CN202903451U - An automatic loading and unloading device and system - Google Patents
An automatic loading and unloading device and system Download PDFInfo
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- CN202903451U CN202903451U CN 201220260064 CN201220260064U CN202903451U CN 202903451 U CN202903451 U CN 202903451U CN 201220260064 CN201220260064 CN 201220260064 CN 201220260064 U CN201220260064 U CN 201220260064U CN 202903451 U CN202903451 U CN 202903451U
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- gearing
- automatic loading
- pneumatic suction
- unloading
- pen
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Abstract
The utility model provides an automatic loading and unloading device and system. The automatic loading and unloading device comprises a pneumatic attracting pen used for loading and unloading components, a first transmission device used for driving the pneumatic attracting pen to move along a first direction, a second transmission device used for driving the first transmission device to move along a second direction, a third transmission device used for driving the second transmission device to move along a third direction, and a fourth transmission device used for driving the pneumatic attracting pen to rotate around the axis of the pneumatic attracting pen. Compared with a conventional manual loading and unloading manner, the automatic loading and unloading device effectively reduces damage to the loaded and unloaded components by attracting and releasing the loaded and unloaded components with the pneumatic attracting pen. In addition, the automatic loading and unloading device achieves four dimensional motion of the pneumatic attracting pen by using the four transmission devices in order to convey the components to a corresponding measurement operating position, effectively increasing loading and unloading efficiency.
Description
Technical field
The utility model relates to the photoreceptor detection technique, relates in particular to a kind of automatic loading and unloading device and system.
Background technology
Photographing module (CMOS Camera Module is called for short CCM) is the core devices for various New Generation of Portable picture pick-up devices, compares with traditional camera system to have miniaturization, low-power consumption, low cost, the advantage of high image quality.CCM can be widely used in the fields such as shooting mobile phone, videophone, automobile assistant driving, security monitoring.
For CCM manufacturer, the detection of photoreceptor (SENSOR) is the important step in the CCM production run.By detecting, the quality of photoreceptor can effectively guarantee, avoids underproof photoreceptor to enter the quality that next assembling link affects photographing module.At present, domestic when photoreceptor is detected the modes of artificial filling and discharging that adopt more photoreceptor is placed into detection zone, and the photoreceptor that will detect takes out from detection zone, namely adopts artificial mode material loading and blanking (hereinafter to be referred as upper small powder).This material loading and cutting mode be inefficiency not only, the static electricity on human body also often occurs to the infringement of camera module, causes unnecessary loss.
The utility model content
The utility model provides a kind of automatic loading and unloading device and system, to reduce by the damage of material loading and blanking parts, improves loading and unloading efficient.
The utility model provides a kind of automatic loading and unloading device on the one hand, comprising:
Pneumatic suction pen;
Be used for driving the first gearing that described pneumatic suction pen moves along first direction;
Be used for driving the second gearing that described the first gearing moves along second direction;
Be used for driving the 3rd gearing that described the second gearing moves along third direction;
Be used for driving described pneumatic suction pen along the 4th gearing of self axis rotation;
Wherein, described first direction, second direction and third direction are mutually angle; The first direction power intake of described pneumatic suction pen links to each other with the first direction clutch end of described the first gearing; The second direction power intake of described the first gearing links to each other with the second direction clutch end of described the second gearing; The third direction power intake of described the second gearing links to each other with the third direction clutch end of described the 3rd gearing; The rotary power input end of described pneumatic suction pen links to each other with the rotary power input end of described the 4th gearing.
Aforesaid automatic loading and unloading device, wherein, described pneumatic suction pen comprises: air compressor, the first tee pipe coupling, the second tee pipe coupling, gas piping, the first solenoid valve, the second solenoid valve, first flow variable valve, second adjustable valve, vacuum generator and a suction mouth, wherein
The pressurized air output terminal of described air compressor is connected with the first pipe adapter of described the first tee pipe coupling through described gas piping;
The first pipe adapter of the second pipe adapter of described the first tee pipe coupling, described the first solenoid valve, described first flow variable valve, described vacuum generator and described the second tee pipe coupling connects in turn through described gas piping;
The second pipe adapter of the 3rd pipe adapter of described the first tee pipe coupling, described the second solenoid valve, described second adjustable valve and described the second tee pipe coupling connects in turn through described input pipe;
The 3rd pipe adapter of described the second tee pipe coupling is connected with a described suction mouth.
