CN104555409B - A kind of multidirectional transplanting mechanism - Google Patents
A kind of multidirectional transplanting mechanism Download PDFInfo
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- CN104555409B CN104555409B CN201510009547.2A CN201510009547A CN104555409B CN 104555409 B CN104555409 B CN 104555409B CN 201510009547 A CN201510009547 A CN 201510009547A CN 104555409 B CN104555409 B CN 104555409B
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Abstract
The present invention relates to crystal silicon solar automatic system logistics transmission technical field, more particularly to it is a kind of can be in three direction of principal axis safety, steady, the accurate multidirectional transplanting mechanism for carrying bin, the multidirectional transplanting mechanism includes body supports frame system, X-axis rectilinear movement system, Z axis jacking system, Y-axis feed system and front end grasping system, grabbing device accurately, is steadily completed crawl, transfer, placement action, complete three axial straight reciprocating motions；Performance is stable, safe and reliable, and handling are easy；Production efficiency and end product quality can be improved；The silicon chip spoilage of maximum possible reduction simultaneously.
Description
Technical field
The present invention relates to crystal silicon solar automatic system logistics transmission technical field, more particularly to one kind can be in three axle sides
To safety, steady, the accurate multidirectional transplanting mechanism for carrying bin.
Background technology
As global greenhouse effect is increasingly serious, oil, natural gas, the increasingly depleted of coal, environmental protection and energy saving turn into generation
The theme of boundary's development.Solar energy is as a kind of reserves are unlimited, cleaning, the regenerative resource of safety, be the development of global new energy
Direction.Under the guidance of national novel energy and regenerative resource industrial policy and American-European solar energy market solid demand band
Under dynamic, domestic solar photovoltaic industry is developed rapidly in recent years.At present, China has become solar cell manufacture big country, possesses
The most manufacture of solar cells producer in the whole world and the production capacity of more than half.
The fast development of solar photovoltaic industry also promotes flourishing for domestic photovoltaic manufacturing equipment industry.
The early stage of solar cell industry development, solar battery sheet manufacturing enterprise does not produce demand, production to automatic production line
Line is substantially to be slapped together by isolated semi-automatic, automation equipment.Increase with the explosion type of global solar photovoltaic industry
It is long, in order that field of solar energy unit cost of electricity-generating is reduced to, solar battery sheet manufacturer meeting suitable with conventional power generation usage cost
Increasingly an urgent demand uses highly integrated, supermatic production line.In future, the height of automaticity is in certain aspect
It will determine that who is only the minimum manufacturer of production cost, and by well-designed and high-efficiency operation automatic factory system
It can simply copy in subsequent factory, and get out of the red rapidly.The growth requirement of photovoltaic industry is complied with, it is external
Solar battery sheet production equipment is just from semi-automation to full-automation, intelligent transition, to improve production efficiency and product
Quality, reduces production cost.
At present, the chip transmission between each technique unit of crystal silicon solar batteries slice assembly line is with stacking type or card slot type
Two ways loads silicon chip, is then manually carried using dolly.This mode efficiency is low, is unfavorable for large-scale production.However, by
The initial stage developed in crystal silicon solar batteries production line does not consider full-automatic production, thus does not possess various automations and connect
Mouthful, self-propagating material transmission system can be connected in the absence of by each technique unit, also in the absence of this production of adaptation
The automated handling method of process.
In order to which the chip transmission realized between full-automatic large-scale production, each technique unit must be using automatic transmission system
System is realized.For that purpose it is necessary to develop adapt to crystal silicon solar battery piece automatic production line bin magazine logistic transmission system.
Under this industry background, a series of logistics transmission modules are developed, logistic transmission system can be built according to customer demand, is carried rapidly
Whole line automation solution is manufactured for different production-scale crystal silicon solar batteries pieces.
