CN105214909B - Apparatus for work - Google Patents
Apparatus for work Download PDFInfo
- Publication number
- CN105214909B CN105214909B CN201510527742.4A CN201510527742A CN105214909B CN 105214909 B CN105214909 B CN 105214909B CN 201510527742 A CN201510527742 A CN 201510527742A CN 105214909 B CN105214909 B CN 105214909B
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- China
- Prior art keywords
- work
- workpiece
- unit
- stand
- holding portion
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Coating Apparatus (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
It is the full-automatic operation device with work transporting mechanism that the present invention, which provides a kind of can either use, also the semi-automatic device of work-handling (bench-top machine people) can be carried out manually using being, and can neatly tackle the apparatus for work of output.Full-automatic apparatus for work in the apparatus for work of the present invention, possessing has：Stand, it is equipped with the transport unit of conveyance workpiece；And desktop apparatus for work unit, detachably it is disposed in stand；The apparatus for work is characterised by：Desktop apparatus for work unit possesses and had：Keep the work holding portion thereof, operation head and the relative moving mechanism for making work holding portion thereof be relatively moved with operation head of workpiece；Further, it is possible to operation needed for the workpiece progress individually kept to work holding portion thereof；And work holding portion thereof has：The conveyance position that is connected with transport unit and leave transport unit and the job position of operation needed for being carried out to workpiece.
Description
The application is that Chinese Patent Application No. is 201080038407.3, and the applying date is on August 30th, 2010, invention name
The referred to as divisional application of the PCT Patent Application for entering China of " apparatus for work ".
Technical field
The present invention relates to a kind of apparatus for work to operation needed for workpiece execution, such as with to the workpiece to put into manually
The semi-automatic apparatus for work of the bench-top machine people of operation needed for execution, and can detachably configure the semi-automatic
Apparatus for work and the full-automatic apparatus for work with transport unit.
In this manual, so-called " full-automatic apparatus for work " refers to that the workpiece to Work places can be performed entirely automatically
Move into, the operation in Work places to workpiece, the apparatus for work for taking out of workpiece from Work places, it is public as concrete example
A kind of device is provided with, can repeat to take out workpiece by being accommodated with the cassette of multiple workpiece automatically, through being performed to above-mentioned workpiece
After required operation, then the device by the step being accommodated in through post-job workpiece in cassette, or, can repeat automatically to from
The workpiece that the device of previous step is moved into, after operation needed for execution, then take out of to the device of the step in the device of next step.
Background technology
In order in the precalculated position for the operation object for being referred to as " workpiece ", implement liquid coating, oiling, latch are pressed into,
Operation needed for assembling, welding, fastened by screw etc., and use apparatus for work.
For example, patent document 1 discloses a kind of apparatus for work that liquid material coating operations are implemented to workpiece.
The apparatus for work possesses and had：Apparatus for coating body, loading machine and unloader, the apparatus for coating body is to workpiece
Liquor coating is implemented, the loading machine moves up and down the cassette table for loading cassette, and the workpiece stored in cassette is supplied
Apparatus for coating body should be given, the unloader moves up and down the cassette table for loading cassette, and will be arranged from apparatus for coating body
The workpiece gone out is accommodated in cassette.Wherein, loading machine is configured at the both sides of above-mentioned apparatus for coating body with unloader, and relatively
Vertical direction is disposed in multiple cassette tables.
Device as disclosed in Patent Document 1, workpiece is automatically taken out from the cassette for being accommodated with workpiece, then workpiece is automatic
Conveyance is just installed on workpiece table to after workpiece table, after operation needed for being implemented using apparatus for work to workpiece, then by work transporting
Into cassette and store, the device for automatically and continuously performing this succession of operation is referred to as " full-automatic ".
Such as the device assembled on manufacturing line, workpiece is moved into from the device of previous step, through operation needed for execution
Afterwards, the workpiece to fulfil assignment then is taken out of to the device for the device of next step, automatically and continuously performing this succession of operation
Belong to " full-automatic device ".
Also, such a liquid material apparatus for coating is generally the floor setting type apparatus for work for being directly arranged at ground.
Patent document 2 discloses that coating (supplies in a kind of well (ウ ェ Le) in micro-plate (マ イ Network ロ プ レ ー ト)
Should) device of fluent material.
The apparatus for work is a kind of liquid supplying apparatus, and is desktop Work robot, and possessed component includes
Have：Pedestal platform, X-direction mobile unit, Z-direction mobile unit, syringe tray, syringe and nozzle.The pedestal platform is provided with Y
Direction mobile unit, the workpiece table of mounting workpiece (micro-plate) is set to carry out Y-direction movement.The X-direction mobile unit is by pedestal
Two set pillars support near the rearward end of platform both sides, and moved above workpiece table.The Z-direction mobile unit is carried
In X-direction mobile unit.The syringe tray is arranged at Z-direction mobile unit.The syringe is equipped on syringe tray, and stores
Fluent material.The nozzle is arranged on syringe downside end in a manner of being connected with syringe, with the fluent material that spues.
Desktop Work robot is typically set or is placed on table or operation post to use.
Patent document 3 discloses that another pattern of desktop apparatus for work.
The apparatus for work is configured on base station via support column to support guiding element mechanism, and makes work along the guiding element mechanism
Have the robotically-driven portion such as erecting bed and screwdriver unit (De ラ イ バ ー ユ ニ ッ ト) and carry out transverse shifting.
In patent document 3, disclose on table robot device particular for fastened by screw, welding, clean, assembling, liquid
The support of body coating, oiling, latch press-in etc. and use, such as disclose a kind of device, it is as screw fastening device, in work
Horizontal part is formed at the top for having erecting bed, and as the supply department that necessary parts are kept in each job step, is provided with screw
Storage machine is supplied, multiple primary screws are contained in screw supplying storage machine, the primary screw is managed via induction and is supplied to screwdriver
The front end of unit, and perform set fastened by screw.
