CN211846318U - Intelligent dismounting device - Google Patents
Intelligent dismounting device Download PDFInfo
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- CN211846318U CN211846318U CN201921771205.4U CN201921771205U CN211846318U CN 211846318 U CN211846318 U CN 211846318U CN 201921771205 U CN201921771205 U CN 201921771205U CN 211846318 U CN211846318 U CN 211846318U
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Abstract
The utility model discloses an intelligence dismouting device, including frame, feed mechanism, support plate conveying platform and feeding mechanism. The feeding mechanism is used for placing work materials and carrying out first visual positioning detection, the feeding mechanism is arranged above the feeding mechanism and the support plate conveying platform, and the feeding mechanism is provided with a visual positioning device. The feeding mechanism grabs the work material and carries out first visual positioning detection. The rack is provided with a turnover mechanism, and the turnover mechanism comprises a turnover platform and a turnover driving piece for controlling the turnover platform to turn over. Through tilting mechanism's setting, make the utility model discloses the device is except can dismouting single face FPC, can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and nimble versatility is strong, has higher economic value.
Description
Technical Field
The utility model relates to a subsides dress technical field especially relates to an intelligence dismouting device.
Background
With the rapid development of information technology, the life cycle of electronic products is shorter and shorter, the updating speed is obviously accelerated, and the electronic manufacturing industry faces a production environment with multiple machines and less batches. Therefore, the Surface Mount Technology (SMT) is also developing towards high efficiency, flexibility and intelligence as a new generation of electronic assembly technology to meet the production requirements of multiple users, multiple tasks and multiple machines.
The traditional dismounting device has low processing efficiency, can only complete a single-side dismounting process, has poor applicability and can not meet the dismounting operation of various specifications of various products.
Accordingly, the prior art is deficient and needs improvement.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide an intelligence dismouting device to prior art problem, and its degree of automation is high, can realize the two-sided dismouting simultaneously of FPC, and the dismouting is efficient.
For solving the prior art problem, the utility model discloses an intelligence dismouting device, including frame, feed mechanism, feeding mechanism, support plate conveying platform and support plate conveying platform, feed mechanism set up in the frame, support plate conveying platform set up in keep away from in one side of feeding mechanism, feeding mechanism set up in feeding mechanism and support plate conveying platform's top, the last vision positioning device that is equipped with of feeding mechanism, its characterized in that, still be equipped with a tilting mechanism in the frame, tilting mechanism includes a upset platform and a control the upset driving piece of upset platform upset.
In one embodiment, the turnover driving member includes a fixed seat, a rotation cylinder and a rotation shaft, the rotation cylinder is disposed on the fixed seat, one end of the rotation shaft is hinged to the rotation cylinder, the other end of the rotation shaft is connected to the fixed seat, and one end of the turnover platform is fixedly connected to the rotation shaft.
In one embodiment, the turnover platform is provided with a plurality of vacuum suction nozzles.
In one embodiment, the turnover platform is provided with a plurality of limiting grooves which radiate outwards from the center, and the vacuum suction nozzle is movably clamped on the limiting grooves.
In one embodiment, the feeding mechanism comprises a first guide rail, a lifting platform arranged on the first guide rail, and a first telescopic driving piece for controlling the lifting platform to lift.
In one embodiment, the waste material taking mechanism is arranged on one side of the feeding mechanism and comprises a second guide rail, a descending platform arranged on the second guide rail and a second telescopic driving piece for controlling the descending platform to ascend and descend.
In one embodiment, a material sucking mechanism is further arranged above the waste material taking mechanism, the material sucking mechanism comprises a fixed frame, a shaft rod arranged on the fixed frame, a sliding block connected to the shaft rod in a sliding manner, a lifting cylinder fixedly connected to the sliding block, and a first grabbing disc fixedly connected to a piston end of the lifting cylinder, and a plurality of vacuum suction nozzles are arranged on the first grabbing disc.
In one embodiment of the present invention, the feeding mechanism includes a first material taking manipulator, a first X-axis moving structure, a Y-axis moving structure and a Z-axis moving structure, the first X-axis moving structure includes a first X-axis linear module and a first X-axis servo motor connected to the first X-axis linear module, the Y-axis moving structure includes a Y-axis linear module and a Y-axis servo motor connected to the Y-axis linear module, the Z-axis moving structure includes a Z-axis linear module and a Z-axis servo motor connected to the Z-axis linear module, and the first material taking manipulator is disposed on the Z-axis moving structure.