At present, in already present automation equipment, when needing to realize multidirectional crawl, transfer, placement object, generally adopt
Completed with robot, robot can realize the displacement of multiple degrees of freedom optional position, but its by computer and servo control technique
Expensive, technical support is complicated.Referring to Fig. 1, Fig. 1 is a kind of structural representation of bin, bin 100 is used to place the sun
Can battery silicon wafer.The bin 100 of loading silicon chip is generally required on solar battery sheet Automatic production line in three between centers straight lines
Move back and forth, and the solar cell silicon wafer being placed in bin 100 belongs to valuable and easily fragmentation, and silicon chip, which is carried, needs peace
Entirely, steadily, accurately carry out, while realizing shock-free automatic transporting, therefore, how researching and developing one kind can pacify in three direction of principal axis
Entirely, the multidirectional transplanting mechanism of bin steadily, is accurately carried, it has also become those skilled in the art's technical barrier urgently to be resolved hurrily.
The content of the invention
The multidirectional transplanter of bin can safe in three direction of principal axis, steadily, be accurately carried it is an object of the present invention to provide a kind of
Structure.
To achieve these goals, the invention provides a kind of multidirectional transplanting mechanism, including：
Body supports frame system, for supporting X-axis rectilinear movement system, Z axis jacking system, Y-axis feed system, front end
Grasping system；Body supports frame system is included by heavy aluminium section bar by extruding the general frame, support that aluminum corner brace is formed by connecting
Plate, supporting plate is fixed on general frame upper surface；
X-axis rectilinear movement system, for driving the Z axis jacking system, Y-axis feed system, front end grasping system in water
Flat laterally rectilinear movement；X-axis rectilinear movement system is on the general frame of the body supports frame system, and the X-axis is straight
Z axis jacking system described in the fixed-link of line mobile system mobile terminal；The X-axis rectilinear movement system is rolled including tooth form belt band
Guide rail linear moving apparatus, X-axis servomotor drive component, X-axis wiring drag chain, X-axis slide block connecting plate；The tooth form belt band
Rolling guide linear moving apparatus is fixed on the general frame upper surface by framework connecting piece, and positioned at supporting plate sidepiece,
The X-axis servomotor drive component drives the sliding block of the tooth form belt with rolling guide linear moving apparatus to be moved along straight line
It is dynamic, the X-axis slide block connecting plate is vertically and fixedly provided with the sliding block, the X-axis wiring drag chain is connected by X-axis slide block connecting plate
The sliding block；
Z axis jacking system, for driving the Y-axis feed system to be lifted in vertical direction straight line elevating movement, and the Z axis
Y-axis feed system described in the mobile terminal fixed-link of system；Z axis jacking system includes Ball screw type linear moving apparatus, Z axis
Servomotor drive component；The Ball screw type linear moving apparatus is fixed on the X-axis slide block connecting plate, the ball
Vertical provided with connection Slab element in the fixed platform of screw-type linear moving apparatus, the fixed platform is fixed on Ball screw type
On the sliding block of linear moving apparatus, connection Slab element is provided with connecting plate reinforcement；The Z axis servomotor drive component is used to drive
Dynamic Ball screw type linear moving apparatus is in vertical direction straight reciprocating motion；
Y-axis feed system, for driving front end grasping system along horizontal longitudinally reciprocating motion, and the Y-axis feed system
Mobile terminal is fixedly connected with front end grasping system；The Y-axis feed system includes cylinder and cylinder connecting plate；The cylinder front end
Slide unit connects the front end grasping system, and upper end is fixed on the connection Slab element by cylinder connecting plate, and the cylinder is
Small-sized sliding desk type cylinder；
Front end grasping system, for capturing the bin for needing to transplant；The front end grasping system includes crawl clamping device
With crawl clamping device connecting plate, the crawl clamping device includes crawl finger, finger contiguous block and parallel air gripper；It is described to grab
Take finger to be fixed on the finger contiguous block, acted by the parallel air gripper；The parallel air gripper is by grabbing
Clamping device connecting plate is taken to be connected with the cylinder, crawl clamping device connecting plate is provided with reinforcement, the number of the parallel air gripper
Measure as two, two parallel air grippers pass through a magnetic valve Synchronization Control.
