, 1,2,11,30 connecting rods, 48,50,52 light barriers, 26 disks, 27 retainer rings, 28 claws, 49,51,53 light-sensitive devices, 10,31,47,54,58,61 bearings, 6,8,13,18,25,32,37,39,43 fixtures, 19,20,40 metallic plates, 55,57,59,60,62,63 gears.
As shown in Figure 3, change directly drive as gear drive into, just obtained the soldering robot of gear driven type.Its operation principle is the same with the soldering robot of direct drive-type with the course of work.
The 3rd embodiment of the present utility model: belted soldering robot.Gear drive is changed into belt drive, just obtained belted soldering robot.Its operation principle is the same with the soldering robot of direct drive-type with the course of work.
Claims (9)
1, a kind of soldering robot is characterized in that, described automatic manipulator by stepper motor C, can opening and closing claw and the rotation of stepper motor C is converted to the mechanical composition of the opening and closing of claw; Described Y direction kinematic system converts the mechanical composition that manipulator moves along the Y direction to by stepper motor B with the rotation of stepper motor B; Described directions X kinematic system converts the mechanical composition that the system of manipulator and Y direction motion moves along directions X to by stepper motor A with the rotation of stepper motor A; Described kinetic control system is made up of single-chip microcomputer, stepper motor driving circuit and photoelectricity positioning circuit; Described temperature control system is made up of temperature sensor, temperature signal amplifying circuit, temperature preset circuit and temperature-control circuit; Described scolding tin added automatically system is by tin amount testing circuit and automatic tin supplying mechanical composition; Described soldering stove is made up of steel pot and electric heater.
2, a kind of soldering according to claim 1 robot, it is characterized in that, the U4 of described control circuit and the D0 of U6, D1, D2, D3, D4, D5, D6, D7, corresponding one by one, respectively with the P0.0 of single-chip microcomputer U1, P0.1, P0.2, P0.3, P0.4, P0.5, P0.6, P0.7 is connected, the Q0 of U4, Q1, Q2, Q3, Q4, Q5, Q6, corresponding one by one respectively with the D0 of U2, D1, D2, D3, D4, D5, D6 is connected with resistance R 1, the Q0 of U2, Q1, Q2, Q3 is corresponding one by one to be connected with the pin of stepper motor A respectively, the Q7 of U4, the P24 of U1, P25, P26, P27, corresponding one by one respectively with the D0 of U3, D1, D2, D3, D4 is connected with resistance R 2, the Q4 of U2, Q5, Q6, the Q0 of U3, correspondence is connected with the pin of stepper motor B respectively one by one, the Q1 of U3, Q2, Q3, Q4, correspondence is connected with the pin of stepper motor C respectively one by one, the OE ground connection of U4, the LE of U4 meets the P15 of U1, the A of charactron U5, B, C, D, E, F, G, corresponding one by one, respectively with the D0 of U7, D1, D2, D3, D4, D5, D6 is connected with resistance R 0,4 pin and the K switch of U6 are joined, 1 end of K, the end of C6 and the end of R14 join, 2 ends of K and the centre cap of W join, the end of W, the other end ground connection of C 6, another termination Vcc of W, 19 pin of another termination U6 of R14, the WR of U6, RD respectively with the WR of U1, RD joins, the CS of U6 meets the P23 of U1, the INT of U6 meets the INT0 of U1, the VIN of U6 connects the output of U9,7 of U6,8,10 pin ground connection, 10 of U1,11 pin meet the A of U7 respectively, B and CP pin, the MR of U7 meets Vcc, R9, the end ground connection of R10 and C4, the emitter stage of T1, the T0 of another termination U1 of R9 and C4, the base stage of T1 connects the negative electrode of D2, D1, the anode of D2 and the colelctor electrode of T1 meet Vcc, circuit DG1, DG1, DG2, DG3, the output of DG4 meets 15 of U1 respectively, 13,8 and 6 pin, the D1 of stepper motor and drive circuit D thereof, D2 meets 1 of U1 respectively, 2 pin, the R10 of DG4 and the junction of D1 disconnect and connect two copper cash, the P16 of the termination U1 of the base stage of T2 and R11, R11, another termination Vcc of R12, the anode of the termination D3 of R12, the negative electrode of D3 connects the colelctor electrode of T2, the grounded emitter of T2, the G of T3 connects the negative electrode of D4, the anode of D4, the M2 of the termination T3 of R13 and RL, the end of C5 and the M1 of T3 connect and exchange an end of 220 volts, the other end of another termination RL of 220 volts, the other end of another termination C5 of R13, U2, U3 is a stepper motor driving circuit, and P12 is through K switch 2 ground connection.
3, a kind of soldering according to claim 1 robot, it is characterized in that, described X, the transmission that turns to the screw mandrel rotating shaft of the stepper motor of Y direction kinematic system and automatic manipulator, can adopt direct drive-type, gear drive or belt drive, the essence of described direct drive-type is that the rotating shaft of stepper motor is a screw mandrel, the stepper motor A of the directions X kinematic system of described direct drive-type and rotating shaft (46), polished rod (7) and photoelectricity locator (49) all are fixed on the metallic plate (40), little metallic plate (42) has two circular holes (41) that can allow polished rod (7) slide therein, on little metallic plate (42), be fixed with frequency modulated light plate (48), clamp (45) and connecting rod (1) with nut function, (2) a end, connecting rod (1), (2) the other end is fixed on the metallic plate (19), metallic plate (19) can be parallel with the mutual alignment of metallic plate (40), it also can be vertical fixing, clamp (45) can be a nut in the rotating shaft (46), and clamp (45) is stuck in the rotating shaft (46).