Aforesaid automatic loading and unloading device, wherein, a described suction mouth is provided with rubber suction cups.
Aforesaid automatic loading and unloading device, wherein, described the first gearing, described the second gearing or described the 3rd gearing comprise: the first motor, leading screw, nut and the first support; Wherein,
The clutch end of described the first motor links to each other with the power intake of described leading screw;
Described leading screw is connected with described nut thread;
Described nut is provided with for the first Connection Block that connects driven member;
Described the first motor is arranged on an end of described the first support, and described leading screw is arranged on described the first support through bearing.
Aforesaid automatic loading and unloading device, wherein, described the first gearing, described the second gearing or described the 3rd gearing comprise: the second motor, Timing Belt, two synchronizing wheels and the second support; Wherein,
The clutch end of described the second motor links to each other through the power intake of the first transmission shaft with the first synchronizing wheel, and described the first transmission shaft is arranged on described the second support through bearing;
Described the second synchronizing wheel is arranged on the second driving shaft, and described second driving shaft is arranged on described the second support through bearing;
Described the first synchronizing wheel and the second synchronizing wheel are pressed the predeterminable range interval and are arranged;
Described Timing Belt winding is on described two synchronizing wheels;
Described Timing Belt is provided with for the second Connection Block that connects driven member.
Aforesaid automatic loading and unloading device, wherein, described the 4th gearing comprises: the 3rd motor; Wherein, the rotary power input end of described the 3rd motor links to each other with the rotary power input end of described pneumatic suction pen.
Aforesaid automatic loading and unloading device comprises that also described image acquisition device is arranged on the described pneumatic suction pen be used to the image acquisition device that gathers a described pneumatic suction material loading time institute adsorption element image.
The utility model provides a kind of automatic loading and unloading system on the other hand, comprise: above-mentioned automatic loading and unloading device and be used for controlling described pneumatic suction pen and draw by the default control program or discharge by the loading and unloading parts, and control described the first gearing, the second gearing, the 3rd gearing and the 4th gearing by the control device of described pre-set programs action; Described control device is connected with the 4th gearing with described pneumatic suction pen, the first gearing, the second gearing, the 3rd gearing respectively.
Technique effect of the present utility model is: the utility model adopts pneumatic suction pen to realize by the absorption of loading and unloading parts and release, and the existing mode that adopts artificial loading and unloading can reduce effectively to by the damage of loading and unloading parts.In addition, the utility model has adopted four gearings to realize the four-dimensional movement of pneumatic suction pen, and parts are transported to corresponding surveying work position, can effectively improve the efficient of loading and unloading.
Description of drawings
The front elevational schematic of the automatic loading and unloading device embodiment that Fig. 1 provides for the utility model;
The schematic top plan view of the automatic loading and unloading device embodiment that Fig. 2 provides for the utility model;
The schematic side view of the automatic loading and unloading device embodiment that Fig. 3 provides for the utility model;
The principle schematic of pneumatic suction pen among the automatic loading and unloading device embodiment that Fig. 4 provides for the utility model;
A concrete structure synoptic diagram of the first gearing, the second gearing or the 3rd gearing among the automatic loading and unloading device embodiment that Fig. 5 provides for the utility model;
The front elevation of another concrete structure synoptic diagram of the first gearing, the second gearing or the 3rd gearing among the automatic loading and unloading device embodiment that Fig. 6 provides for the utility model;
The vertical view of another concrete structure synoptic diagram of the first gearing, the second gearing or the 3rd gearing among the automatic loading and unloading device embodiment that Fig. 7 provides for the utility model.