In one embodiment, the feeding mechanism further comprises a second X-axis moving structure and a second material taking manipulator arranged on the second X-axis moving structure.
In one embodiment, the feeding mechanism further includes an R-axis moving structure and a second gripping disk, the R-axis moving structure is disposed on the first material taking manipulator and the second material taking manipulator, the visual positioning device is disposed on the first material taking manipulator and the second material taking manipulator, the R-axis moving structure includes an R-axis linear module and an R-axis servo motor connected with the R-axis linear module, and a piston end of the R-axis linear module is connected with the second gripping disk.
The intelligent dismounting device comprises a rack, a feeding mechanism, a carrier plate conveying platform and a feeding mechanism. The feeding mechanism is used for placing work materials and carrying out first visual positioning detection, the feeding mechanism is arranged above the feeding mechanism and the support plate conveying platform, and the feeding mechanism is provided with a visual positioning device. The feeding mechanism grabs the work material and carries out first visual positioning detection. The rack is provided with a turnover mechanism, and the turnover mechanism comprises a turnover platform and a turnover driving piece for controlling the turnover platform to turn over. Feed mechanism snatchs FPC and steel sheet and support plate laminating, and the laminating of another side is realized with semi-manufactured goods FPC upset through tilting mechanism in the middle of, the utility model discloses device design benefit, dismantled and assembled single face FPC can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and nimble versatility is strong, has higher economic value.
Drawings
Fig. 1 is a schematic perspective view of an intelligent disassembling device according to the present invention;
FIG. 2 is a functional plane layout diagram of the intelligent disassembling device of the present invention;
fig. 3 is a schematic perspective view of a turnover mechanism of an intelligent dismounting device of the present invention;
fig. 4 is a schematic view of a combined structure of the feeding mechanism, the waste material taking mechanism and the material sucking mechanism of the intelligent dismounting device of the present invention;
the reference numerals are explained below:
an intelligent assembling and disassembling device is provided with 10,
100 a frame;
200 feeding mechanism, 210 first guide rail, 220 lifting platform, 230 first telescopic driving piece;
300 taking a waste material mechanism, 310 a second guide rail, 320 a descending platform and 330 a second telescopic driving piece;
400 suction mechanisms, 410 fixing frames, 420 shaft rods, 430 sliding blocks, 440 lifting cylinders and 450 first grabbing discs;
the automatic feeding device comprises a 600 feeding mechanism, a 610 first material taking mechanical hand, a 620 first X-axis motion structure, a 621 first X-axis linear module, a 622 first X-axis servo motor, a 630Y-axis motion structure, a 631Y-axis linear module, a 632Y-axis servo motor, a 640Z-axis motion structure, a 641Z-axis linear module, a 642Z-axis servo motor, a 650 second X-axis motion structure, a 660 second material taking mechanical hand, a 670R-axis motion structure and a 680 second catch tray;
700 steel disc carrying platforms;
800 carrier plate conveying platforms;
900 tilting mechanism, 910 upset platform, 920 upset driving piece, 921 fixing base, 922 gyration cylinder, 923 axis of rotation.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, the present invention discloses an intelligent dismounting device 10, which includes a frame 100, a feeding mechanism 200, a carrier plate conveying platform 800 and a feeding mechanism 600. The feeding mechanism 200 is provided on the housing 100. Carrier plate transfer platform 800 is disposed at a side remote from feeding mechanism 200. The feeding mechanism 600 is arranged above the feeding mechanism 200 and the carrier plate conveying platform 800, and a visual positioning device is arranged on the feeding mechanism 600. The rack 100 is further provided with a turnover mechanism 900, and the turnover mechanism 900 includes a turnover platform 910 and a turnover driving member 920 for controlling the turnover platform 910 to turn over.
