CN206042550U - Four -axis robot plug -in components machine - Google Patents

Four -axis robot plug -in components machine Download PDF

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Publication number
CN206042550U
CN206042550U CN201621065539.6U CN201621065539U CN206042550U CN 206042550 U CN206042550 U CN 206042550U CN 201621065539 U CN201621065539 U CN 201621065539U CN 206042550 U CN206042550 U CN 206042550U
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CN
China
Prior art keywords
components
shaping
plug
electronic devices
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201621065539.6U
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Chinese (zh)
Inventor
张素国
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Reed Electronic Technology Co Ltd
Original Assignee
Dongguan Reed Electronic Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongguan Reed Electronic Technology Co Ltd filed Critical Dongguan Reed Electronic Technology Co Ltd
Priority to CN201621065539.6U priority Critical patent/CN206042550U/en
Application granted granted Critical
Publication of CN206042550U publication Critical patent/CN206042550U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a four -axis robot plug -in components machine, it includes: the frame, feedway, it is installed on the frame, the plug -in components device, it is installed on the frame through four -shaft mechanical arm to be located the feedway top, this plug -in components device is installed in the base lower extreme side by side and can be got the plug -in components mechanism group of material simultaneously including the base that is used for being connected with four -shaft mechanical arm and at least two rows, and every plug -in components mechanism group of group is all including at least three plug -in components mechanism that can independent plug -in components, and this plug -in components mechanism is all including installing in the base lower extreme through the lift cylinder and being used for holding workpiece's clip subassembly, plastic correcting unit, it includes: locate the plastic correcting plate of frame side, this plastic correcting plate is located plug -in components device below, is equipped with a plurality of plastics on the plastic correcting plate and rectifies the through -hole, the four -shaft mechanical arm tip is equipped with and is arranged in feedway to take a picture with assay feedway conveying electronic components's the circumstances and the CCD vision camera of distinguishing positive negative pole of electronic components pin and position.