4, a kind of soldering according to claim 1 robot, it is characterized in that, the stepper motor B of the Y direction kinematic system of described direct drive-type and rotating shaft (4) thereof, polished rod (12), (9), connecting rod (1), (2) and photoelectricity locator (53) all be fixed on the metallic plate (19), little metallic plate (15) has two circular holes (17) that can allow polished rod (12) slide therein, on little metallic plate (15), be fixed with frequency modulated light plate (52), have the clamp (5) of nut function and an end of connecting rod (11), the other end of connecting rod (11) is fixed on the metallic plate (20), clamp (5) can be a nut in the rotating shaft (4), and clamp (5) is stuck in the rotating shaft (4).
5, a kind of soldering according to claim 1 robot, it is characterized in that, the stepper motor C of the automatic manipulator of described direct drive-type and rotating shaft (23) thereof, polished rod (36), (29), connecting rod (11), have and to make polished rod (12), (9) respectively in (38), (21) metalwork that is free to slide in the circular hole all is fixed on the metallic plate (20), little metallic plate (34) has two circular holes (35) that can allow polished rod (36) slide therein, on little metallic plate (34), be fixed with frequency modulated light plate (50), have the clamp (24) of nut function and an end of connecting rod (30), the other end of connecting rod (30) is fixed on the disk (26), disk has a plurality of apertures on (26), on claw, be fixed with a copper conductor, under the effect of the forward and reverse rotation of stepper motor, claw can open, closed, clamp (24) can be a nut in the rotating shaft (23), and clamp (24) is stuck in the rotating shaft (23).
6, a kind of soldering according to claim 1 robot, it is characterized in that, the stepper motor A of the directions X kinematic system of described gear driven type, polished rod (7), photoelectricity locator (49) all is fixed on the metallic plate (40), screw mandrel (64) by bearing fixing on metallic plate (40), on the rotating shaft (46) of stepper motor and screw mandrel (64), be fixed with a gear (63) respectively, (62), little metallic plate (42) has two circular holes (41) that can allow polished rod (7) slide therein, on little metallic plate (42), be fixed with frequency modulated light plate (48), clamp (45) and connecting rod (1) with nut function, (2) a end, connecting rod (1), (2) the other end is fixed on the metallic plate (19), metallic plate (19) can be parallel with the mutual alignment of metallic plate (40), it also can be vertical fixing, clamp (45) can be a nut on the screw mandrel (64), and clamp (45) is stuck on the screw mandrel (64).
7, a kind of soldering according to claim 1 robot, it is characterized in that, the stepper motor B of the Y direction kinematic system of described gear driven type, polished rod (12), (9), connecting rod (1), (2) and photoelectricity locator (53) all be fixed on the metallic plate (19), screw mandrel (56) by bearing fixing on metallic plate (19), on the rotating shaft (4) of stepper motor and screw mandrel (56), be fixed with a gear (57) respectively, (55), little metallic plate (15) has two circular holes (17) that can allow polished rod (12) slide therein, on little metallic plate (15), be fixed with frequency modulated light plate (52), have the clamp (5) of nut function and an end of connecting rod (11), the other end of connecting rod (11) is fixed on the metallic plate (20), clamp (5) can be a nut on the screw mandrel (56), and clamp (5) is stuck on the screw mandrel (56).
8, a kind of soldering according to claim 1 robot, it is characterized in that, the stepper motor C of the automatic manipulator of described gear driven type, polished rod (36), (29), connecting rod (11), have and to make polished rod (12), (9) respectively in circular hole (38), (21) metalwork that is free to slide all is fixed on the metallic plate (20), screw mandrel (24) by bearing fixing on metallic plate (20), on the rotating shaft of stepper motor and screw mandrel, be fixed with a gear (59) respectively, (60), little metallic plate (34) has two circular holes (35) that can allow polished rod (36) slide therein, on little metallic plate (34), be fixed with frequency modulated light plate (50), have the clamp (24) of nut function and an end of connecting rod (30), the other end of connecting rod (30) is fixed on the disk (26), disk has a plurality of apertures on (26), on claw, be fixed with a copper conductor, under the effect of the forward and reverse rotation of stepper motor, claw can open, closed, clamp (24) can be a nut in the rotating shaft (23), and clamp (24) is stuck in the rotating shaft (23).
9, a kind of soldering according to claim 1 robot, it is characterized in that, described automatic tin supplying machinery is by fixing cogged stepper motor, cylinder and solder stick or the tin bar guide groove is formed in the rotating shaft, the synthetic hole of gear and cylinder is identical with the cross section of Xi Si or tin bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920079840U CN201371299Y (en) | 2009-03-27 | 2009-03-27 | Tin soldering robot- fully automatic tin soldering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920079840U CN201371299Y (en) | 2009-03-27 | 2009-03-27 | Tin soldering robot- fully automatic tin soldering machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201371299Y true CN201371299Y (en) | 2009-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920079840U Expired - Fee Related CN201371299Y (en) | 2009-03-27 | 2009-03-27 | Tin soldering robot- fully automatic tin soldering machine |
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| Country | Link |
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| CN (1) | CN201371299Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223671A (en) * | 2013-05-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Dual-core servo controller for two-degrees-of-freedom high-speed soldering robot |
-
2009
- 2009-03-27 CN CN200920079840U patent/CN201371299Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223671A (en) * | 2013-05-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Dual-core servo controller for two-degrees-of-freedom high-speed soldering robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091230 Termination date: 20110327 |