The turning driving member 920 includes a fixing base 921, a turning cylinder 922 and a rotating shaft 923. Fixing base 921 is two about, and further, the below of fixing base 921 can be provided with the lift cylinder, and fixing base 921 fixed connection is in the piston end department of lift cylinder for fixing base 921 can the oscilaltion in order to adjust the height of upset platform 910 under the drive of lift cylinder. The rotary cylinder 922 is arranged on one of the fixed seats 921. The articulated revolving cylinder 922 of one end of axis of rotation 923, the other end of axis of rotation 923 is connected on fixing base 921, and the one end fixed connection of upset platform 910 is on axis of rotation 923. The turnover platform 910 is provided with a plurality of vacuum suction nozzles, when FPC work material is placed on the turnover platform 910, the vacuum suction nozzles start to suck FPC, then the turnover platform 910 is turned over under the drive of the rotary cylinder 922, when the FPC is turned over to the top of the positioning platform, the vacuum suction nozzles are closed, and the FPC drops onto the positioning platform to perform operation on the other side of the FPC. A plurality of limiting grooves (not shown) are radially formed in the overturning platform 910 from the center, the vacuum suction nozzle is movably clamped in the limiting grooves, and the vacuum suction nozzle can movably translate on the limiting grooves to adapt to FPCs with different sizes and specifications. The turnover platform 910 is not limited to a vacuum nozzle, but may be a detent structure or any other form capable of fixing the FPC.
In the embodiment of the present figure, the feeding mechanism 200 includes a first guide rail 210, a lifting platform 220 disposed on the first guide rail 210, and a first telescopic driving member 230 for controlling the lifting platform 220 to lift. Alternatively, the number of the first guide rails 210 is two, and the first guide rails are arranged in parallel. The ascending platform 220 is a rectangular plate and is mounted on the two first guide rails 210. The first telescopic driving member 230 may be an electric cylinder for driving the ascending platform 220 to ascend or descend. After the work material (FPC/PCB/blister pack) is manually or automatically placed on the lifting platform 220, the work material can be lifted to the outlet of the feeding mechanism 200 by the telescopic rod of the first telescopic driving member 230 to be captured by the first material taking manipulator 610 and visually positioned for the first time. If the visual positioning detection is qualified, the work material is sent to the carrier plate conveying platform 800; if the visual positioning detection is not qualified, the work material is sent to the nearby waste material taking mechanism 300.
The scrap removing mechanism 300 is provided at one side of the feeding mechanism 200. The scrap collecting mechanism 300 includes a second guide rail 310, a descending platform 320 disposed on the second guide rail 310, and a second telescopic driving member 330 for controlling the ascending and descending of the descending platform 320. Alternatively, the second guide rails 310 are two in number and arranged in parallel. The descending platform 320 is a rectangular plate and is mounted on the two second guide rails 310. The second telescopic driving member 330 may be an electric cylinder for driving the descending platform 320 to ascend or descend. When the result of the visual positioning detection is a waste product, the work material is adsorbed and sent to the descending platform 320 of the waste material taking mechanism 300, and the work material is recycled and treated.
A material sucking mechanism 400 is also arranged above the waste material taking mechanism 300. The material suction mechanism 400 includes a fixing frame 410, a shaft rod 420 disposed on the fixing frame 410, a sliding block 430 slidably connected to the shaft rod 420, a lifting cylinder 440 fixedly connected to the sliding block 430, and a first gripping disk 450 fixedly connected to a piston end of the lifting cylinder 440. The first grabbing plate 450 is provided with a plurality of vacuum suction nozzles, the first grabbing plate is provided with a plurality of limiting grooves in a radiating mode from the center, and the vacuum suction nozzles are movably clamped in the limiting grooves to adapt to waste paper with different sizes and specifications. Before feeding the FPC each time, the lifting cylinder 440 is driven by a motor (not shown) to translate to above the feeding mechanism, the piston end of the lifting cylinder 440 extends out, the first gripping disk 450 on the piston end of the lifting cylinder faces downward and starts the vacuum suction nozzle to grip the waste paper, then the piston end of the lifting cylinder 440 retracts, and then the lifting cylinder 440 is driven by the motor to translate to above the waste material taking mechanism 300. The vacuum suction nozzle is closed, the waste paper falls to the descending platform 320 of the waste material taking mechanism 300, and when the descending platform 320 is detected to descend for one lattice, the motor drives the lifting cylinder 440 to horizontally move again to grab the waste paper, and the process is repeated. Each mechanism component is fully matched to work, and the efficiency is extremely high. The material suction mechanism 400 can be eliminated, the feeding mechanism 600 is used for replacing the function of sucking out the work material, and the protection scheme is not limited to equipment comprising the material suction mechanism 400.