Embodiment
Shown in Fig. 1,2 and 3, the structural representation of the automatic loading and unloading device embodiment that the utility model provides.Present embodiment comprises: pneumatic suction pen 1, the first gearing 2, the second gearing 3, the 3rd gearing 4 and the 4th gearing 5.Wherein, described pneumatic suction pen 1 is used for material loading and blanking, namely draws parts it is moved to the releasing parts of giving vent to anger behind the destination locations.Described the first gearing 2 is used for driving described pneumatic suction pen 1 along the first direction traveling priority.Described the second gearing 3 is used for driving described the first gearing 2 along the second direction traveling priority, to realize that described pneumatic suction pen 1 is along the second direction traveling priority.Described the 3rd gearing 4 is used for driving described the second gearing 3 along the third direction traveling priority, to realize that described pneumatic suction pen 1 is along the third direction traveling priority.Described the 4th gearing 5 is used for driving described pneumatic suction pen 1 along self axis rotation, so that parts are placed into destination locations by predetermined direction.As shown in Fig. 1,2 and 3, described first direction, second direction and third direction are mutually angle, and the angle between all directions can need according to the motion of reality to set.When practical application, described first direction, second direction and third direction can be mutually 90 degree angles.Particularly, as shown in Fig. 1,2 and 3, described first direction is the Z-direction of three-axis reference, and second direction is the Y direction of three-axis reference, and third direction is the X-direction of three-axis reference.The first direction power intake of described pneumatic suction pen 1 links to each other with the first direction clutch end of described the first gearing 2.The second direction power intake of described the first gearing 2 links to each other with the second direction clutch end of described the second gearing 3.The third direction power intake of described the second gearing 3 links to each other with the third direction clutch end of described the 3rd gearing 4.The rotary power input end of described pneumatic suction pen 1 links to each other with the rotary power input end of described the 4th gearing 5.
Present embodiment adopts pneumatic suction nozzle to realize by the absorption of loading and unloading parts and release, and the existing mode that adopts artificial loading and unloading can reduce effectively to by the damage of loading and unloading parts, especially the photoreceptor in the camera module.In addition, present embodiment has also adopted four gearings to realize the four-dimensional movement of pneumatic suction pen, and parts are transported to corresponding surveying work position, can effectively improve the efficient of loading and unloading.
Particularly, pneumatic suction pen can adopt as shown in Figure 4 structure described in above-described embodiment.As shown in FIG., described pneumatic suction pen comprises: air compressor 101, the first tee pipe coupling 102, the second tee pipe coupling 103, gas piping 104, the first solenoid valve 105, the second solenoid valve 106, first flow variable valve 107, second adjustable valve 108, vacuum generator 109 and a suction mouth 110.The pressurized air output terminal of described air compressor 101 is connected through first pipe adapter of described gas piping 104 with described the first tee pipe coupling 102.The first pipe adapter of the second pipe adapter of described the first tee pipe coupling 102, described the first solenoid valve 105, described first flow variable valve 107, described vacuum generator 109 and described the second tee pipe coupling 103 connects in turn through described gas piping 104.The second pipe adapter of the 3rd pipe adapter of described the first tee pipe coupling 102, described the second solenoid valve 106, described second adjustable valve 108 and described the second tee pipe coupling 103 connects in turn through described input pipe 104.The 3rd pipe adapter of described the second tee pipe coupling 103 is connected with a described suction mouth 110.
Particularly, for the lighter parts of deadweight, photographing module for example, after pneumatic suction pen was drawn parts and sent it to the surveying work position, parts were difficult to fall into the detection station by own wt, therefore the air-flow of pneumatic suction pen have air-breathing with give vent to anger two different directions.The first pipe adapter of the second pipe adapter, the first solenoid valve 105, first flow variable valve 107, vacuum generator 109 and second tee pipe coupling 103 of described the first tee pipe coupling 102 that connects in turn through described gas piping 104 as shown in Figure 4, has consisted of the A gas circuit.The second pipe adapter of the 3rd pipe adapter, the second solenoid valve 106, second adjustable valve 108 and second tee pipe coupling 103 of described the first tee pipe coupling 102 that connects in turn through input pipe 104 has consisted of the B gas circuit.Shunted through the first tee pipe coupling 102 by the pressurized air that air compressor 101 produces, when the first solenoid valve 105 of A gas circuit is opened, and the second solenoid valve 106 of B gas circuit is when cutting out, A gas circuit air-flow arrives vacuum generator 109 through first flow variable valve 107, produce the charge air flow of drawing parts, this air-flow size can be regulated by first flow variable valve 107.When the second solenoid valve 106 of B gas circuit is opened, and the first solenoid valve 105 of A gas circuit is when cutting out, and B gas circuit air-flow is through second adjustable valve 108, become releasing parts required go out entraining air stream, this air-flow size can be regulated by second adjustable valve 108.Two gas circuits are converged after threeway, arrive to inhale pen, and can by this gas circuit of solenoid control on the gas circuit separately, reach at last absorption and the releasing effect of photographing module this moment.