Such as the device disclosed in patent document 2 and patent document 3, manually by workpiece from receiver or supporting plate before operation
Deng taking-up, workpiece is similarly installed on operation table manually, after operation needed for being performed using apparatus for work to workpiece, then with hand
It is dynamic to dismantle the workpiece for having implemented operation from operation table, this device is referred to as " semi-automatic ".In semi-automatic apparatus for work
In, apparatus for work performs the operation for workpiece, but operator has to carry out attaching/detaching and work of the workpiece to operation table
The operation of industry device starts to indicate, is different from full-automatic for this point.
Desktop Work robot without work transporting function will use as semi-automatic.
As described above, apparatus for work, which has, sets or is placed in the semi-automatic of the desktop size that is used on operation post or table
Type apparatus for work or be directly arranged at floor use and size be more than desktop size full-automatic apparatus for work, choosing
It is output to select one of benchmark using full-automatic apparatus for work or using semi-automatic apparatus for work.
Full-automatic apparatus for work can automatically carry out production not via the hand of operator, and can manufacture high-quality
The product of amount.On the other hand, the device is in large-scale that large space is needed in setting.Also, when producing other kinds, because
Device is more huge, thus change production adjustment and need time and labour.So full-automatic apparatus for work tends to single variety
Volume produces.
Semi-automatic apparatus for work can form the compact devices that can be used on the table, can effectively apply flexibly to carry out
The space of production, and kind switch when etc. change production adjustment be relatively easy to implement.On the other hand, because must be via operator
Workpiece installation is carried out, thus has workpiece installation site precision inequality, so that in order to reach manufactured by full-automatic apparatus for work
Quality of item, it is desirable to operator is skilled.Also, on production efficiency this aspect, not as good as full-automatic apparatus for work.So half
Automatic type apparatus for work tends to other kinds and produced on a small quantity.
Prior art literature
Patent document
Patent document 1：Japanese Patent Laid-Open 2003-145022 publications
Patent document 2：Japanese Patent Laid-Open 2005-061957 publications
Patent document 3：Japanese Patent Laid-Open 08-229478 publications
The content of the invention
(problems to be solved by the invention)
Since previously, output is coordinated, appropriate selection uses semi-automatic device or full-automatic device, is required for every time
Buy device.Also, the setting of manufacturing condition is had to carry out in each device, so as to which time-consuming operation must be carried out.
But in recent years, variation, product life cycle time by the market demand etc. are influenceed, in production scene, it is desirable to
Reply for output change and reciprocity should flexibly tackle for diversification of varieties.
Then, it is an object of the invention to solve the above problems, there is provided it is with work transporting machine that one kind, which can either use,
The full-automatic operation device of structure, it is to carry out semi-automatic device (the desktop machine of work-handling manually that can also use
Device people), and can neatly tackle the apparatus for work of output.
(technical scheme for solving technical problem)
The apparatus for work of the aspect of the present invention the 1st, is full-automatic apparatus for work, possessing has：Stand, it is equipped with conveyance workpiece
Transport unit；And desktop apparatus for work unit, detachably it is disposed in stand；The feature of the apparatus for work exists
In：Desktop apparatus for work unit possesses and had：Keep the work holding portion thereof of workpiece, operation head and make work holding portion thereof with making
The relative moving mechanism that industry head is relatively moved；Further, it is possible to the workpiece individually kept to work holding portion thereof carries out institute
Need operation；And work holding portion thereof has：The conveyance position that is connected with transport unit and leave transport unit and workpiece is entered
The job position of operation needed for row.
The apparatus for work of the aspect of the present invention the 2nd, is semi-automatic apparatus for work, possessing has：The workpiece of workpiece is kept to keep
Portion, operation head and the relative moving mechanism for making work holding portion thereof be relatively moved with operation head；Further, it is possible on the table
Operation needed for the workpiece progress kept to work holding portion thereof；The apparatus for work is characterised by：The device is detachable
Ground is disposed in the device for the transport unit for possessing the conveyance workpiece for having stand and being disposed on stand；Work holding portion thereof passes through
Be displaced into the conveyance position being connected with transport unit and leave transport unit and to workpiece carry out needed for operation operation position
Put, and full-automatic apparatus for work can be formed.
The apparatus for work of the aspect of the present invention the 3rd, it is characterised in that：Possessing has stand, and the stand is equipped with conveyance workpiece
Transport unit；It can will be provided with keeping the work holding portion thereof of workpiece, operation head and make work holding portion thereof and the progress of operation head
The desktop apparatus for work unit loading and unloading of the relative moving mechanism of relative movement is disposed in stand freely；Work holding portion thereof passes through
Be displaced into the conveyance position being connected with transport unit and leave transport unit and to workpiece carry out needed for operation operation position
Put, and full-automatic apparatus for work can be formed.
The apparatus for work of the aspect of the present invention the 4th is characterised by, in the either side of the aspect of the present invention the 1st to the 3rd, institute
State transport unit possess have the upstream side for leaving arranging conveyance slide rail and downstream dispatching slide rail；It is described in the conveyance position
Upstream side is transported slide rail and is connected with downstream dispatching slide rail by work holding portion thereof.
The apparatus for work of the aspect of the present invention the 5th is characterised by, in the aspect of the present invention the 4th, the work holding portion thereof tool
Have connecting sliding rail and workpiece is locked to the locking mechanism of connecting sliding rail.
The apparatus for work of the aspect of the present invention the 6th is characterised by that in the aspect of the present invention the 5th, the transport unit possesses
There is reciprocal conveying unit, workpiece is transported to the downstream and dispenses slide rail by the reciprocal conveying unit from upstream side conveyance slide rail.