The feed mechanism 600 includes a first material pick-up robot 610, a first X-axis motion structure 620, a Y-axis motion structure 630, and a Z-axis motion structure 640. The first X-axis moving structure 620 includes a first X-axis linear module 621 and a first X-axis servo motor 622 connected to the first X-axis linear module 621, the Y-axis moving structure 630 includes a Y-axis linear module 631 and a Y-axis servo motor 632 connected to the Y-axis linear module 631, the Z-axis moving structure 640 includes a Z-axis linear module 641 and a Z-axis servo motor 642 connected to the Z-axis linear module 641, and the first material-taking robot 610 is disposed on the Z-axis moving structure 640. The sliding block of the Z-axis linear module 641 is fixedly connected to the first material taking manipulator 610, so that the first material taking manipulator 610 can move along the Z-axis linear module 641 under the driving of the Z-axis servo motor 642; the slider of the Z-axis linear module 641 is fixedly connected to the slider of the Y-axis linear module 631, so that the Z-axis linear module 641 can move along the Y-axis linear module 631 under the driving of the Y-axis servo motor 632, and thus the Y-axis linear module 631 is driven to move, and the first material taking manipulator 610 is driven to move along the Y-axis linear module 631; the Y-axis linear module 631 is slidably fixed to the first X-axis linear module 621, and the first X-axis linear module 621 is fixed to the base, so that the first material taking manipulator 610 can further move along the first X-axis linear module 621, and finally the first material taking manipulator 610 can move along the X-axis, the Y-axis and the Z-axis to freely sort work materials.
Further, the feeding mechanism 600 further includes a second X-axis moving structure 650 and a second material taking manipulator 660 disposed on the second X-axis moving structure 650. The first material taking manipulator 610 and the second material taking manipulator 660 work simultaneously, and work efficiency can be greatly improved. The first material taking manipulator 610 is used for grabbing FPC/PCB/plastic sucking box/interlayer paper material, the second material taking manipulator 660 is used for grabbing FPC/PCB material and steel sheets, and the first material taking manipulator 610 and the second material taking manipulator 660 work in cooperation, so that the working efficiency is greatly improved.
Preferably, the feeding mechanism 600 further includes an R-axis moving structure 670 and a second catch tray 680, the R-axis moving structure 670 is disposed on the first material taking manipulator 610 and the second material taking manipulator 660, and the visual positioning device is disposed on the first material taking manipulator 610 and the second material taking manipulator 660. When the second work material (FPC/PCB with interlayer paper) is detected, the lifting cylinder 410 descends to drive the sucker 450 to open vacuum adsorption, so that the protective paper on the FPC/PCB is directly sucked out, and the FPC/PCB work material which is really used is taken out. The R-axis moving structure 670 includes an R-axis linear module and an R-axis servo motor connected to the R-axis linear module, and a piston end of the R-axis linear module is connected to the second catch plate 680. The main function of the R-axis motion structure 670 is to compensate for the angular difference between the two products, and perform angular rotation compensation before registration, so that the products can be identical in registration position by the R-axis angular compensation. The piston end of the R axis linear module is driven by the R axis servo motor to rotate, so that the second grabbing plate 680 is driven to rotate, the second grabbing plate 680 can move along the R axis, and the grabbing of multiple angles can be achieved.
The carrier plate conveying platform 800 adopts a crawler structure for conveying carrier plates. A steel sheet carrying platform 700 is arranged beside the carrier plate conveying platform 800 for placing a steel sheet.
The method for assembling and disassembling the FPC with the front surface and the back surface in detail comprises the following steps:
empty support plate flows in through support plate conveying platform 800, and first material taking manipulator 610 moves to feeding mechanism 600 vision and shoots the location and snatchs new FPC and then moves to support plate conveying platform 800's top and the vision location shoots, and vision location shoots data transfer to the manipulator, can realize accurately getting through the vision and put the product position of shooing, then puts down FPC laminating support plate, and returns the original point. The second material taking manipulator 660 moves to the steel sheet carrying platform 700, takes pictures in a visual positioning mode, grabs the steel sheet, moves to the position above the carrier plate conveying platform 800, takes pictures in a visual positioning mode, puts down the steel sheet for fitting, finishes returning, flows out of the carrier plate for printing, and finishes printing one surface of the FPC to obtain a semi-finished product PFC.
