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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- 230000005540 biological transmission Effects 0.000 claims abstract description 154
- 230000001360 synchronised effect Effects 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 3
- 101000579646 Penaeus vannamei Penaeidin-1 Proteins 0.000 description 9
- 108091008695 photoreceptors Proteins 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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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 a photoreceptor detects the technique, especially relates to an automatic unloader and system of going up.
Background
A Camera Module (CCM) is a core device used in various new-generation portable Camera devices, and has the advantages of miniaturization, low power consumption, low cost, and high image quality compared with a conventional Camera system. The CCM can be widely applied to the fields of camera phones, video phones, automobile driving assistance, safety monitoring and the like.
For CCM manufacturers, the detection of a photoreceptor (SENSOR) is an important part of the CCM production process. Through detecting, the quality of photoreceptor can effectively be guaranteed, avoids unqualified photoreceptor to get into the quality that next equipment link influences camera module. At present, when the photoreceptors are detected in China, the photoreceptors are placed in a detection area by adopting a manual loading and unloading mode, and the detected photoreceptors are taken out from the detection area, namely, manual feeding and blanking (hereinafter referred to as small feeding) are adopted. The feeding and discharging mode is not only low in efficiency, but also causes unnecessary loss due to the damage of human static electricity to the camera module.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic unloader and system of going up to reduce to by the damage of material loading and unloading part, the unloading efficiency is gone up in the improvement.
An aspect of the utility model is to provide an automatic unloader that goes up, include:
a pneumatic suction pen;
the first transmission device is used for driving the pneumatic suction pen to move along a first direction;
the second transmission device is used for driving the first transmission device to move along a second direction;
the third transmission device is used for driving the second transmission device to move along a third direction;
the fourth transmission device is used for driving the pneumatic suction pen to rotate along the axis of the pneumatic suction pen;
wherein the first direction, the second direction and the third direction form an included angle with each other; the first direction power input end of the pneumatic suction pen is connected with the first direction power output end of the first transmission device; the second direction power input end of the first transmission device is connected with the second direction power output end of the second transmission device; the third-direction power input end of the second transmission device is connected with the third-direction power output end of the third transmission device; and the rotary power input end of the pneumatic suction pen is connected with the rotary power input end of the fourth transmission device.
The automatic loading and unloading device as described above, wherein the pneumatic suction pen comprises: an air compressor, a first three-way pipe joint, a second three-way pipe joint, an air conveying pipe, a first electromagnetic valve, a second electromagnetic valve, a first flow regulating valve, a second flow regulating valve, a vacuum generator and a pen suction nozzle, wherein,
the compressed air output end of the air compressor is connected with a first pipe joint of the first three-way pipe joint through the air conveying pipe;
the second pipe joint of the first three-way pipe joint, the first electromagnetic valve, the first flow regulating valve, the vacuum generator and the first pipe joint of the second three-way pipe joint are sequentially connected through the gas conveying pipe;
the third pipe joint of the first three-way pipe joint, the second electromagnetic valve, the second flow regulating valve and the second pipe joint of the second three-way pipe joint are sequentially connected through the input pipe;
and a third pipe joint of the second three-way pipe joint is connected with the suction pen nozzle.
The automatic loading and unloading device is characterized in that the pen suction nozzle is provided with a rubber sucker.
The automatic loading and unloading device as described above, wherein the first transmission device, the second transmission device or the third transmission device includes: the device comprises a first motor, a lead screw, a nut and a first bracket; wherein,
the power output end of the first motor is connected with the power input end of the lead screw;
the lead screw is in threaded connection with the nut;
the nut is provided with a first connecting seat used for connecting a driven piece;
the first motor is arranged at one end of the first support, and the lead screw is arranged on the first support through a bearing.
The automatic loading and unloading device as described above, wherein the first transmission device, the second transmission device or the third transmission device includes: the second motor, the synchronous belt, the two synchronous wheels and the second bracket; wherein,
the power output end of the second motor is connected with the power input end of the first synchronous wheel through a first transmission shaft, and the first transmission shaft is arranged on the second bracket through a bearing;
the second synchronous wheel is arranged on a second transmission shaft, and the second transmission shaft is arranged on the second bracket through a bearing;
the first synchronizing wheel and the second synchronizing wheel are arranged at intervals according to a preset distance;
the synchronous belt is wound on the two synchronous wheels;
and a second connecting seat used for connecting a driven piece is arranged on the synchronous belt.
The automatic loading and unloading device as described above, wherein the fourth transmission device includes: a third motor; and the rotary power input end of the third motor is connected with the rotary power input end of the pneumatic suction pen.