Description

Four axle robot inserters
Technical field:
This utility model is related to inserter technical field, refers in particular to a kind of four axles robot inserter.
Background technology:
China is global maximum white good production state and country of consumption, and the core component of white domestic appliances control is circuit Plate.With continuous development and the gradual perfection of labor and social security system of China's economy, labor cost gradually rises, labour intensive It is the main feature of most electronics producers with output fluctuation.Automatization's substitution problem of a large amount of labour intensive production lines increasingly into For manufacturer's focus of attention.
The plug-in unit of pcb board and the preceding working procedure that debugging is complete electronic set production.Traditional pcb board plug-in unit operation is all to rely on Insert in handss, manual plug-in unit link especially consumes manpower, the degree of fatigue of its plug-in unit speed, quality and people is closely related, mistake Insert, leakage inserts phenomenon than more serious, existing production line is typically powered detection and repair welding operation is remedied in follow-up setting, causes list The first-pass yield of plate is subject to a certain degree of impact.The automation equipment of the link is developed, meets the growth requirement of electronics firm, Meet the requirement that Chinese Enterprises are changed from labor-intensive to technology fund-intensive.
Automatism card machine is a kind of automatization's plug-in component equipment by computer controls, and soon, accuracy rate is high, so for plug-in unit speed Misplug, the slotting phenomenon of leakage for artificially causing largely is overcome, the first-pass yield of pcb board is improve, is accelerated speed of production.
Current automatism card machine is typically all to carry out feed (electronic devices and components) to plug-in mechanism using a vibrating disk, And by a set of positioning detection mechanism the electronic devices and components are positioned and detected with the both positive and negative polarity of electronic devices and components pin, and need The detection that is powered can just distinguish the both positive and negative polarity of electronic devices and components pin, and which does not only exist complex structure, relatively costly, also there is step Rapid relatively complicated, ineffective problem, so that be unfavorable for improving the market competitiveness.
In addition, when electronic devices and components are inserted in PCB, inserter firstly the need of by the pin of electronic devices and components Shaping is carried out, finally again electronic devices and components are properly inserted in PCB.But the shaping dress that existing inserter is adopted Put complex, the apparatus for shaping is by clamping pressing shaping, commutation, more multiple operations such as pressing shaping being clamped to electronics unit The pin of device carries out shaping, not only complex steps, high cost, and is unfavorable for improving work efficiency.In addition, the apparatus for shaping is every Secondary only to carry out shaping to the pin of electronic devices and components, its work efficiency is extremely inefficient, is unfavorable for improving the market competitiveness.
In view of this, the present inventor proposes technical scheme below.
Utility model content:
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of four axles robot inserter.
In order to solve above-mentioned technical problem, this utility model employs following technical proposals:The four axles robot inserter Including:Support;Feeding device, which is installed on support;For grip feeding device transmission electronic devices and components and by electronics unit Device carries out the insert arrangement of grafting, and, by one or four axis robots to be installed on support by way of arbitrarily can moving, this is inserted for which Part device is located above feeding device;The insert arrangement includes the pedestal for being connected with four axis robots and at least two rows simultaneously Row are installed on pedestal lower end can be while the plug-in mechanism group of feeding, and every group of plug-in mechanism group can be independent including at least three The plug-in mechanism of plug-in unit, the plug-in mechanism are included and are installed on pedestal lower end the folder for clamping workpiece by lift cylinder Sub-component;Shaping correcting unit, which includes:The shaping correcting plate of support side is arranged at, the shaping correcting plate is filled positioned at plug-in unit Lower section is put, and is provided with the pin insertion of a plurality of supplied for electronic components and parts on the shaping correcting plate and shaping is carried out to the pin Shaping corrects through hole, and the insert arrangement clamps electronic devices and components, and by the pin insertion shaping correction through hole of electronic devices and components with Shaping is carried out to the pin;The four axis robots end is provided with The situation for sending electronic devices and components and the CCD vision cameras for distinguishing pin both positive and negative polarity and position in electronic devices and components.
Furthermore, in above-mentioned technical proposal, the feeding device is included and is installed on support and for plug-in unit Device carries out the first loader group of feed and is installed on the first loader group side and uses and do not supply with first for thread-changing Glassware group carries out the second loader group of feed simultaneously to insert arrangement.
Furthermore, in above-mentioned technical proposal, the first loader group includes at least one first loaders, institute State the second loader group and include at least one second loaders, second loader and the first loader are symmetrically arranged on support Both sides.
Furthermore, in above-mentioned technical proposal, the shaping correction through hole is included for guiding electronic devices and components to draw Bucket shape hole and dock with bucket shape hole and for the cylindrical hole of shaping that foot is inserted, the bucket shape hole is arranged at shaping correcting plate upper end Face.
Furthermore, in above-mentioned technical proposal, the form and dimension of the shaping correction through hole is differed, and is included Rectangular opening, circular hole or irregularly-shaped hole.
Furthermore, in above-mentioned technical proposal, the clip assembly include be installed on lift cylinder lower end cylinder, It is installed on cylinder lower end and relative can opens or the left and right slide block that clamps and detachably be installed under left and right slide block The left and right fixture block at end, is formed with the clamping space for clamping workpiece, and also sets up on the outside of the cylinder between the left and right fixture block There is one stroke banking stop, the trip banking stop is stretched between left and right slide block, to prevent left and right slide block collision.