It is preferred that, it is additionally provided with X-axis sensing positioning system on the tooth form belt band rolling guide linear moving apparatus.
It is preferred that, the X-axis wiring drag chain is fixed in the supporting plate of the body supports frame system.
It is preferred that, in addition to Z axis sensor alignment system, the Z axis sensor alignment system, the Z axis servomotor
Drive component is arranged on the Ball screw type linear moving apparatus.
It is preferred that, gas circuit control element is installed, line end is walked in one end connection of Z axis cabling drag chain on the connection Slab element
Sub- platform, the other end of the Z axis cabling drag chain connects the X-axis slide block connecting plate.
Preferably, two ends of cylinder side box drain groove set up a pair of magnetic switch, the stretching motion to sense the cylinder separately
Whether in place.
Preferably, a pair of magnetic switch is set up at two ends of each parallel air gripper side groove separately, described each flat to sense
In place whether the stretching motion of promoting the circulation of qi pawl.
It is preferred that, the material of the crawl finger is polyurethane.
The multidirectional transplanting mechanism that the present invention is provided includes body supports frame system, X-axis rectilinear movement system, Z axis lifting
System, Y-axis feed system and front end grasping system, enable grabbing device accurately, steadily to complete crawl, transfer, placement action,
Complete three axial straight reciprocating motions；Performance is stable, safe and reliable, and handling are easy；Production efficiency and final production can be improved
Quality；The silicon chip spoilage of maximum possible reduction simultaneously.
Brief description of the drawings
Fig. 1 is a kind of structural representation of bin；
A kind of main view dimensional structure diagram for embodiment of multidirectional transplanting mechanism that Fig. 2 provides for the present invention；
Fig. 3 is the side perspective structural representation of multidirectional transplanting mechanism in Fig. 2；
Fig. 4 is the schematic diagram of bin in place；
Fig. 5 is the schematic diagram that X-axis rectilinear movement system is moved to the direction of bin；
Fig. 6 is the schematic diagram that front end grasping system captures bin；
Fig. 7 is the schematic diagram that Z axis jacking system rises；
Fig. 8 is the schematic diagram that bin is transported to bin pallet；
Fig. 9 is the schematic diagram that Z axis jacking system declines；
Figure 10 be front end grasping system shrink by material rest device bin pallet schematic diagram；
Figure 11 is the schematic diagram that Y-axis feed system is shunk；
Figure 12 is the schematic diagram that Z axis jacking system rises.
Wherein, in Fig. 1~Figure 12：
Bin 100；Bin pallet 101；Conveyer 102；Body supports frame system 1；X-axis rectilinear movement system 2；Z axis
Jacking system 3；Y-axis feed system 4；Front end grasping system 5；General frame 6；Supporting plate 7；Source of the gas control piece 8；X-axis wiring is dragged
Chain 9；Gear belt band rolling guide linear moving apparatus 10；X-axis servomotor drive component 11；X-axis sensing positioning system 12；
Framework connecting piece 13；X-axis wiring drag chain connector 14；X-axis slide block connecting plate 15；Z axis servomotor drive component 16；Z axis is walked
Line drag chain 17；Ball screw type linear moving apparatus 18；Z axis sensing positioning system 19；Cabling terminal board 20；Connect Slab element
21；Gas circuit control assembly 22；Connecting plate reinforcement 23；Cylinder connecting plate 24；Small-sized sliding desk type cylinder 25；Reinforcement 26；Crawl
Clamping device connecting plate 27；Capture clamping device 28.