The automatic loading and unloading device further comprises an image collector for collecting images of the parts adsorbed by the pneumatic suction pen during loading, and the image collector is arranged on the pneumatic suction pen.
The utility model discloses another aspect provides an automatic unloading system of going up, include: the automatic feeding and discharging device comprises the automatic feeding and discharging device and a control device, wherein the control device is used for controlling the pneumatic suction pen to suck or release a fed and discharged part according to a preset control program and controlling the first transmission device, the second transmission device, the third transmission device and the fourth transmission device to act according to the preset program; the control device is respectively connected with the pneumatic suction pen, the first transmission device, the second transmission device, the third transmission device and the fourth transmission device.
The technical effects of the utility model are that: the utility model discloses a pneumatic suction pen realizes the absorption and the release of unloading part on being gone up, adopts the artifical mode of going up of unloading more now, can reduce the damage to unloading part on being gone up effectively. Additionally, the utility model discloses a four-dimensional motion of four transmission in order to realize pneumatic suction pen transports corresponding measurement operating position with the part, can improve the efficiency of last unloading effectively.
Drawings
Fig. 1 is a schematic front view of an embodiment of an automatic loading and unloading device provided by the present invention;
fig. 2 is a schematic top view of an embodiment of the automatic loading and unloading device provided by the present invention;
fig. 3 is a schematic side view of an embodiment of the automatic loading and unloading device provided by the present invention;
fig. 4 is a schematic diagram of a pneumatic suction pen in an embodiment of the automatic loading and unloading device provided by the present invention;
fig. 5 is a schematic structural diagram of a first transmission device, a second transmission device or a third transmission device in an embodiment of the automatic loading and unloading device provided by the present invention;
fig. 6 is a front view of another specific structural schematic diagram of the first transmission device, the second transmission device or the third transmission device in the embodiment of the automatic loading and unloading device provided by the present invention;
fig. 7 is a top view of another specific structural schematic diagram of the first transmission device, the second transmission device or the third transmission device in the embodiment of the automatic loading and unloading device provided by the present invention.
Detailed Description
As shown in fig. 1, 2 and 3, the present invention provides a schematic structural diagram of an embodiment of an automatic loading and unloading device. The embodiment comprises the following steps: the pneumatic suction pen comprises a pneumatic suction pen 1, a first transmission device 2, a second transmission device 3, a third transmission device 4 and a fourth transmission device 5. The pneumatic suction pen 1 is used for feeding and discharging, namely, the suction part moves the pneumatic suction pen to a target position and then the pneumatic suction pen is discharged. The first transmission device 2 is used for driving the pneumatic suction pen 1 to move linearly along a first direction. The second transmission device 3 is used for driving the first transmission device 2 to move linearly along the second direction, so that the pneumatic suction pen 1 moves linearly along the second direction. The third transmission device 4 is used for driving the second transmission device 3 to move linearly along a third direction, so that the pneumatic suction pen 1 moves linearly along the third direction. The fourth transmission device 5 is used for driving the pneumatic suction pen 1 to rotate along the axis of the pneumatic suction pen 1 so as to place the component to the target position according to the preset direction. As shown in fig. 1, 2 and 3, the first direction, the second direction and the third direction form an angle with each other, and the angle between the directions can be set according to actual movement needs. In practical application, the first direction, the second direction and the third direction may form an included angle of 90 degrees with each other. Specifically, as shown in fig. 1, 2, and 3, the first direction is a Z-axis direction of a three-axis coordinate system, the second direction is a Y-axis direction of the three-axis coordinate system, and the third direction is an X-axis direction of the three-axis coordinate system. And a first-direction power input end of the pneumatic suction pen 1 is connected with a first-direction power output end of the first transmission device 2. And a second direction power input end of the first transmission device 2 is connected with a second direction power output end of the second transmission device 3. And the third-direction power input end of the second transmission device 3 is connected with the third-direction power output end of the third transmission device 4. And the rotary power input end of the pneumatic suction pen 1 is connected with the rotary power input end of the fourth transmission device 5.
This embodiment adopts pneumatic suction nozzle to realize being gone up the absorption and the release of unloading part on, adopts the mode of unloading on the manual work than the current, can reduce effectively to being gone up the damage of unloading part on, especially the photoreceptor in the camera module. In addition, this embodiment has still adopted four transmission to realize the four-dimensional motion of pneumatic suction pen, transports the part to corresponding measurement operating position, can improve the efficiency of unloading of going up effectively.