The apparatus for work of the aspect of the present invention the 7th is characterised by, in the aspect of the present invention the 6th, has been also equipped with being configured at institute
State the unloader portion in the downstream of downstream dispatching slide rail；Using biasing member possessed by the reciprocal conveying unit, workpiece is received
It is contained in unloader portion.
The apparatus for work of the aspect of the present invention the 8th is characterised by, in the either side of the aspect of the present invention the 1st to the 7th, institute
State transport unit and be detachably disposed in the stand.
(The effect of invention)
It is not necessary according to the invention that coordinating the mode of production such as output and a small amount of/short kind volume of multi items, and integrate more
Individual different device.
Furthermore apparatus for work unit disengaging stand on table is only set to use, it is thus possible to directly to continue to use and carried out to workpiece
Operating condition, with little need for adjustment time, adjustment operation.
Furthermore because the desktop operation unit that can only will be provided with damaged or serious wear operation head is torn open from stand
Unload, thus, even in the case that type apparatus for work unit breaks down on the table, can also only change desktop apparatus for work
Unit can continue to produce, it is thus possible to shorten production dwell time.Especially, in the work to be assembled on manufacturing line
In the case of industry device, because the link or connection of adjacent another device and transport unit need not be released, it is thus possible to big
Width cuts down the time and labour required for repair.
Brief description of the drawings
Fig. 1 is the overall diagram for the apparatus for work that embodiments of the invention 1 are related to.
Fig. 2 is the skeleton diagram of desktop apparatus for work unit in Fig. 1 shown devices.
Fig. 3 is the skeleton diagram of operation table in desktop apparatus for work unit shown in Fig. 2.
Fig. 4 is the explanation figure for illustrating the action of reinforcement unit in operation table shown in Fig. 3.
Fig. 5 is the skeleton diagram of transport unit in Fig. 1 shown devices.
Fig. 6 is the skeleton diagram of loading machine portion, unloader portion and conveyance slide rail etc. in Fig. 1 shown devices.
Fig. 7 a are the explanation figure (1/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 b are the explanation figure (2/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 c are the explanation figure (3/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 d are the explanation figure (4/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 e are the explanation figure (5/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 f are the explanation figure (6/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 g are the explanation figure (7/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 7 h are the explanation figure (8/8) for the work transporting pattern for illustrating Fig. 1 shown devices.
Fig. 8 is the control block diagram of Fig. 1 shown devices.
Fig. 9 is the explanation figure of pattern when illustrating to separate desktop apparatus for work unit from Fig. 1 shown devices.
Figure 10 is the explanation figure for illustrating the use example from the desktop apparatus for work unit after the separation of Fig. 1 shown devices.
Figure 11 is the explanation figure for illustrating body and the connection pattern of desktop apparatus for work unit.
Figure 12 is the approximate three-dimensional map for the block for being connected body with desktop apparatus for work unit.
Figure 13 is the explanation figure for illustrating body and other connection patterns of desktop apparatus for work unit.
Figure 14 is the approximate three-dimensional map of position adjustment unit.
Figure 15 is the explanation figure for the engagement pattern for illustrating guiding element and body.
Symbol description
10 bodies
11 pedestal A (stand)
12 side plates
13 top plates
14 monitors (contact panel)
15 batching controllers
16 syringes
17 nozzles
18 pipelines
20 workpiece A
21 hole A
22 workpiece B
23 hole B
29 control boxs
30 transport unit
31 loading machine portions
32 unloader portions
33 reciprocal conveying units
34 cassette A
35 cassette B
36 conveyance drive mechanism (conveyance driver element)
37 pin A
38 pin B
39 pin installed parts
40 take out of plate (biasing member)
41 slide rail connecting pieces
42 propellers
43 fixed flat planars
44 conveyance plates
50 desktop apparatus for work units (Work robot unit)
51 pedestal B
52 pillars
53 X-direction travel mechanisms (X-direction mobile unit)
54 Z-direction travel mechanisms (Z-direction mobile unit)
55 flat boards
56 discharge heads
57 CCD cameras
58 laser displacement gauges
59 Y-direction travel mechanisms (Y-direction mobile unit)
60 operation tables
61 Operation switches
62 microscope carriers
63 reinforcement units
64 support members
65 connecting pieces
67 mounting holes
68 guiding elements
70 workpiece move-in position
71 workpiece take out of position
72 pattern production job positions
80 conveyance slide rail A
81 conveyance slide rail B
82 conveyance slide rail C
85 blocks
86 holes
87 position adjustment units
88 adjustment screws
89 particle size parts
90 control unit A
91 control unit B.
Embodiment
So that fluent material is coated on as exemplified by the liquid material application device of the lead frame of workpiece, to for implementing this
The mode of invention illustrates.
The main composition important document of the apparatus for work of present embodiment is to be equipped with the body 10 and table of transport unit 30
Type apparatus for work unit 50.
It is provided with to transport the transport unit 30 of workpiece on the stand of body 10.Make from maintenance and desktop
Taking out of for industry device unit 50 is moved into from the point of view of the viewpoints such as easiness, and preferably transport unit 30 is detachably disposed in stand.
In the most upstream of transport unit 30, the loading machine portion that storage does not complete the workpiece of operation is configured with, and transporting
The most downstream of unit 30, it is configured with the unloader portion for the workpiece that storage fulfils assignment.In the middle reaches of transport unit 30,1 is configured with
Desktop apparatus for work unit 50 more than individual, the workpiece performed using transport unit 30 before operation move into desktop operation dress
Put unit 50 and take out of post-job workpiece from desktop apparatus for work unit 50.
Desktop apparatus for work unit 50 can also depart from body 10 and be used with monomer.When desktop apparatus for work unit
50 with monomer in use, the handling of workpiece are using manually performing.That is, desktop apparatus for work unit 50 possess have operation head,
Work holding portion thereof and XYZ directions travel mechanism, and can be used using monomer as semi-automatic apparatus for work.