Furthermore, in above-mentioned technical proposal, the left and right slide block is in T shape;The left and right fixture block is in L words Shape, its relative face are respectively arranged with first, second arc clip slot, form described folder between the first, second arc clip slot Compact space.
Furthermore, in above-mentioned technical proposal, the stroke limit piece includes a main part and is bent to form in master Body subordinate end the limiting section vertical with main part, the limiting section are stretched between left and right slide block.
Furthermore, in above-mentioned technical proposal, the lift cylinder includes a cylinder body, the cunning being arranged on the outside of cylinder body Rail, the sliding seat for being socketed on slide rail and be in L-shaped, the piston in the cylinder body are connected to drive sliding seat upper and lower with the sliding seat Mobile, above-mentioned cylinder is installed on the sliding seat by a connecting plate.
After above-mentioned technical proposal, this utility model is had the advantages that compared with prior art:
1st, in this utility model, shaping correcting unit is not only simple in structure, and shaping correcting process is few, and can disposably by The pin of multiple electronic devices and components carries out Shape correction, and work efficiency is high, and shaping correction is also fabulous, is greatly improved with this The market competitiveness of the present utility model.
2nd, this utility model in actual use, only carries out feed using the first loader group to insert arrangement, and Second loader group does not work with standby, and insert arrangement can accurately grip electronics by the cooperation of CCD vision cameras Components and parts, and electronic devices and components are plugged on pcb board;When thread-changing is needed, that is, need the other types of electronics unit device of grafting During part, new electronic devices and components are positioned in the second loader group, to cause the second loader group to supply insert arrangement Material, without carrying out shutdown process by whole inserter, it is not required that by removing the electronic devices and components of the first loader group With the electronic devices and components for more renewing, above-mentioned whole process operates very simple, it is only necessary to shorter conversion time, you can reach To the purpose of Quick Changeover, and the work efficiency of inserter can be improved, beneficial to improving the market competitiveness.
3rd, this utility model adopts CCD vision cameras for being taken pictures to analyze feeding device transmission to feeding device The situation of electronic devices and components, and pin both positive and negative polarity in distinguishing electronic devices and components position and distinguishing electronic devices and components, to reach The effect positioned by electronic devices and components, and the purpose for distinguishing pin both positive and negative polarity in electronic devices and components is reached, subsequently, plug-in unit dress The data obtained according to CCD vision cameras are put, and it is arbitrarily mobile accurately to press from both sides above feeding device to pass through four axis robots The electronic devices and components transmitted by feeding device are taken, the accuracy and the stability that grip can be ensured with this, and operating procedure is more simple Single, work efficiency is also high, is conducive to improving the market competitiveness, and this utility model structure is extremely simple, low cost, and reachable Effect of feed is positioned to intelligent flexible.
Description of the drawings:
Fig. 1 is axonometric chart of the present utility model;
Fig. 2 is the axonometric chart at another visual angle of this utility model;
Fig. 3 is the installation diagram of insert arrangement and four axis robots in this utility model;
Fig. 4 is the axonometric chart of insert arrangement in this utility model;
Fig. 5 is the axonometric chart of plug-in mechanism in this utility model;
Fig. 6 is the front view of plug-in mechanism in this utility model;
Fig. 7 is the sectional view of shaping correcting plate in this utility model.
Specific embodiment:
This utility model is further illustrated with reference to specific embodiments and the drawings.
As shown in Fig. 1-7, it is a kind of four axles robot inserter, which includes:Support 1, the feed being installed on support dress Put the 2, electronic devices and components for gripping the transmission of feeding device 2 and electronic devices and components are carried out the insert arrangement 3 of grafting, are arranged at Shaping correcting unit 300 on support 1, wherein, the insert arrangement 3 is by way of one or four axis robots 4 are arbitrarily moving It is installed on support 1, the insert arrangement 3 is located above feeding device 2.Four axis robots, 4 end is provided with for feed Device 2 is taken pictures to analyze the situation of the transmission electronic devices and components of feeding device 2 and distinguish pin both positive and negative polarity in electronic devices and components And the CCD vision cameras 6 of position.
The feeding device 2 includes the first loader being installed on support 1 and for carrying out feed to insert arrangement 3 Organize 21 and be installed on 21 side of the first loader group and use for thread-changing and not with the first loader group 21 while filling to plug-in unit Put 3 the second loader groups 22 for carrying out feed.That is, this utility model is in actual use, only supply using first Glassware group 21 carries out feed to insert arrangement 3, and the second loader group 22 does not work with standby, and insert arrangement 3 passes through CCD visions The cooperation of video camera 6 can accurately grip electronic devices and components, and electronic devices and components are plugged on pcb board;When needs are changed During line, that is, when needing the other types of electronic devices and components of grafting, new electronic devices and components are positioned in the second loader group 22, To cause the second loader group 22 to carry out feed to insert arrangement 3, without whole inserter is carried out shutdown process, also not The electronic devices and components more to renew by the electronic devices and components for removing the first loader group 21, above-mentioned whole process are needed to operate Carry out very simple, it is only necessary to shorter conversion time, you can reach the purpose of Quick Changeover, and the work effect of inserter can be improved Rate, beneficial to the raising market competitiveness.
The first loader group 21 includes at least one first loaders 211, and the second loader group 22 includes There are at least one second loaders 221, second loader 221 and the first loader 211 are symmetrically arranged on 1 both sides of support.