Further, the end of the mouth of suction described in above-described embodiment is provided with rubber suction cups.Rubber suction cups can prevent in feeding process; inhale the direct scuffing that contacts photographing module of tip of the brushstyle of a writing or painting section and photographing module, static is inhaled nib employing rubber suction cups to the damage of photographing module when also preventing from contacting simultaneously; can either avoid static also can play buffer action, the protection photographing module.
The first gearing described in the various embodiments described above, the second gearing and the 3rd gearing are all realized linear drives.Therefore, these three gearings can adopt identical structure to realize.As shown in Figure 5, the first gearing, the second gearing and the 3rd gearing can specifically comprise: the first motor 6, leading screw 7, nut 8 and the first support 9.Wherein, the clutch end of described the first motor 6 links to each other with the power intake of described leading screw 7.Described leading screw 7 is provided with the described nut 8 that is threaded with described leading screw 7.Described nut 8 is provided with for the first Connection Block 10 that connects driven member.Described the first motor 6 is arranged on an end of described the first support 9, and described leading screw 7 is arranged on described the first support 9 through bearing.Wherein, for described the first gearing, the driven member that connects on described the first Connection Block 10 is described pneumatic suction nozzle.For described the second gearing, the driven member that connects on described the first Connection Block 10 is described the first gearing.For described the 3rd gearing, the driven member that connects on described the first Connection Block 10 is described the second gearing.
The first gearing, the second gearing and the 3rd gearing can also adopt following structure to realize except adopting the said structure realization.Particularly, shown in Fig. 6 and 7, the first gearing, the second gearing or the 3rd gearing can specifically comprise: the second motor 11, Timing Belt 12, two synchronizing wheels 13 and the 14 and second support 15.The clutch end of described the second motor 11 links to each other with the power intake of the first synchronizing wheel 13 through the first transmission shaft 16, and described the first transmission shaft 16 is arranged on described the second support 15 through bearing.Described the second synchronizing wheel 14 is arranged on the second driving shaft 17, and described second driving shaft 17 is arranged on described the second support 15 through bearing.Described the first synchronizing wheel 13 and the second synchronizing wheel 14 are pressed the predeterminable range interval and are arranged.Described Timing Belt 12 windings are on described two synchronizing wheels 13 and 14.Described Timing Belt 12 is provided with for the second Connection Block 18 that connects driven member.Equally, for described the first gearing, the driven member that connects on described the second Connection Block 18 is described pneumatic suction nozzle.For described the second gearing, the driven member that connects on described the first Connection Block 18 is described the first gearing.For described the 3rd gearing, the driven member that connects on described the first Connection Block 18 is described the second gearing.
This it should be noted that: because the Timing Belt quality is softer, for the larger driven member of deadweight, Timing Belt can be out of shape because the deadweight of driven member is large, thereby impact is to the driving of driven member.Therefore described the second Connection Block should be set up on described the second support, carries gravity on described the second Connection Block by described the second support, and described Timing Belt is used for driving described the second Connection Block and realizes straight-line displacement.
In addition, compare the screw-nut structure that adopts among Fig. 5, the precision of the synchronizing wheel shown in Fig. 6 and Fig. 7 and Timing Belt structure is low, but will be higher than screw-nut structure on the transmission speed.In actual applications, the specific implementation structure of the first transmitting device, the second transmitting device and the 3rd transmitting device can be selected a kind of in above-mentioned two kinds of implementation structures according to the transmission demand of reality.
Further, the 4th gearing described in above-described embodiment comprises: the 3rd motor.Wherein, the rotary power input end of described the 3rd motor links to each other with the rotary power input end of described pneumatic suction pen, is used for driving described pneumatic suction pen rotation, so that the parts that adsorb on the described pneumatic suction pen are placed on destination locations according to correct direction.
Wherein, in the various embodiments described above, described the first motor, the second motor and the 3rd motor all can adopt stepper motor.The driving frequency of this stepper motor and subdivision accuracy can need according to the driving of reality artificial selected.For example, the optional 500HZ of the driving frequency of described stepper motor, subdivision accuracy are 1/1000.Prove after tested, under this frequency and finely divided state, the stepper motor motion is the most level and smooth, and is stable.Simultaneously in the startup of stepper motor and stop the place, add the program soft start, can effectively avoid the violent shake that causes owing to acceleration is excessive.