Specifically, the pneumatic suction pen in the above embodiment may adopt a structure as shown in fig. 4. As shown in the drawings, the pneumatic wand includes: the device comprises an air compressor 101, a first three-way pipe joint 102, a second three-way pipe joint 103, a gas pipe 104, a first electromagnetic valve 105, a second electromagnetic valve 106, a first flow regulating valve 107, a second flow regulating valve 108, a vacuum generator 109 and a pen suction nozzle 110. The compressed air output end of the air compressor 101 is connected with the first pipe joint of the first three-way pipe joint 102 through the air conveying pipe 104. The second pipe joint of the first three-way pipe joint 102, the first electromagnetic valve 105, the first flow regulating valve 107, the vacuum generator 109 and the first pipe joint of the second three-way pipe joint 103 are connected in sequence through the gas pipe 104. The third pipe joint of the first three-way pipe joint 102, the second electromagnetic valve 106, the second flow rate regulating valve 108, and the second pipe joint of the second three-way pipe joint 103 are connected in sequence via the input pipe 104. The third pipe joint of the second three-way pipe joint 103 is connected with the pen nozzle 110.
Specifically, after a component with light self weight, such as a camera module, a pneumatic suction pen sucks the component and conveys the component to a measuring work position, the component is difficult to fall into a detection station by the self weight, and therefore the air flow of the pneumatic suction pen has two different directions of air suction and air outlet. As shown in fig. 4, the second pipe joint of the first three-way pipe joint 102, the first electromagnetic valve 105, the first flow regulating valve 107, the vacuum generator 109 and the first pipe joint of the second three-way pipe joint 103, which are connected in sequence via the gas pipe 104, form an a gas path. The third pipe joint of the first three-way pipe joint 102, the second electromagnetic valve 106, the second flow regulating valve 108 and the second pipe joint of the second three-way pipe joint 103 which are connected in sequence through the input pipe 104 form a gas path B. The compressed air generated by the air compressor 101 is branched by the first three-way joint 102, when the first electromagnetic valve 105 of the a air path is opened and the second electromagnetic valve 106 of the B air path is closed, the air flow of the a air path reaches the vacuum generator 109 through the first flow regulating valve 107, and the air flow of the suction part is generated, and the size of the air flow can be regulated by the first flow regulating valve 107. When the second solenoid valve 106 of the B gas path is opened and the first solenoid valve 105 of the a gas path is closed, the gas flow of the B gas path passes through the second flow regulating valve 108 to become the gas outlet flow required by the release component, and the size of the gas flow can be regulated through the second flow regulating valve 108. The two air paths are converged through the tee joint and reach the suction pen, and the air paths can be controlled through the electromagnetic valves on the respective air paths, so that the suction and release effects of the camera module are achieved finally.
Further, in the above embodiments, a rubber suction cup is disposed at an end of the pen nozzle. The rubber suction cup can prevent the scratch of the camera module caused by the direct contact of the end part of the suction pen and the camera module in the feeding process, and meanwhile, the damage of static electricity to the camera module in the contact process is also prevented, and the suction pen head adopts the rubber suction cup, so that the static electricity can be avoided, the buffering effect can be achieved, and the camera module is protected.
The first transmission device, the second transmission device and the third transmission device in the above embodiments all realize linear driving. Thus, the three transmissions can be implemented using the same structure. As shown in fig. 5, the first transmission device, the second transmission device, and the third transmission device may specifically include: first motor 6, lead screw 7, nut 8 and first support 9. Wherein, the power output end of the first motor 6 is connected with the power input end of the screw rod 7. The screw 7 is provided with the nut 8 in threaded connection with the screw 7. The nut 8 is provided with a first connecting seat 10 for connecting a driven piece. The first motor 6 is arranged at one end of the first bracket 9, and the lead screw 7 is arranged on the first bracket 9 through a bearing. Wherein, for the first transmission device, the driven member connected to the first connecting seat 10 is the pneumatic suction nozzle. For the second transmission, the driven member connected to the first connecting seat 10 is the first transmission. For the third transmission device, the driven member connected to the first connecting seat 10 is the second transmission device.
Besides the above structure, the first transmission device, the second transmission device and the third transmission device can also be realized by the following structure. Specifically, as shown in fig. 6 and 7, the first transmission device, the second transmission device, or the third transmission device may specifically include: a second motor 11, a timing belt 12, two timing wheels 13 and 14, and a second carriage 15. The power output end of the second motor 11 is connected with the power input end of the first synchronous wheel 13 through a first transmission shaft 16, and the first transmission shaft 16 is arranged on the second support 15 through a bearing. The second synchronizing wheel 14 is arranged on a second transmission shaft 17, and the second transmission shaft 17 is arranged on the second bracket 15 through a bearing. The first synchronizing wheel 13 and the second synchronizing wheel 14 are arranged at intervals of a preset distance. The synchronous belt 12 is wound on the two synchronous wheels 13 and 14. The synchronous belt 12 is provided with a second connecting seat 18 for connecting a driven member. Also, for the first transmission device, the driven member connected to the second connecting seat 18 is the pneumatic suction nozzle. For the second transmission, the driven member connected to the first connecting seat 18 is the first transmission. For the third transmission, the driven member connected to the first connecting seat 18 is the second transmission.