Embodiment
To make present disclosure more clear understandable, below in conjunction with Figure of description, present disclosure is made into one
Walk explanation.Certainly the invention is not limited in the specific embodiment, the general replacement known to those skilled in the art
Cover within the scope of the present invention.Secondly, the present invention has carried out detailed statement using schematic diagram, real the present invention is described in detail
During example, for convenience of description, schematic diagram, should not be in this, as limitation of the invention not according to general ratio partial enlargement.
It should be noted that in following embodiments, the structural representation using Fig. 1~12 is to being provided by the present invention
Multidirectional transplanting mechanism has carried out detailed statement.When embodiments of the present invention are described in detail, for convenience of description, each schematic diagram is not
Drawn according to general ratio and carried out partial enlargement and omission processing, therefore, should avoided in this, as limitation of the invention.
Fig. 2~Fig. 3 is refer to, Fig. 2 stands for a kind of main view of embodiment of multidirectional transplanting mechanism that the present invention is provided
Body structural representation；Fig. 3 is the side perspective structural representation of multidirectional transplanting mechanism in Fig. 2.
As shown in Figure 2 to 3, the present invention is provided the invention provides a kind of multidirectional transplanting mechanism, including：Body supports frame
Frame system 1, X-axis rectilinear movement system 2, Z axis jacking system 3, Y-axis feed system 4, front end grasping system 5；X-axis moves linearly
System 2, for driving the Z axis jacking system 3, Y-axis feed system 4, front end grasping system 5 to be moved linearly in horizontal cross；X
Axle rectilinear movement system 2 is on the general frame 6 of the body supports frame system 1, and X-axis rectilinear movement system 2 is moved
Z axis jacking system 3 described in the fixed-link of moved end；Z axis jacking system 3, for driving the Y-axis feed system 4 in vertical direction
Straight line elevating movement, and Y-axis feed system 4 described in the mobile terminal fixed-link of the Z axis jacking system 3；Y-axis feed system 4, is used
In driving front end grasping system 5 along horizontal longitudinally reciprocating motion, and the mobile terminal of the Y-axis feed system 4 is fixedly connected with front end and grabbed
Take system 5；Front end grasping system 5, for capturing the bin 100 for needing to transplant.
The multidirectional transplanting mechanism that the present invention is provided includes body supports frame system 1, X-axis rectilinear movement system 2, Z axis liter
Drop system 3, Y-axis feed system 4 and front end grasping system 5, enable grabbing device accurately, steadily to complete crawl, transfer, placement
Action, completes three axial straight reciprocating motions；Performance is stable, safe and reliable, and handling are easy；Production efficiency and most can be improved
Finished product quality；The silicon chip spoilage of maximum possible reduction simultaneously.
Specifically, in the present embodiment, body supports frame system 1 can include general frame 6, supporting plate 7, source of the gas control
Part 8, general frame 6 can be formed by connecting by heavy aluminium section bar by extruding aluminum corner brace, it is possible to be fastenedly connected with external equipment；Branch
Fagging 7, source of the gas control piece 8 are fixed on general frame 6.
Specifically, in the present embodiment, X-axis rectilinear movement system 2 includes tooth form belt band rolling guide linear moving apparatus
10th, X-axis servomotor drive component 11, X-axis wiring drag chain 9, X-axis slide block connecting plate 15；Tooth form belt band rolling guide straight line
Mobile device 10 is fixed on the general frame 6 by framework connecting piece 13, and X-axis servomotor drive component 11 drives described
Sliding block of the tooth form belt with rolling guide linear moving apparatus 10 is fixed with the X-axis slide block along moving linearly on the sliding block
Connecting plate 15, the X-axis wiring drag chain 9 connects the sliding block by X-axis slide block connecting plate 14.
It is preferred that scheme in, be additionally provided with X-axis sensing positioning system on tooth form belt band rolling guide linear moving apparatus 10
12.In addition, X-axis wiring drag chain 9 is fixed in the supporting plate 7 of body supports frame system.