On the table in type apparatus for work unit 50, it is preferably arranged with to interlock with transport unit 30 and forming transport mechanism
Work holding portion thereof.For example, the upstream side for disclosing type apparatus for work unit 50 on the table sets conveyance slide rail A80, and under
Swim side and conveyance slide rail C82 is set, using the conveyance slide rail B81 that mechanism is engaged with workpiece, form desktop apparatus for work unit
50 work holding portion thereof., can be single in conveyance in the case where not setting separately workpiece to take out of to move into device by such a construction
Picking and placeing for workpiece is carried out between member 30 and desktop apparatus for work unit 50.
According to apparatus of the present invention discussed above, in a small amount of production, carried out using desktop apparatus for work unit
Production, when output increase, with the feelings simply carried desktop apparatus for work unit on device body and produced
Condition is identical, can realize that the condition adjustment time that operation is carried out to workpiece, adjustment operation are minimum.
Furthermore in present embodiment, to it will implement coating operations from the workpiece discharged in cassette after, then it is accommodated in cassette
The device configuration example of type illustrate, but can certainly be as being connected with the manufacturing line formed by multiple devices
On the device that is assembled form and utilize.
Furthermore in present embodiment, although exemplified with the apparatus for coating that fluent material coating is implemented to workpiece, this hair
It is bright to be not limited merely to apparatus for coating certainly.
In addition, the configuration pattern on conveyance slide rail, can also use any-mode.For example, by loading machine, cassette
A, transport slide rail A and conveyance slide rail B is formed, but for being not provided with transporting slide rail C, unloader and cassette B device,
The present invention can also be utilized.That is, using the workpiece A for transporting slide rail B execution coating operations, conveyance slide rail A is returned to once again and is returned
Loading machine A cassette A, then, then the workpiece B that should implement coating operations is taken out from cassette A, and removed via conveyance slide rail A
Conveyance slide rail B is delivered to, the device of this type for carrying out work transporting, the present invention can also be applied.Now, workpiece move-in position
With workpiece drain position certainly same position.
Hereinafter, the detailed content of the present invention is illustrated using embodiment, but the present invention is not by any embodiment
Limitation.
Embodiment
[summary of apparatus for work]
Embodiment 1 is related to the liquid material application device to implementing fluent material coating as the lead frame of workpiece, and
The body 10 for being equipped with control box 29 and transport unit 30 and desktop apparatus for work unit 50 are set into main composition will
Part.
The workpiece of the present embodiment is the lead frame that multiple devices are configured with clathrate, and hole is formed in upper right end.
[body 10]
Body 10 by the transport unit 30 and control box 29 that are arranged in pedestal (stand) A11 front and by
Contact panel 14 and batching controller 15 are arranged on the plate 13 that the biside plate 12 at pedestal A11 rear is supported and are formed.And
And arrange control unit A90 in pedestal A11 lower section.Desktop apparatus for work unit 50 is arranged in pedestal A11 center.
[desktop apparatus for work unit 50]
Desktop apparatus for work unit 50 is by X-direction travel mechanism 53, Z-direction travel mechanism 54, discharge head 56, flat board
55th, Y-direction travel mechanism 59, operation table 60 and Operation switch 61 are formed.The X-direction travel mechanism 53 is by towards on pedestal B51
The pillar 52 that just extends and support.The Z-direction travel mechanism 54 can be entered using X-direction travel mechanism 53 in X directions
Row movement.The discharge head 56 can be moved in z-direction using Z-direction travel mechanism 54.The flat board 55 is equipped with CCD
Camera 57 and laser displacement gauge 58.The Y-direction travel mechanism 59 is configured at pedestal B51 centers.The operation table 60 utilizes Y
Direction travel mechanism 59 and can move in the Y direction.The Operation switch 61 is configured at pedestal B51 right side.In pedestal
Control unit B91 (not shown) is arranged in B51.
Control unit B91 is able to record coating processes, the button of Operation switch 61 or coating processes (not shown), will in order to
The action sequence sequencing of coating is implemented in required position on workpiece, can be to X moving directions unit 53, Y-direction travel mechanism
59 and the action of Z-direction travel mechanism 54 and the action of batching controller 15 and reinforcement unit 63 described later controlled
System.
By from connector reception signal, being able to carry out above-mentioned coating processes.When executing a program, according to being remembered in program
The order of load, make X-direction travel mechanism 53, Y-direction travel mechanism 59, Z-direction travel mechanism 54, batching controller 15 and
Above-mentioned reinforcement unit 63 is acted.
Furthermore control unit B91 is connected to control unit A described later, the transmission that signal can be carried out between control unit A connects
Receive.
Discharge head 56 has the nozzle 17 that is connected with for storing the syringe 16 of fluent material, and via pipeline 18 and
Connected with batching controller 15.Using the air through the pressure regulation of batching controller 15, the fluent material in syringe 16 is implemented into institute
Take time pressurization, so as to form the state of the discharge fluent material from nozzle 17.
[operation table 60]
As shown in figure 3, operation table 60 is by microscope carrier 62, support member 64, connecting piece 65, conveyance slide rail B81 and reinforcement unit
63 are formed.The support member 64 is disposed on microscope carrier 62.The connecting piece 65 is supported by support member 64.Conveyance slide rail B81 utilizes company
Tie part 65 and fixed the guiding member.The reinforcement unit 63 is located at above-mentioned conveyance slide rail B81 lower section and is disposed in
Microscope carrier 62.
The sliding Rail B81 of conveyance are two guiding members that cross sectional shape is in U word, be configured to respective recess mutually to, and
And in order to transport workpiece, maintain appropriate interval.
Reinforcement unit 63 has the fixed flat planar 43 that can be moved up and down.As shown in figure 4, reinforcement unit 63 makes fixed flat planar
43 are connected to below workpiece A20, by making its rising, and by workpiece A20 with transporting slide rail B81 sandwicheds and fixation.