This is noted as follows: because the synchronous belt is soft, the synchronous belt can deform due to the large dead weight of the driven element, so that the driving of the driven element is influenced. Therefore, the second connecting seat is erected on the second support, the second support bears the gravity on the second connecting seat, and the synchronous belt is used for driving the second connecting seat to realize linear displacement.
In addition, the synchronizing wheel and synchronizing band structures shown in fig. 6 and 7 have a lower accuracy than the lead screw nut structure employed in fig. 5, but have a higher transmission speed than the lead screw nut structure. In practical applications, the specific implementation structures of the first transmission device, the second transmission device and the third transmission device may be one of the two implementation structures according to actual transmission requirements.
Further, the fourth transmission device described in the above embodiment includes: a third motor. And the rotary power input end of the third motor is connected with the rotary power input end of the pneumatic suction pen and used for driving the pneumatic suction pen to rotate so as to enable the component adsorbed on the pneumatic suction pen to be placed at a target position in a correct direction.
In each of the above embodiments, the first motor, the second motor, and the third motor may all be stepping motors. The driving frequency and the subdivision precision of the stepping motor can be manually selected according to actual driving requirements. For example, the driving frequency of the stepping motor can be selected to be 500Hz, and the subdivision precision is 1/1000. Tests prove that the stepping motor moves most smoothly and stably under the frequency and the subdivision state. Meanwhile, program soft start is added at the start and stop positions of the stepping motor, so that severe shaking caused by overlarge acceleration can be effectively avoided.
Further, the automatic loading and unloading device in each of the above embodiments further includes: the image collector is used for collecting images of the parts adsorbed by the pneumatic suction pen during feeding, and the image collector is arranged on the pneumatic suction pen. Of course, the image collector can also be arranged at other positions of the loading and unloading device, so long as the image collector can collect images of the adsorbed parts when the pneumatic suction pen is used for loading. Through setting up the image collector, automatic unloader that goes up can be based on the image of the part that adsorbs when the pneumatic suction pen material loading that the image collector was gathered, judge the direction of part to drive the pneumatic suction pen is rotatory, makes the part is placed at the settlement position according to the direction of requirement.
The utility model provides an unloading system embodiment in automation, include: automatic unloader and controlling means go up. The control device is used for controlling the pneumatic suction pen to suck or release the loaded and unloaded parts according to a preset control program and controlling the first transmission device, the second transmission device, the third transmission device and the fourth transmission device to act according to the preset program. The automatic loading and unloading device can adopt the automatic loading and unloading device in each embodiment. The control device is respectively connected with the pneumatic suction pen, the first transmission device, the second transmission device, the third transmission device and the fourth transmission device. The control device respectively outputs control signals to the first transmission device, the second transmission device, the third transmission device and the fourth transmission device according to a preset program, and the first transmission device, the second transmission device, the third transmission device and the fourth transmission device respectively output driving power according to the control signals so as to realize linear movement and rotary movement of the pneumatic suction pen in three directions; and controlling the pneumatic suction pen to suck the tested part or release the tested part according to the preset program when the pneumatic suction pen moves to the corresponding position, thereby completing the loading and unloading process of the tested part.
Further, when an image collector is arranged in the automatic loading and unloading device, a sampling signal input end of the control device is connected with a sampling signal output end of the image collector, the control device outputs a corresponding control signal to the fourth transmission device according to the received sampling signal, and the fourth transmission device drives the pneumatic suction pen to rotate so that parts adsorbed on the pneumatic suction pen rotate to a required direction. The specific working process is as follows:
firstly, the image collector collects the image of the part adsorbed by the pneumatic suction pen and transmits the collected image to the control device.
Secondly, the control unit compares the received image with the stored standard image, and outputs a corresponding control signal to the fourth transmission device according to the comparison result.
And then, the fourth transmission device drives the pneumatic suction pen to rotate by a corresponding angle according to the received control signal so as to rotate the component adsorbed on the pneumatic suction pen to the required direction.