Further, the described automatic loading and unloading device of the various embodiments described above also comprises: be used for gathering the image acquisition device of a described pneumatic suction material loading time institute adsorption element image, described image acquisition device is arranged on the described pneumatic suction pen.Certainly, described image acquisition device can also be arranged on other positions of described handling equipment, as long as guarantee that described image collecting device can collect a described pneumatic suction material loading time institute adsorption element image.By described image acquisition device is set, the image of the pneumatic suction material loading time institute adsorption element that described automatic loading and unloading device can gather according to described image acquisition device, judge the direction of described parts, to drive described pneumatic suction pen rotation, make described parts direction as requested be placed on desired location.
The automatic loading and unloading system embodiment that the utility model provides comprises: automatic loading and unloading device and control device.Described control device is used for controlling described pneumatic suction pen by the absorption of default control program or discharges by the loading and unloading parts, and controls described the first gearing, the second gearing, the 3rd gearing and the 4th gearing and move by described pre-set programs.Wherein, described automatic loading and unloading device can adopt the described automatic loading and unloading device of the various embodiments described above.Described control device is connected with the 4th gearing with described pneumatic suction pen, the first gearing, the second gearing, the 3rd gearing respectively.Described control device is exported control signal to the described first, second, third and the 4th gearing respectively according to pre-set programs, the described first, second, third and the 4th gearing is exported driving power separately according to described control signal, rotatablely moves with the traveling priority of three directions realizing pneumatic suction pen and one; And when described pneumatic suction pen moves to the corresponding position, control described pneumatic suction pen according to described pre-set programs and draw unit under test or discharge unit under test, and then finish the loading and unloading process of unit under test.
Further, when being provided with image acquisition device in the described automatic loading and unloading device, the sampled signal input end of described control device links to each other with the sampled signal output terminal of described image acquisition device, described control device is exported corresponding control signal according to the described sampled signal that receives to described the 4th gearing, the pneumatic suction pen rotation of described the 4th actuator drives is so that absorption parts rotation thereon is to the direction that requires.Its concrete course of work is as follows:
At first, image acquisition device gathers the image of the parts of pneumatic suction pen absorption, and the image that collects is delivered to described control device.
Secondly, described control module is compared the image that receives and the standard picture of having stored, and output controls signal to described the 4th gearing accordingly according to comparison result.
Subsequently, described the 4th gearing drives pneumatic suction pen rotation respective angles according to the control signal that receives, so that absorption parts rotation thereon is to the direction that requires.
Again, described control device is exported corresponding steering order successively according to default program, to control respectively the first gearing and the second gearing.Described the first gearing drives described pneumatic suction pen along the first direction displacement according to steering order, described the second gearing drives described the first gearing and pneumatic suction pen jointly along the second direction displacement, so that described pneumatic suction pen moves to setting position according to steering order.
At last, described pneumatic suction pen discharges gas at the controller of described control device, and the parts that are adsorbed on the described pneumatic suction pen are discharged into desired location.
It should be noted that at last: above each embodiment is not intended to limit only in order to the technical solution of the utility model to be described; Although with reference to aforementioned each embodiment the utility model is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps some or all of technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the scope of each embodiment technical scheme of the utility model.
Claims (8)
1. an automatic loading and unloading device is characterized in that, comprising:
Pneumatic suction pen;
Be used for driving the first gearing that described pneumatic suction pen moves along first direction;
Be used for driving the second gearing that described the first gearing moves along second direction;
Be used for driving the 3rd gearing that described the second gearing moves along third direction;
Be used for driving described pneumatic suction pen along the 4th gearing of self axis rotation;
Wherein, described first direction, second direction and third direction are mutually angle; The first direction power intake of described pneumatic suction pen links to each other with the first direction clutch end of described the first gearing; The second direction power intake of described the first gearing links to each other with the second direction clutch end of described the second gearing; The third direction power intake of described the second gearing links to each other with the third direction clutch end of described the 3rd gearing; The rotary power input end of described pneumatic suction pen links to each other with the rotary power input end of described the 4th gearing.