Specifically, in the present embodiment, Z axis jacking system 3 includes Ball screw type linear moving apparatus 18, Z axis servo electricity
Machine drive component 16；The Ball screw type linear moving apparatus 18 is fixed on the X-axis slide block connecting plate 15, the ball
The fixed platform of screw-type linear moving apparatus 18 (fixed platform is fixed on the sliding block of Ball screw type linear moving apparatus)
It is fixedly connected with Slab element 21；The Z axis servomotor drive component 16 is used to drive Ball screw type linear moving apparatus 18 to exist
Vertical direction straight reciprocating motion.
In addition, also include Z axis sensor alignment system 19, Z axis sensor alignment system 19 and the driving of Z axis servomotor
Component 16 is arranged on the Ball screw type linear moving apparatus 18.
It is preferred that scheme in, gas circuit control element 22, one end of Z axis cabling drag chain are installed and walked on connection Slab element 21
Line terminals platform 20, the other end of the Z axis cabling drag chain connects the X-axis slide block connecting plate 15.
Specifically, in the present embodiment, Y-axis feed system 4 includes cylinder 25 and cylinder connecting plate 24；The front end of cylinder 25
Slide unit connect the front end grasping system 5, upper end is fixed on the connection Slab element 21 by cylinder connecting plate 24.Preferably
, cylinder is small-sized sliding desk type cylinder 25., can also be at two ends of the side groove of cylinder 25 point as a preferred embodiment
If a pair of magnetic switchs (not shown), whether in place to sense the stretching motion of the cylinder 25.
Specifically, in the present embodiment, front end grasping system 5 includes crawl clamping device 28 and crawl clamping device connecting plate
27, the crawl clamping device 28 includes crawl finger, finger contiguous block and parallel air gripper；The crawl finger is fixed on described
On finger contiguous block, acted by the parallel air gripper；The parallel air gripper is by capturing clamping device connecting plate
27 are connected with the cylinder.
In order to realize that synchronous crawl clamps the upper and lower ends of bin 100, the quantity of the parallel air gripper is two, and two parallel
Jaw passes through a magnetic valve Synchronization Control., can also be in each parallel air gripper side groove as a preferred embodiment
Two ends set up separately a pair of magnetic switch, whether in place to sense the stretching motion of each parallel air gripper.
In addition, in order to reduce the collision between crawl finger and bin 100, the material of the crawl finger is polyurethane.
Below in conjunction with accompanying drawing, exemplified by the bin 100 in transmission belt is transported into the process of bin pallet 101, to this hair
The operation principle of the multidirectional transplanting mechanism of bright offer is simply introduced.
Fig. 4-Figure 12 is refer to, the workflow for the multidirectional transplanting mechanism that the present invention is provided is as follows：
In place, as shown in figure 4, direction A is the direct of travel of bin 100, bin 100 is marched to bin 100 by transmission belt
The left end of conveyer 102 is until be blocked block stop, and the sensors in place of simultaneous transmission machine 102 detects the signal of bin 100, then
Transmission belt is out of service.
Bin 100 is captured, as shown in Fig. 5-Fig. 6, direction B is the X-axis rectilinear movement moving direction of system 2, and direction C is Z axis
The moving direction of jacking system 3, direction D is the moving direction of Y-axis feed system 4, and direction E is that front end grasping system 5 opens direction, side
It is the shrinkage direction of front end grasping system 5 to F, the X-axis rectilinear movement system 2 of multidirectional transplanting mechanism starts the direction to bin 100
Movement is until the position detected by X-axis sensing positioning system right-hand member sensor, then Z axis jacking system 3 drops to is passed by Z axis
The cylinder slide unit stretching of the position that end sensor is detected under sense alignment system, then Y-axis feed system 4, promotes front end crawl
System 5 is close to bin 100, and the parallel air gripper of front end grasping system 5 opens to clamp bin 100 still later.