When the semi-finished product FPC flows back, the sensor recognizes that a steel sheet is arranged on the carrier plate, the second material taking manipulator 660 moves to the position above the carrier plate conveying platform 800 and takes the steel sheet away by visual positioning photographing, the visual positioning photographing data are transmitted to the manipulator, accurate product taking and placing can be achieved by visual photographing, then the steel sheet carrying platform 700 is placed, the steel sheet carrying platform returns to the position above the carrier plate conveying platform 800, the FPC is grabbed and transferred to the turnover mechanism 900 to take pictures by visual positioning, the turnover mechanism 900 turns over the semi-finished product FPC, the second material taking manipulator 660 takes the turned FPC out and moves the FPC to the carrier plate conveying platform 800 for secondary laminating, and the FPC returns to the. The second material taking manipulator 660 moves to the steel sheet carrying platform 700 to take the steel sheet, moves to the position above the carrier plate conveying platform 800, performs the fitting of the steel sheet, the FPC and the carrier plate, returns to the original position for standby after the completion, and the carrier plate flows out for printing.
And when the carrier plate finishes printing and other processes, the finished product FPC is obtained after the printing of the other surface is finished, the finished product FPC returns to the device, the second material taking manipulator 660 moves to the position above the carrier plate conveying platform 800 and takes a picture in a visual positioning mode, the steel sheet is taken out, the steel sheet is moved to the steel sheet carrying platform 700, and the steel sheet is placed on the steel sheet carrying platform, so that the return is finished. The finished product FPC is moved to the upper part of the finished product blister box and placed in the blister box (2 or 4 pieces can be placed optionally, when the blister box is full, the finished product placing area descends one grid, the feeding mechanism 600 takes away a new blister box, and after an empty blister box is taken away, the blister box ascends one layer). The circulation can realize the printing of the front and the back of the FPC, and the working efficiency is high.
The carrier plate flows into the machine table, the Y-axis movement structure moves to the position above the carrier plate to visually shoot the steel sheet, and the steel sheet is sucked and placed on the steel sheet carrying platform 700; simultaneously, the first X-axis motion structure visually shoots the FPC and grabs the FPC, and after the FPC is taken out, the FPC returns to the original point and the waste paper is taken out. The Y-axis moving structure returns to the upper part of the carrier plate, finished products of FPC are taken and moved to the upper part of the finished product blister boxes, (2 or 4 blister boxes can be placed optionally, when the blister boxes are full, the blister boxes in the finished product placing area descend one grid, the feeding mechanism 600 takes away new blister boxes, and after an empty blister box is taken away, the blister boxes in the blister box placing area ascend one layer).
To sum up, the intelligent dismounting device 10 comprises a rack 100, a feeding mechanism 200, a carrier plate conveying platform 800 and a feeding mechanism 600. The feeding mechanism 200 is used for placing work materials and carrying out first visual positioning detection, the feeding mechanism 600 is arranged above the feeding mechanism 200 and the support plate conveying platform 800, and the feeding mechanism 600 is provided with a visual positioning device. The feeding mechanism grabs the work material and carries out first visual positioning detection. The frame is provided with a turnover mechanism 900, and the turnover mechanism 900 includes a turnover platform 910 and a turnover driving member 920 for controlling the turnover platform 910. Through tilting mechanism 900's setting, make the utility model discloses the device is except can dismouting single face FPC, can also two positive and negative FPCs of dismouting simultaneously, realizes the two-sided dismouting of FPC, and degree of automation is high, and the dismouting is efficient, and nimble versatility is strong, has higher economic value.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. The utility model provides an intelligence dismouting device, includes frame, feed mechanism, feeding mechanism, support plate conveying platform and support plate conveying platform, feed mechanism set up in the frame, support plate conveying platform set up in keep away from in one side of feed mechanism, feeding mechanism set up in feeding mechanism and support plate conveying platform's top, the last vision positioner that is equipped with of feeding mechanism, its characterized in that, still be equipped with a tilting mechanism in the frame, tilting mechanism includes a upset platform and a control the upset driving piece of upset platform upset.