The insert arrangement 3 includes the pedestal 31 for being connected with four axis robots 4 and at least two rows are installed on side by side 1 lower end of pedestal and can simultaneously feeding plug-in mechanism group 200, and every group of plug-in mechanism group 200 can be independent including at least three The plug-in mechanism 32 of plug-in unit, the plug-in mechanism 32 are included and are installed on 31 lower end of pedestal and for pressing from both sides by lift cylinder 321 Hold the clip assembly 322 of workpiece;The clip assembly 322 includes and is installed on the cylinder 3221 of 321 lower end of lift cylinder, installs In 3221 lower end of cylinder and relative can open or the left and right slide block 3222,3223 that clamps and be detachably installed on a left side, Right slide block 3222, the left and right fixture block 3224,3225 of 3223 lower ends, are formed with for pressing from both sides between the left and right fixture block 3224,3225 One stroke banking stop 3226 is additionally provided with the outside of the clamping space of clamping of workpieces, and the cylinder 3221, and the trip banking stop 3226 is stretched Enter between left and right slide block 3222,3223, to prevent left and right slide block 3222,3223 from colliding;The stroke limit piece 3226 includes One main part 32261 and limiting section 32262 in 32261 lower end of main part and vertical with main part 32261 is bent to form, should Limiting section 32262 is stretched between left and right slide block 3222,3223.
The left and right slide block 3222,3223 is in T shape, and 3221 lower end of above-mentioned cylinder is provided with a chute 32211, institute State left and right slide block 3222,3223 upper ends to be installed in chute 32211, and the cylinder 3221 drives left and right slide block by gas circuit 3222nd, 3223 slide in chute 32211.
The left and right fixture block 3224,3225 is in L-shaped, and its relative face is respectively arranged with first, second arc folder Groove, forms described clamping space between the first, second arc clip slot.
The lift cylinder 321 includes a cylinder body 3211, the slide rail being arranged on the outside of cylinder body 3211, is socketed on slide rail simultaneously Sliding seat 3212 in L-shaped, the piston in the cylinder body 3211 are connected to drive sliding seat about 3212 with the sliding seat 3212 Mobile, above-mentioned cylinder 3221 is installed on the sliding seat 3212 by a connecting plate 3227.The lift cylinder 321 of this structure is used Get up convenient, and it is compacter to be made can this utility model structure, is made less.
The insert arrangement carries out multi-faceted direction movement by four axis robots, to meet different Plugin Requirements, and inserts Part device at least can take three workpiece every time simultaneously, and every time one or three workpiece are plugged on pcb board, improve slotting with this Part efficiency, and clip assembly stabilization clamp clamping of workpieces, to ensure plug-in unit quality, make this utility model have the high market competition Power.
Above-mentioned shaping correcting unit 300 includes:The shaping correcting plate 5 of 1 side of support is arranged at, the shaping correcting plate 5 Below insert arrangement 3, and the pin insertion of a plurality of supplied for electronic components and parts is provided with the shaping correcting plate 5 and to the pin The shaping correction through hole 51 of shaping is carried out, the insert arrangement 3 clamps electronic devices and components, and will be the pin insertion of electronic devices and components whole Shape corrects through hole 51 to carry out shaping to the pin.
Shaping correction through hole 51 include the bucket shape hole 511 for guiding the insertion of electronic devices and components pin and with bucket Shape hole 511 is docked and for the cylindrical hole 512 of shaping, and the bucket shape hole 511 is arranged at 5 upper surface of shaping correcting plate.The shaping The form and dimension of correction through hole 41 is differed, and includes rectangular opening, circular hole or irregularly-shaped hole, to cause this utility model to be not required to Changing shaping correcting plate also can carry out shaping correction to the pin of the electronic devices and components of all size shape size, use Convenient, compatibility is higher.
This utility model by insert arrangement clamp six electronic devices and components, and by electronic devices and components insertion pcb board it Before, it is moved to above shaping correcting plate by four axis robots, and visual-alignment is carried out by CCD vision cameras, so that folder Three or six electronic devices and components can be inserted the shaping correction through hole of shaping correcting plate with to the pin by tight insert arrangement simultaneously Shaping is carried out, and as shaping correction through hole upper end is set to bucket shape hole, so that can reach more preferable shaping effect.Namely Say, shaping correcting unit is not only simple in structure, shaping correcting process is few, and can disposably by the pin of multiple electronic devices and components Shape correction is carried out, work efficiency is high, and shaping correction is also fabulous, the market competition of the present utility model is greatly improved with this Power.
6 pairs of first, second loader groups of the CCD vision cameras are taken pictures, and analyze charging situation, can also distinguish The both positive and negative polarity of electronic devices and components, to cause insert arrangement 3 accurately grip electronic devices and components, it is ensured that work quality and Efficiency.
This utility model adopts CCD vision cameras 6 and passed with analyzing feeding device 2 for being taken pictures to feeding device 2 The situation of electronic devices and components, and pin both positive and negative polarity in distinguishing electronic devices and components position and distinguishing electronic devices and components is sent, to reach To the effect positioned to electronic devices and components, and reach the purpose for distinguishing pin both positive and negative polarity in electronic devices and components, subsequently, plug-in unit The data that device 3 is obtained according to CCD vision cameras 6, and by four axis robots 4 above the feeding device 2 it is arbitrarily mobile with The electronic devices and components transmitted by feeding device 2 are accurately gripped, the accuracy and the stability that grip, and operating procedure can be ensured with this Relatively simple, work efficiency is also high, is conducive to improving the market competitiveness, and this utility model structure is extremely simple, low cost, And can reach effect that intelligent flexible positions feed.
Certainly, the foregoing is only specific embodiment of the utility model, not come limit this utility model enforcement Scope, all equivalence changes done according to construction, feature and principle described in this utility model claim or modification, all should wrap Include in this utility model claim.