2. automatic loading and unloading device according to claim 1, it is characterized in that, described pneumatic suction pen comprises: air compressor, the first tee pipe coupling, the second tee pipe coupling, gas piping, the first solenoid valve, the second solenoid valve, first flow variable valve, second adjustable valve, vacuum generator and a suction mouth, wherein
The pressurized air output terminal of described air compressor is connected with the first pipe adapter of described the first tee pipe coupling through described gas piping;
The first pipe adapter of the second pipe adapter of described the first tee pipe coupling, described the first solenoid valve, described first flow variable valve, described vacuum generator and described the second tee pipe coupling connects in turn through described gas piping;
The second pipe adapter of the 3rd pipe adapter of described the first tee pipe coupling, described the second solenoid valve, described second adjustable valve and described the second tee pipe coupling connects in turn through described input pipe;
The 3rd pipe adapter of described the second tee pipe coupling is connected with a described suction mouth.
3. automatic loading and unloading device according to claim 2 is characterized in that, a described suction mouth is provided with rubber suction cups.
4. automatic loading and unloading device according to claim 1 and 2 is characterized in that, described the first gearing, described the second gearing or described the 3rd gearing comprise: the first motor, leading screw, nut and the first support; Wherein,
The clutch end of described the first motor links to each other with the power intake of described leading screw; Described leading screw is connected with described nut thread; Described nut is provided with for the first Connection Block that connects driven member; Described the first motor is arranged on an end of described the first support, and described leading screw is arranged on described the first support through bearing.
5. automatic loading and unloading device according to claim 1 and 2 is characterized in that, described the first gearing, described the second gearing or described the 3rd gearing comprise: the second motor, Timing Belt, two synchronizing wheels and the second support; Wherein,
The clutch end of described the second motor links to each other through the power intake of the first transmission shaft with the first synchronizing wheel, and described the first transmission shaft is arranged on described the second support through bearing;
The second synchronizing wheel is arranged on the second driving shaft, and described second driving shaft is arranged on described the second support through bearing;
Described the first synchronizing wheel and the second synchronizing wheel are pressed the predeterminable range interval and are arranged;
Described Timing Belt winding is on described two synchronizing wheels;
Described Timing Belt is provided with for the second Connection Block that connects driven member.
6. automatic loading and unloading device according to claim 1 is characterized in that, described the 4th gearing comprises: the 3rd motor; Wherein, the rotary power input end of described the 3rd motor links to each other with the rotary power input end of described pneumatic suction pen.
7. automatic loading and unloading device according to claim 1 is characterized in that, comprises that also described image acquisition device is arranged on the described pneumatic suction pen be used to the image acquisition device that gathers a described pneumatic suction material loading time institute adsorption element image.
8. automatic loading and unloading system, it is characterized in that, comprise: pneumatic suction pen is drawn by the default control program or is discharged by the loading and unloading parts such as arbitrary described automatic loading and unloading device in the claim 1 to 7 and as described in being used for controlling, and controls described the first gearing, the second gearing, the 3rd gearing and the 4th gearing by the control device of described pre-set programs action; Described control device is connected with the 4th gearing with described pneumatic suction pen, the first gearing, the second gearing, the 3rd gearing respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220260064 CN202903451U (en) | 2012-06-04 | 2012-06-04 | An automatic loading and unloading device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220260064 CN202903451U (en) | 2012-06-04 | 2012-06-04 | An automatic loading and unloading device and system |
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| Publication Number | Publication Date |
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| CN202903451U true CN202903451U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220260064 Withdrawn - After Issue CN202903451U (en) | 2012-06-04 | 2012-06-04 | An automatic loading and unloading device and system |
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| CN (1) | CN202903451U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730412A (en) * | 2012-06-04 | 2012-10-17 | 长春理工大学 | Automatic loading and unloading device and system |
| CN107934060A (en) * | 2017-12-18 | 2018-04-20 | 上海古鳌电子科技股份有限公司 | Cash box identifies clamping and positioning device and method |
-
2012
- 2012-06-04 CN CN 201220260064 patent/CN202903451U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730412A (en) * | 2012-06-04 | 2012-10-17 | 长春理工大学 | Automatic loading and unloading device and system |
| CN102730412B (en) * | 2012-06-04 | 2016-03-23 | 长春理工大学 | Automatic loading and unloading device and system |
| CN107934060A (en) * | 2017-12-18 | 2018-04-20 | 上海古鳌电子科技股份有限公司 | Cash box identifies clamping and positioning device and method |
| CN107934060B (en) * | 2017-12-18 | 2023-09-05 | 上海古鳌电子科技股份有限公司 | Banknote box recognition clamping positioning device and method |
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