Bin 100 is carried, as shown in Figs. 7-8, the Z axis jacking system 3 of multidirectional transplanting mechanism rises to be determined by Z axis sensing
The position that end sensor is detected in the system of position, the then cylinder slide unit counter motion of Y-axis feed system 4 returns to contraction state,
Then X-axis rectilinear movement is moved to the left until the position that is detected by X-axis sensing positioning system left end sensor, so that by bin
100 are carried to the top of 100 pallet of bin 101.
Bin 100 is placed, as shown in Fig. 9-Figure 10, the cylinder slide unit elongation of the Y-axis feed system 4 of multidirectional transplanting mechanism,
Then Z axis jacking system 3 is dropped to by the position that end sensor is detected under Z axis sensing positioning system, and then front end crawl is
The parallel air gripper of system 5 shrinks bin 100 being placed on bin pallet 101.
Reset, as shown in Figure 11-Figure 12, the cylinder slide unit of the Y-axis feed system 4 of multidirectional transplanting mechanism shrinks, so
Z axis jacking system 3 rises to afterwards is completed by the position that end sensor is detected on Z axis sensing positioning system, i.e. transplanter mechanism
Reset, be ready for the crawl of next bin 100, carry and place, while bin 100 is carried to down by bin pallet 101
One technique.
The description of the preferred embodiment described above for being only invention, it is noted that due to the finiteness of literal expression, and
Objectively there is unlimited concrete structure, for those skilled in the art, do not departing from original of the invention
On the premise of reason, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.Appoint
What simple modification, equivalent variation and modification, in the range of still falling within technical solution of the present invention protection.
Claims (8)
1. a kind of multidirectional transplanting mechanism, it is characterised in that including：
Body supports frame system, for supporting X-axis rectilinear movement system, Z axis jacking system, Y-axis feed system, front end crawl
System；Body supports frame system is included by heavy aluminium section bar by extruding the general frame, supporting plate that aluminum corner brace is formed by connecting, and props up
Fagging is fixed on general frame upper surface；
X-axis rectilinear movement system, for driving the Z axis jacking system, Y-axis feed system, front end grasping system horizontal in level
To rectilinear movement；X-axis rectilinear movement system is on the general frame of the body supports frame system, and the X-axis straight line is moved
Z axis jacking system described in dynamic system mobile terminal fixed-link；The X-axis rectilinear movement system includes tooth form belt band rolling guide
Linear moving apparatus, X-axis servomotor drive component, X-axis wiring drag chain, X-axis slide block connecting plate；The tooth form belt band is rolled
Guide rail linear moving apparatus is fixed on the general frame upper surface by framework connecting piece, and positioned at supporting plate sidepiece, the X
Axle servomotor drive component drives sliding block of the tooth form belt with rolling guide linear moving apparatus along rectilinear movement, described
The X-axis slide block connecting plate is vertically and fixedly provided with sliding block, the X-axis wiring drag chain connects the cunning by X-axis slide block connecting plate
Block；
Z axis jacking system, for driving the Y-axis feed system in vertical direction straight line elevating movement, and the Z axis jacking system
Mobile terminal fixed-link described in Y-axis feed system；Z axis jacking system includes Ball screw type linear moving apparatus, Z axis servo
Motor drive component；The Ball screw type linear moving apparatus is fixed on the X-axis slide block connecting plate, the ball screw
Vertical provided with connection Slab element in the fixed platform of formula linear moving apparatus, the fixed platform is fixed on Ball screw type straight line
On the sliding block of mobile device, connection Slab element is provided with connecting plate reinforcement；The Z axis servomotor drive component, which is used to drive, to be rolled
Ballscrew formula linear moving apparatus is in vertical direction straight reciprocating motion；
Y-axis feed system, for driving front end grasping system along horizontal longitudinally reciprocating motion, and the movement of the Y-axis feed system
End is fixedly connected with front end grasping system；The Y-axis feed system includes cylinder and cylinder connecting plate；The slide unit of the cylinder front end
The front end grasping system is connected, upper end is fixed on the connection Slab element by cylinder connecting plate, and the cylinder is small-sized
Sliding desk type cylinder；
Front end grasping system, for capturing the bin for needing to transplant；The front end grasping system includes crawl clamping device and grabbed
Clamping device connecting plate is taken, the crawl clamping device includes crawl finger, finger contiguous block and parallel air gripper；The crawl hand
Finger is fixed on the finger contiguous block, is acted by the parallel air gripper；The parallel air gripper is pressed from both sides by capturing
Tight device connecting plate is connected with the cylinder, and crawl clamping device connecting plate is provided with reinforcement, and the quantity of the parallel air gripper is
Two, two parallel air grippers pass through a magnetic valve Synchronization Control.