Claims (9)

1. four axle robot inserter, it is characterised in that:Including:
Support (1);
Feeding device (2), which is installed on support (1);
For gripping electronic devices and components that feeding device (2) transmits and electronic devices and components being carried out the insert arrangement (3) of grafting, its By one or four axis robots (4) to be installed on by way of arbitrarily can moving on support (1), the insert arrangement (3) is filled positioned at feed Put above (2);The insert arrangement (3) includes the pedestal (31) for being connected with four axis robots (4) and at least two rows are arranged side by side Be installed on pedestal (1) lower end and can while the plug-in mechanism group (200) of feeding, and every group of plug-in mechanism group (200) include to Few three can standalone insert plug-in mechanism (32), the plug-in mechanism (32) included and is installed on by lift cylinder (321) Pedestal (31) lower end the clip assembly (322) for clamping workpiece;
Shaping correcting unit (300), which includes:The shaping correcting plate (5) of support (1) side is arranged at, the shaping correcting plate (5) Below insert arrangement (3), and be provided with the shaping correcting plate (5) a plurality of supplied for electronic components and parts pin insertion and it is right The pin carries out shaping correction through hole (51) of shaping, and the insert arrangement (3) clamps electronic devices and components, and by electronic devices and components Pin insertion shaping corrects through hole (51) to carry out shaping to the pin;
Four axis robots (4) end is provided with The situation of sub- components and parts and CCD vision cameras (6) for distinguishing pin both positive and negative polarity and position in electronic devices and components.
2. four axles robot inserter according to claim 1, it is characterised in that:Feeding device (2) include peace Loaded on support (1) and for carrying out the first loader group (21) of feed to insert arrangement (3) and being installed on the first feed Device group (21) side is simultaneously used and not with the first loader group (21) while carrying out the second of feed to insert arrangement (3) for thread-changing Loader group (22).
3. four axles robot inserter according to claim 2, it is characterised in that:First loader group (21) include There are at least one first loaders (211), the second loader group (22) include at least one second loaders (221), Second loader (221) and the first loader (211) are symmetrically arranged on support (1) both sides.
4. four axles robot inserter according to claim 1, it is characterised in that:Shaping correction through hole (51) includes There is the bucket shape hole (511) for guiding the insertion of electronic devices and components pin and dock and for the cylinder of shaping with bucket shape hole (511) Shape hole (512), the bucket shape hole (511) are arranged at shaping correcting plate (5) upper surface.
5. four axles robot inserter according to claim 1, it is characterised in that:The shape of shaping correction through hole (41) Shape and size are differed, and include rectangular opening, circular hole or irregularly-shaped hole.
6. four axles robot inserter according to claim 1, it is characterised in that:Clip assembly (322) include The cylinder (3221) of lift cylinder (321) lower end is installed on, cylinder (3221) lower end is installed on and relative can be opened or clamped Left and right slide block (3222,3223) and detachably it is installed on the left and right fixture block of left and right slide block (3222,3223) lower end (3224,3225), are formed with the clamping space for clamping workpiece, and the cylinder between left and right fixture block (3224,3225) (3221) be additionally provided with one stroke banking stop (3226) on the outside of, the trip banking stop (3226) stretch into left and right slide block (3222, 3223) between, to prevent left and right slide block (3222,3223) from colliding.
7. four axles robot inserter according to claim 6, it is characterised in that:Left and right slide block (3222,3223) It is in T shape;Left and right fixture block (3224,3225) are in L-shaped, and its relative face is respectively arranged with first, second arc Clip slot, forms described clamping space between the first, second arc clip slot.
8. four axles robot inserter according to claim 6, it is characterised in that:Stroke limit piece (3226) include One main part (32261) and it is bent to form limiting section in main part (32261) lower end and vertical with main part (32261) (32262), the limiting section (32262) is stretched between left and right slide block (3222,3223).
9. four axles robot inserter according to claim 6, it is characterised in that:Described lift cylinder (321) include one Cylinder body (3211), the slide rail being arranged on the outside of cylinder body (3211), the sliding seat (3212) for being socketed on slide rail and be in L-shaped, should Piston in cylinder body (3211) is connected with the sliding seat (3212) to drive sliding seat (3212) to move up and down, above-mentioned cylinder (3221) it is installed on the sliding seat (3212) by a connecting plate (3227).
CN201621065539.6U 2016-09-20 2016-09-20 Four -axis robot plug -in components machine Expired - Fee Related CN206042550U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621065539.6U CN206042550U (en) 2016-09-20 2016-09-20 Four -axis robot plug -in components machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621065539.6U CN206042550U (en) 2016-09-20 2016-09-20 Four -axis robot plug -in components machine