[transport unit 30]
As shown in figure 5, transport unit 30 by loading machine portion 31, unloader portion 32, conveyance slide rail A80, conveyance slide rail C82,
And reciprocal conveying unit 33 is formed.
Loading machine portion 31 can set cassette A34, and cassette A34 can store 20 lead frames as workpiece, pass through
Cassette A34 is moved up and down using lifting unit (not shown) (elevating mechanism), and by lead frame 1 tablet once ground successively
It is sent to conveyance slide rail A80.Unloader portion 32 can set the cassette B35 same with loading machine portion 31, using making cassette B35
The lifting unit (not shown) moved up and down, and by lead frame 1 tablet once ground store successively.
Conveyance slide rail A80 is fixed on loading machine portion 31, using slide rail connecting piece 41 with being fixed on removing for unloader portion 32
Send slide rail C82 connections.Slide rail connecting piece 41 is fixed on conveyance slide rail A80 and transports slide rail C82 outside sidepiece.
Slide rail A80 and conveyance slide rail C82 are transported, the distance of the same length with transporting slide rail B81 is left and configures.
By the configuration conveyance slide rail B81 between the conveyance slide rail A80 and conveyance slide rail C82, so as to which workpiece can be from loading machine portion 31
Transport to unloader portion 32.
As shown in fig. 6, reciprocal conveying unit 33 is made up of conveyance plate 44, pin A37 and pin B38.The conveyance plate 44 is utilized and removed
Drive mechanism (conveyance driver element) 36 is sent, and is moved in X-direction.Pin A37 and pin B38 is via being fixed on conveyance plate 44
Installed part 39 is sold, and is mounted to move in above-below direction.
On pin installed part 39, pin A37 is installed in the side of loading machine portion 31 (cassette A34 sides), and in unloader portion 32
Side (cassette B35 sides) is provided with pin B38.Also, on pin B38 pin installed part 39 is provided with, in the workpiece of pin installed part 39
It is provided with before transport direction and takes out of plate (biasing member) 40.
The control of transport unit 30 is performed by control unit A90.Control unit A90 is performed loading machine portion 31 and unloader portion 32
Driven in the control that moves up and down for each lifting unit that above-below direction moves, and by plate 44 is transported in the conveyance that X-direction moves
The X-direction movement control of mechanism 36, while perform pin A37 and pin B38 moves up and down control.Also, on control unit A90 and table
The control unit B91 of type apparatus for work unit 50 carries out the communication (reference picture 8) of the signal picked and placeed on workpiece.
[action]
Actions of the reference picture 7a~7h to the present apparatus illustrates.In addition, in Fig. 7 a~7h, turn into each conveyance slide rail
Beam (purlin) omits diagram.
《Loading machine portion~conveyance slide rail A~conveyance slide rail B》
Operator will store in advance be coated with before the cassette A34 of workpiece be arranged at loading machine portion 31, while will be after recovery coating
The empty boxes box B35 of workpiece is arranged at unloader portion 32.Now, the operation table 60 of desktop apparatus for work unit 50 is moved into workpiece
Position 70 is standby.The workpiece move-in position 70 is located at by operation table 60, the conveyance slide rail B81 on operation table 60 just with conveyance
Slide rail A80 and conveyance slide rail C82 are connected with, and thus allow for workpiece from conveyance slide rail A80 to conveyance slide rail B81 conveyance.
By operator since control box 29 indicates operation, the present apparatus just proceeds by coating operations.
As shown in Figure 7b, first, the cassette A80 in loading machine portion 31 is moved to the workpiece of the 1st layer of cassette A80 topmosts
The position of discharge, then, propeller 42 only push workpiece A20 towards conveyance slide rail A80 in X-direction (right direction) with ormal weight.Connect
, by making pin A37 rise relative to the workpiece A20 being biased out from above-mentioned loading machine portion 31, so as to which pin A37 is inserted in workpiece
Hole 21 set by A20 right-hand members.
Then, as shown in Figure 7 c, act the generation of conveyance drive mechanism 36, transporting injection pin A37 workpiece A20
Enter line slip towards X-direction (right direction in figure) on slide rail A80, and be moved to conveyance slide rail B81.Removed when workpiece A20 is moved to
When sending slide rail B81, stop conveyance drive mechanism 36, and make workpiece A20 mobile stopping.
《The execution of coating processes》
After workpiece A20 stops, declining pin A37, sending workpiece to desktop apparatus for work unit 50 from control unit A90 moves
If complete signal.When the control unit B91 of desktop operation unit 50 receives above-mentioned signal, just perform in advance in control unit
The required coating processes stored in B91.Herein, act first the generation of reinforcement unit 63 of operation table 60, and make fixed flat planar
43 rise.When fixed flat planar 43 rises, workpiece A20 is located in fixed flat planar 43 above with transporting below slide rail B81, and fixes
In fixed flat planar 43 with transporting on slide rail B81 (reference picture 7d).
After workpiece A20 is relatively fixed flat board 43 and conveyance slide rail B81 is fixed, desktop apparatus for work unit 50 is by work
Part moves (reference picture 7e) towards pattern production job position 72, and makes X-direction travel mechanism 53, Y-direction travel mechanism 59, Z side
Acted to travel mechanism 54 and the generation of batching controller 15, so as to be coated into the desired amount of fluent material on workpiece A20
Required pattern.