And then, the control device sequentially outputs corresponding control instructions according to a preset program so as to respectively control the first transmission device and the second transmission device. The first transmission device drives the pneumatic suction pen to move along a first direction according to a control instruction, and the second transmission device drives the first transmission device and the pneumatic suction pen to move along a second direction together according to the control instruction, so that the pneumatic suction pen moves to a set position.
And finally, the pneumatic suction pen releases gas at a controller of the control device, and the part adsorbed on the pneumatic suction pen is released to a set position.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. The utility model provides an automatic unloader that goes up which characterized in that includes:
a pneumatic suction pen;
the first transmission device is used for driving the pneumatic suction pen to move along a first direction;
the second transmission device is used for driving the first transmission device to move along a second direction;
the third transmission device is used for driving the second transmission device to move along a third direction;
the fourth transmission device is used for driving the pneumatic suction pen to rotate along the axis of the pneumatic suction pen;
wherein the first direction, the second direction and the third direction form an included angle with each other; the first direction power input end of the pneumatic suction pen is connected with the first direction power output end of the first transmission device; the second direction power input end of the first transmission device is connected with the second direction power output end of the second transmission device; the third-direction power input end of the second transmission device is connected with the third-direction power output end of the third transmission device; and the rotary power input end of the pneumatic suction pen is connected with the rotary power input end of the fourth transmission device.
2. The automated loading and unloading apparatus of claim 1, wherein the pneumatic suction pen comprises: an air compressor, a first three-way pipe joint, a second three-way pipe joint, an air conveying pipe, a first electromagnetic valve, a second electromagnetic valve, a first flow regulating valve, a second flow regulating valve, a vacuum generator and a pen suction nozzle, wherein,
the compressed air output end of the air compressor is connected with a first pipe joint of the first three-way pipe joint through the air conveying pipe;
the second pipe joint of the first three-way pipe joint, the first electromagnetic valve, the first flow regulating valve, the vacuum generator and the first pipe joint of the second three-way pipe joint are sequentially connected through the gas conveying pipe;
the third pipe joint of the first three-way pipe joint, the second electromagnetic valve, the second flow regulating valve and the second pipe joint of the second three-way pipe joint are sequentially connected through the input pipe;
and a third pipe joint of the second three-way pipe joint is connected with the suction pen nozzle.
3. The automatic loading and unloading device as claimed in claim 2, wherein the pen suction nozzle is provided with a rubber suction cup.
4. The automatic loading and unloading device according to claim 1 or 2, wherein the first transmission device, the second transmission device or the third transmission device comprises: the device comprises a first motor, a lead screw, a nut and a first bracket; wherein,
the power output end of the first motor is connected with the power input end of the lead screw; the lead screw is in threaded connection with the nut; the nut is provided with a first connecting seat used for connecting a driven piece; the first motor is arranged at one end of the first support, and the lead screw is arranged on the first support through a bearing.
5. The automatic loading and unloading device according to claim 1 or 2, wherein the first transmission device, the second transmission device or the third transmission device comprises: the second motor, the synchronous belt, the two synchronous wheels and the second bracket; wherein,
the power output end of the second motor is connected with the power input end of the first synchronous wheel through a first transmission shaft, and the first transmission shaft is arranged on the second bracket through a bearing;
the second synchronous wheel is arranged on a second transmission shaft, and the second transmission shaft is arranged on the second bracket through a bearing;
the first synchronizing wheel and the second synchronizing wheel are arranged at intervals according to a preset distance;
the synchronous belt is wound on the two synchronous wheels;
and a second connecting seat used for connecting a driven piece is arranged on the synchronous belt.
6. The automated loading and unloading apparatus of claim 1, wherein the fourth transmission comprises: a third motor; and the rotary power input end of the third motor is connected with the rotary power input end of the pneumatic suction pen.
7. The automatic loading and unloading device of claim 1, further comprising an image collector for collecting images of the parts adsorbed by the pneumatic suction pen during loading, wherein the image collector is arranged on the pneumatic suction pen.
8. The utility model provides an automatic unloading system of going up which characterized in that includes: the automatic loading and unloading device as claimed in any one of claims 1 to 7, and a control device for controlling the pneumatic suction pen to suck or release the loaded and unloaded parts according to a preset control program, and controlling the first transmission device, the second transmission device, the third transmission device and the fourth transmission device to act according to the preset program; the control device is respectively connected with the pneumatic suction pen, the first transmission device, the second transmission device, the third transmission device and the fourth transmission device.
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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202903451U true CN202903451U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220260064 Expired - Lifetime CN202903451U (en) | 2012-06-04 | 2012-06-04 | An automatic loading and unloading device and system |
Country Status (1)
| Country | Link |
|---|---|
| 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 Expired - Lifetime
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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