2. The intelligent dismounting device according to claim 1, wherein the overturning driving member comprises a fixing base, a rotating cylinder and a rotating shaft, the rotating cylinder is disposed on the fixing base, one end of the rotating shaft is hinged to the rotating cylinder, the other end of the rotating shaft is connected to the fixing base, and one end of the overturning platform is fixedly connected to the rotating shaft.
3. The intelligent dismounting device according to claim 1, wherein a plurality of vacuum suction nozzles are provided on said overturning platform.
4. The intelligent dismounting device according to claim 3, wherein the overturning platform is provided with a plurality of limiting grooves radiating outwards from the center, and the vacuum suction nozzle is movably clamped on the limiting grooves.
5. The intelligent dismounting device according to claim 1, wherein the feeding mechanism comprises a first guide rail, a lifting platform disposed on the first guide rail, and a first telescopic driving member for controlling the lifting platform to lift.
6. The intelligent disassembling and assembling device according to claim 1, further comprising a waste material taking mechanism, wherein the waste material taking mechanism is arranged on one side of the feeding mechanism, and the waste material taking mechanism comprises a second guide rail, a descending platform arranged on the second guide rail, and a second telescopic driving member for controlling the descending platform to ascend and descend.
7. The intelligent disassembling and assembling device according to claim 6, wherein a material sucking mechanism is further arranged above the waste material taking mechanism, the material sucking mechanism comprises a fixed frame, a shaft rod arranged on the fixed frame, a sliding block connected to the shaft rod in a sliding manner, a lifting cylinder fixedly connected to the sliding block, and a first grabbing disc fixedly connected to a piston end of the lifting cylinder, and a plurality of vacuum suction nozzles are arranged on the first grabbing disc.
8. The intelligent disassembling and assembling device according to claim 1, wherein the feeding mechanism comprises a first material taking manipulator, a first X-axis movement structure, a Y-axis movement structure and a Z-axis movement structure, the first X-axis movement structure comprises a first X-axis linear module and a first X-axis servo motor connected with the first X-axis linear module, the Y-axis movement structure comprises a Y-axis linear module and a Y-axis servo motor connected with the Y-axis linear module, the Z-axis movement structure comprises a Z-axis linear module and a Z-axis servo motor connected with the Z-axis linear module, and the first material taking manipulator is arranged on the Z-axis movement structure.
9. The intelligent dismounting device according to claim 8, wherein the feeding mechanism further comprises a second X-axis moving structure and a second material taking manipulator arranged on the second X-axis moving structure.
10. The intelligent dismounting device according to claim 9, wherein the feeding mechanism further comprises an R-axis moving structure and a second gripping disk, the R-axis moving structure is arranged on the first material taking manipulator and the second material taking manipulator, the visual positioning device is arranged on the first material taking manipulator and the second material taking manipulator, the R-axis moving structure comprises an R-axis linear module and an R-axis servo motor connected with the R-axis linear module, and a piston end of the R-axis linear module is connected with the second gripping disk.
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| CN201921771205.4U CN211846318U (en) | 2019-10-21 | 2019-10-21 | Intelligent dismounting device |
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| CN201921771205.4U CN211846318U (en) | 2019-10-21 | 2019-10-21 | Intelligent dismounting device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110615280A (en) * | 2019-10-21 | 2019-12-27 | 索亿智能装备(东莞)有限公司 | Intelligent dismounting device |
| CN113320946A (en) * | 2021-05-07 | 2021-08-31 | 苏州百世威光学技术有限公司 | Continuous FPC single pcs appearance defect inspection machine |
-
2019
- 2019-10-21 CN CN201921771205.4U patent/CN211846318U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110615280A (en) * | 2019-10-21 | 2019-12-27 | 索亿智能装备(东莞)有限公司 | Intelligent dismounting device |
| CN113320946A (en) * | 2021-05-07 | 2021-08-31 | 苏州百世威光学技术有限公司 | Continuous FPC single pcs appearance defect inspection machine |
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