When the coating implemented using above-mentioned coating processes is completed, the control unit B91 of desktop apparatus for work unit 50 will
Operation table 60 takes out of position 71 towards workpiece and moved, and coating is completed into signal and is sent to control unit A90 (reference picture 7f).Herein,
In the present embodiment, it is same position that workpiece move-in position 70 takes out of position 71 with workpiece, still, certain workpiece move-in position 70
It can also be diverse location to take out of position 71 with workpiece.For example, leaving between conveyance slide rail A and conveyance slide rail C is in larger distance
In the case of, it is adjacent with conveyance slide rail A but positioned away from transporting slide rail C, and work that workpiece move-in position turns into conveyance slide rail B
Part take out of position turn into conveyance slide rail B with conveyance slide rail C it is adjacent but with transport slide rail A position away from, workpiece move-in position
It is different that position is taken out of from workpiece.
《Workpiece B22's is standby》
As shown in Fig. 7 e and Fig. 7 f, during type apparatus for work unit 50 is performed during pattern production job on the table, load
Machine portion 31 and reciprocal conveying unit 33 perform make the workpiece B22 that then perform pattern production job be moved to conveyance slide rail A80 and
Efficiency is preferably carried out the preparation of coating operations.That is, make the generation action of loading machine portion 31, and be located at discharge workpiece B22 position,
The generation of propeller 42 is acted, and workpiece B12 is only sent out with ormal weight towards conveyance slide rail A80.Then, conveyance drive mechanism is made
36 generations act, and make pin A37 mobile towards the direction of loading machine portion 31 (left direction), and pin A37 is increased, and just insert pin A37
In workpiece B22 hole B23.Then, make conveyance drive mechanism 36 mobile towards unloader direction (right direction), and be moved to pin B38
It can insert standby in the hole A21 for the workpiece A20 that position is taken out of positioned at workpiece position.Led to by the workpiece B22 that pin A37 is inserted
It is mobile to cross the unloader direction (right direction) of conveyance drive mechanism 36, and is sent on conveyance slide rail A, and in conveyance slide rail
A80 is upper standby.So, conveyance slide rail A80 plays the coating standby station effect as the workpiece for implementing coating that continues.In addition,
When standby, pin B38 declines.
《Transport slide rail B~conveyance slide rail C~unloader portion》
When control unit A receives coating from control unit B completes signal, the workpiece A20 for just starting to have been coated with is recovered in
Cassette B35 action.Position 71 is taken out of in workpiece, declines the fixed flat planar 43 of reinforcement unit 63, and is released to workpiece A20
Sandwiched fix.Then, pin B38 is increased, and pin B38 is inserted in workpiece A20 hole 21.
As shown in figure 7g, acted by the generation of conveyance drive mechanism 36 to make pin B38 towards the direction of unloader portion 32 (in figure
Right direction) it is mobile, so that workpiece A20 is transporting the enterprising line slips of slide rail C82, and it is transferred to conveyance slide rail C82.Now, work
Part B22 is moved to conveyance slide rail B81 using pin A37.After conveyance slide rail C82 is transferred to, decline pin B38.
As shown in Fig. 7 h, the generation of conveyance drive mechanism 36 is acted, and made to take out of plate 40 towards the direction of loading machine portion 31 (in figure
Left direction) it is mobile, untill taking out of plate 40 and be located at the position for loading pusher side of workpiece A20 rear ends (left end in figure), connect
, from workpiece A20 rear end (left end in figure), make to take out of plate 40 towards the direction of unloader portion 32 using conveyance drive mechanism 36
(right direction in figure) is mobile, and so as to take out of the rear end that plate 40 pushes workpiece A20, workpiece A20 is accommodated in into unloader portion 32
In cassette B35.Now, the cassette B35 in unloader portion 32 is moved to the storage position of workpiece and standby using lifting unit.And
And take out of plate 40 and be arranged at when pin B38 inserts the hole of workpiece, will not be with the unloading pusher side front end (right-hand member in figure) of workpiece
The position of interference.
With above-mentioned job parallelism, when workpiece B22 is moved to conveyance slide rail B81 using pin A37, decline pin A37, and make
The fixed flat planar 43 of reinforcement unit 63 rises, and is fixed on conveyance slide rail B81, then performs pattern system in the same manner as workpiece A20
Operation.That is, during workpiece A20 is accommodated in the operation of unloader 32 by execution, desktop apparatus for work unit 50 can be right
Workpiece B22 performs coating operations.Also, during pattern production job is performed to workpiece B22, workpiece A20 is accommodated in cassette
B35, and the workpiece B22 that makes to continue implements the workpiece of coating and is moved to conveyance slide rail A80.
More than action repeat, untill whole workpiece that the cassette A34 in loading machine portion 31 is stored terminate,
When all workpiece are accommodated in the cassette B35 of unloader 32, just terminate to operate automatically.
[handling]
Desktop apparatus for work unit 50 passes through the hole 86 for four blocks 85 fixed on the pedestal A11 of body 10
In, intercalation four pins that the bottom surface of type apparatus for work unit 50 is arranged on the table, so as to link with body 10 and fix (reference picture
11 and Figure 12).
When desktop apparatus for work unit 50 is separated from body 10, desktop apparatus for work unit 50 is lifted upward
Rise, and make pin pull-off from the block 85 of body 10 of the bottom surface of desktop apparatus for work unit 50.
In the present embodiment 1, make rear side of the desktop apparatus for work unit 50 from body 10, by by side plate 12 and top plate
13 areas encompassed can take out of.Top plate 13 is arranged at what be will not interfere with when taking out of desktop apparatus for work unit 50 certainly
Highly.Mouth is taken out of alternatively, it is also possible to be set on the pedestal A11 of body 10.
Furthermore as shown in figure 13, desktop apparatus for work unit 50, which can also position, is fixed on body 10.That is, can also
Side near the guiding element 68 fixed on the pedestal A11 of body 10 is located at the corner side of desktop apparatus for work unit 50
Formula, mounting desktop apparatus for work unit 50, then, using position adjustment unit 87, by desktop apparatus for work unit 50
Corner side is pressed against guiding element 68 to position and be fixed.Herein, position adjustment unit 87 is the screw 88 that front end is in particle size
The construction of L-shaped plate is penetrated, the front end face of the particle size part 89 of the front end of screw 88 is connected to desktop apparatus for work unit 50
Side.When particle size part 89 is the material of the soft property such as rubber or plastics, desktop apparatus for work unit 50 will not be injured,
Thus preferably.