Publications (1)

Publication Number Publication Date
CN206042550U true CN206042550U (en) 2017-03-22

Family

ID=58296032

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621065539.6U Expired - Fee Related CN206042550U (en) 2016-09-20 2016-09-20 Four -axis robot plug -in components machine

Country Status (1)

Country Link
CN (1) CN206042550U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106954384A (en) * 2017-05-03 2017-07-14 哈尔滨理工大学 Deformed insertion robot based on machine vision
CN109451720A (en) * 2018-09-18 2019-03-08 上海神添实业有限公司 A kind of DIP chip pin automatic shaping and plug-in component equipment and method
CN111543126A (en) * 2018-01-10 2020-08-14 株式会社富士 Working machine and polarity determination method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106954384A (en) * 2017-05-03 2017-07-14 哈尔滨理工大学 Deformed insertion robot based on machine vision
CN111543126A (en) * 2018-01-10 2020-08-14 株式会社富士 Working machine and polarity determination method
CN111543126B (en) * 2018-01-10 2021-06-25 株式会社富士 Working machine and polarity determination method
CN109451720A (en) * 2018-09-18 2019-03-08 上海神添实业有限公司 A kind of DIP chip pin automatic shaping and plug-in component equipment and method
CN109451720B (en) * 2018-09-18 2020-09-08 上海神添实业有限公司 Automatic shaping and plug-in components equipment of DIP chip pin

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170322

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CF01 Termination of patent right due to non-payment of annual fee