2. multidirectional transplanting mechanism according to claim 1, it is characterised in that the tooth form belt band rolling guide moves linearly
X-axis sensing positioning system is additionally provided with device.
3. multidirectional transplanting mechanism according to claim 1, it is characterised in that the X-axis wiring drag chain is fixed on the main body
In the supporting plate of support frame system.
4. multidirectional transplanting mechanism according to claim 1, it is characterised in that also including Z axis sensor alignment system, the Z
Axle sensor alignment system, the Z axis servomotor drive component are arranged on the Ball screw type linear moving apparatus.
5. multidirectional transplanting mechanism according to claim 1, it is characterised in that be provided with gas circuit control on the connection Slab element
One end connection cabling terminal board of element, Z axis cabling drag chain, the other end of the Z axis cabling drag chain connects the X-axis slide block and connected
Fishplate bar.
6. multidirectional transplanting mechanism according to claim 1, it is characterised in that set up a pair of magnetic separately in two ends of cylinder side box drain groove
Switch, whether in place to sense the stretching motion of the cylinder.
7. multidirectional transplanting mechanism according to claim 1, it is characterised in that set up separately at two ends of each parallel air gripper side groove
A pair of magnetic is switched, whether in place to sense the stretching motion of each parallel air gripper.
8. multidirectional transplanting mechanism according to claim 1, it is characterised in that the material of the crawl finger is polyurethane.
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| CN201510009547.2A CN104555409B (en) | 2015-01-08 | 2015-01-08 | A kind of multidirectional transplanting mechanism |
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| CN106044211B (en) * | 2016-07-21 | 2018-12-21 | 湖南三兴精密工业股份有限公司 | A kind of automatic charging blanking equipment for cover board material |
| CN106424420A (en) * | 2016-11-16 | 2017-02-22 | 广东志高空调有限公司 | Three-working-position punching machine sheet metal part transplanting equipment |
| CN107758257A (en) * | 2017-12-06 | 2018-03-06 | 常州市科沛达超声工程设备有限公司 | Automatic gaily decorated basket transplanter |
| CN109466929B (en) * | 2018-12-30 | 2023-12-26 | 无锡华氏恒辉精密装备科技有限公司 | AOI detects unloader |
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| JPH11129174A (en) * | 1997-10-29 | 1999-05-18 | Seiko Seiki Co Ltd | Conveying device for article |
| CN203127743U (en) * | 2013-01-09 | 2013-08-14 | 广东志成华科光电设备有限公司 | Taking and placing mechanism of chip sorting bin |
| TWI530446B (en) * | 2013-03-28 | 2016-04-21 | All Ring Tech Co Ltd | Transport method and device |
| CN103681422B (en) * | 2013-12-03 | 2016-09-28 | 北京七星华创电子股份有限公司 | A kind of switching mechanism on transmission line |
| CN203875239U (en) * | 2014-05-29 | 2014-10-15 | 王贵 | High-speed punching modularized long-cantilever rectangular coordinate robot device used for feeding and discharging |
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