In addition, if the bottom surface of type apparatus for work unit 50 sets castor on the table, carried out when to position adjustment unit 87
Operation and when desktop apparatus for work unit 50 is pressed against into guiding element 68 etc., the desktop operation dress on the pedestal A11 of body 10
The movement of unit 50 is put to be relatively easy to, thus preferably.
Furthermore position adjustment unit 87 preferably after desktop apparatus for work unit 50 is placed near guiding element 68,
The pedestal A11 of body 10 is fixed on via mounting hole 67.Reason is, when desktop apparatus for work unit 50 is moved into body 10
When, from the rear side of body 10 by by side plate 12 and the area encompassed of top plate 13 near position adjustment unit 87
In movement, it is not necessary to lift desktop apparatus for work unit 50.
When desktop apparatus for work unit 50 is taken out of, by the way that position adjustment unit 87 is torn open from pedestal A11 in advance
Unload, it is same during so as to moving into, can be from the back side of body 10 by desktop operation without lifting desktop apparatus for work unit 50
Device unit 50 takes out of.
The transport unit 30 of the present embodiment is directly disposed on pedestal A11, but can also be loaded and unloaded via on pedestal A11
The components such as the flat board set freely arrange transport unit 30., can be easily by transport unit by using such a construction
30 integratedly separate from body 10, so as to be easily performed the maintenance of transport unit 30, thus preferably.
Furthermore, also can be by desktop apparatus for work unit 50 from originally if the components such as the flat board dismantled from body A11
Made above take out of of body is moved into.
In the present embodiment, the conveyance side of the type of workpiece is transported exemplified with set hole in workpiece is inserted pins into
Formula, but such a conveyance mode is not only limited to certainly.
As the effective conveyance mode when being not provided with hole 21,23 within the workpiece, disclose for example：(1) this reality is substituted
The pin of example is applied, is changed to utilize the fixture unit of sandwiched workpiece by workpiece clamping and transports the conveyance mode of workpiece；(2) carry workpiece
It is placed in the belt conveyance mode on the belt of rotation and transported.
[utilization as semi-automatic device]
The desktop apparatus for work unit 50 departed from from body 10, the generation of semi-automatic device can be used as to act.From this
The use pattern of desktop apparatus for work unit 50 after the disengaging of body 10 is for example shown in Figure 10.
When using desktop apparatus for work unit 50 as semi-automatic device and when producing action, can manually by operator
Workpiece is installed on operation table 60.That is, workpiece is installed on to the conveyance slide rail B81 of operation table 60 by operator, recycles reinforcement list
Workpiece is fixed and implements coating operations by member 63.The situation that workpiece is dismantled from operation table 60 is similarly to manually perform.
On the table in the control unit B91 of type apparatus for work unit 50 stored (record) program, via company (not shown)
Device is connect, is inputted from the outside input such as PC unit.If robot cell 50 is installed on body 10 and connected with control unit A90 on table
Connect, can also be inputted from monitor (contact panel) 14.
(industrial applicability)
The present invention can be from discharge head, cutting element, decontaminating apparatus, assembling tool, fastened by screw screwdriver, UV irradiations
The arbitrary operation head of the selections such as device, soldering appliance, oiling, pressing in tool is simultaneously utilized.
Claims (13)
1. a kind of apparatus for work, it is full-automatic apparatus for work, possessing has：Stand, it is equipped with the transport unit of conveyance workpiece；With
And desktop apparatus for work unit, detachably it is disposed in stand；The apparatus for work is characterised by：
Desktop apparatus for work unit possesses and had：Keep the work holding portion thereof of workpiece, operation head and make work holding portion thereof with making
The relative moving mechanism that industry head is relatively moved；Further, it is possible to depart from stand and semi-automatic apparatus for work is used as using monomer
Operation needed for the workpiece progress kept to work holding portion thereof.
2. a kind of apparatus for work, it is semi-automatic apparatus for work, possessing has：Keep the work holding portion thereof of workpiece, operation head and
The relative moving mechanism for making work holding portion thereof be relatively moved with operation head；Further, it is possible on the table to work holding portion thereof institute
Operation needed for the workpiece progress of holding；The apparatus for work is characterised by：
Be disposed in freely using the semi-automatic apparatus for work as the unit loading and unloading of desktop apparatus for work possess have stand and
The device of the transport unit for the conveyance workpiece being disposed on stand；
The workpiece that the semi-automatic apparatus for work can depart from stand and be kept with monomer to work holding portion thereof is made needed for carrying out
Industry.
A kind of 3. apparatus for work, it is characterised in that：
Possessing has stand, and the stand is equipped with the transport unit of conveyance workpiece；
It can will be provided with keeping the work holding portion thereof of workpiece, operation head and work holding portion thereof is carried out relatively with operation head
The desktop apparatus for work unit loading and unloading of mobile relative moving mechanism is disposed in stand freely；
Desktop apparatus for work unit can depart from stand and using monomer as semi-automatic apparatus for work to work holding portion thereof institute
Operation needed for the workpiece progress of holding.
4. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：The desktop apparatus for work unit has
Operation switch and the first control unit.
5. apparatus for work according to claim 4, it is characterised in that：Possess and be disposed in described in the stand and control
Second control unit of transport unit；
The communication for the signal that second control unit picks and places with first control unit progress on workpiece.
6. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：The relative moving mechanism possesses and had by court
The pillar that extends above pedestal and support first direction travel mechanism (53), the energy using first direction travel mechanism (53)
Enough second direction travel mechanisms (54) moved in a first direction and the third direction travel mechanism for being configured at pedestal
(59)；
Using second direction travel mechanism (54), the operation head can move in a second direction；
Using third direction travel mechanism (59), the work holding portion thereof can move on third direction.
7. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：The work holding portion thereof possesses and had workpiece
The locking mechanism of locking.
8. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：The transport unit possesses and has conveyance slide rail.
9. apparatus for work according to claim 8, it is characterised in that：The work holding portion thereof possess have connecting sliding rail, with
And workpiece is locked to the locking mechanism of connecting sliding rail.
10. apparatus for work according to claim 9, it is characterised in that：The transport unit possesses and has reciprocal conveying unit, should
Reciprocal conveying unit transports workpiece between the conveyance slide rail and the connecting sliding rail.
11. apparatus for work according to claim 10, it is characterised in that：It is also equipped with being configured under the conveyance slide rail
The unloader portion of trip；
Using biasing member possessed by the reciprocal conveying unit, workpiece is accommodated in unloader portion.
12. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：The transport unit detachably arranges
In the stand.
13. according to the apparatus for work described in claim 1,2 or 3, it is characterised in that：Configuration is also equipped with the stand
Biside plate and top plate；
The desktop apparatus for work unit can be from the rear side of the stand by being surrounded by biside plate and top plate area
Domain and take out of.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009201074A JP5586191B2 (en) | 2009-08-31 | 2009-08-31 | Work equipment |
| JP2009-201074 | 2009-08-31 | ||
| CN201080038407.3A CN102497937B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080038407.3A Division CN102497937B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105214909A CN105214909A (en) | 2016-01-06 |
| CN105214909B true CN105214909B (en) | 2018-02-02 |
Family
ID=43628089
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510527742.4A Active CN105214909B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
| CN201080038407.3A Active CN102497937B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080038407.3A Active CN102497937B (en) | 2009-08-31 | 2010-08-30 | Apparatus for work |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5586191B2 (en) |
| KR (1) | KR101759589B1 (en) |
| CN (2) | CN105214909B (en) |
| HK (2) | HK1166752A1 (en) |
| TW (2) | TWI587926B (en) |
| WO (1) | WO2011024998A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5586191B2 (en) * | 2009-08-31 | 2014-09-10 | 武蔵エンジニアリング株式会社 | Work equipment |
| KR20130136057A (en) | 2012-06-04 | 2013-12-12 | 현대자동차주식회사 | Vehicle driving guiding device and method |
| JP6585391B2 (en) | 2015-06-11 | 2019-10-02 | 蛇の目ミシン工業株式会社 | robot |
| CN106081612B (en) * | 2016-07-28 | 2018-01-30 | 昆山优乐智机器人科技有限公司 | One kind automation dispensing hot pressing synthesis streamline |
| WO2018150466A1 (en) * | 2017-02-14 | 2018-08-23 | ヤマハ発動機株式会社 | Object-to-be-mounted working apparatus |
| CN113426626B (en) * | 2021-05-26 | 2022-10-11 | 沈阳西子航空产业有限公司 | Low-pressure infiltration type high-temperature epoxy glue repairing device |
| CN113798140B (en) * | 2021-09-17 | 2023-01-24 | 北京闼闼同创工贸有限公司 | Automatic production line |
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| JPH04222656A (en) * | 1990-12-25 | 1992-08-12 | N O K Megurasuteitsuku Kk | Coating machine |
| JP3472318B2 (en) * | 1993-02-26 | 2003-12-02 | オリジン電気株式会社 | Disk coating equipment |
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| JP4652351B2 (en) * | 2007-02-02 | 2011-03-16 | 大日本印刷株式会社 | Substrate support apparatus and substrate support method |
| JP5586191B2 (en) * | 2009-08-31 | 2014-09-10 | 武蔵エンジニアリング株式会社 | Work equipment |
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- 2009-08-31 JP JP2009201074A patent/JP5586191B2/en active Active
-
2010
- 2010-08-30 WO PCT/JP2010/064701 patent/WO2011024998A1/en active Application Filing
- 2010-08-30 CN CN201510527742.4A patent/CN105214909B/en active Active
- 2010-08-30 KR KR1020127008287A patent/KR101759589B1/en active IP Right Grant
- 2010-08-30 CN CN201080038407.3A patent/CN102497937B/en active Active
- 2010-08-31 TW TW105102056A patent/TWI587926B/en active
- 2010-08-31 TW TW099129236A patent/TWI524945B/en active
-
2012
- 2012-07-25 HK HK12107291.7A patent/HK1166752A1/en unknown
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2016
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|---|---|---|---|---|
| JPH08229478A (en) * | 1995-02-23 | 1996-09-10 | Nec Eng Ltd | Paste coating device |
| CN1367748A (en) * | 1999-12-09 | 2002-09-04 | 拜奥德卡普工业有限公司 | Novel robot platform for stripping and/or painting and resulting work stations |
| JP2003145022A (en) * | 2001-11-14 | 2003-05-20 | Musashi Eng Co Ltd | Liquid material application apparatus |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105214909A (en) | 2016-01-06 |
| KR20120059595A (en) | 2012-06-08 |
| CN102497937A (en) | 2012-06-13 |
| KR101759589B1 (en) | 2017-07-19 |
| WO2011024998A1 (en) | 2011-03-03 |
| TWI524945B (en) | 2016-03-11 |
| HK1214203A1 (en) | 2016-07-22 |
| JP5586191B2 (en) | 2014-09-10 |
| JP2011050831A (en) | 2011-03-17 |
| TW201622833A (en) | 2016-07-01 |
| CN102497937B (en) | 2015-09-02 |
| TW201119747A (en) | 2011-06-16 |
| TWI587926B (en) | 2017-06-21 |
| HK1166752A1 (en) | 2012-11-09 |
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