CN108910179A - The flexible arranging apparatus that picks up and sort after suppressing concave and convex lenses blank stress annealing - Google Patents
The flexible arranging apparatus that picks up and sort after suppressing concave and convex lenses blank stress annealing Download PDFInfo
- Publication number
- CN108910179A CN108910179A CN201810410976.4A CN201810410976A CN108910179A CN 108910179 A CN108910179 A CN 108910179A CN 201810410976 A CN201810410976 A CN 201810410976A CN 108910179 A CN108910179 A CN 108910179A
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- Prior art keywords
- flexible
- convex lenses
- concave
- lenses blank
- servo motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The flexible arranging apparatus that picks up and sort after entitled compacting concave and convex lenses blank stress annealing of the invention.Belong to compacting concave and convex lenses blank production equipment technology.It mainly solves the problems, such as manually to pick up and put concave and convex lenses blank.It is mainly characterized by：Unit is put including object motion unit, detection positioning and flexible pickup unit and sequence；Wherein detection positioning and flexible pickup unit include that testing agency, the control positioning mechanism and flexible mechanism for picking, flexible mechanism for picking that move along stainless (steel) wire with vertical and horizontal are connect with positioning mechanism；The sequence is put unit and is made of foam packaging case, movable tray, third servo motor and the 4th servo motor.It is picked up present invention is mainly used for the automatic flexible of glass concave and convex lenses blank and sequence is put.
Description
Technical field
The invention belongs to suppress concave and convex lenses blank production equipment technology, and in particular to a kind of glass concave and convex lenses blank picks up
Laser scanning location technology and the device that servo flexibility is picked up, sequence is put during taking.
Background technique
Compacting concave and convex lenses blank production process be：It is first formed on mo(u)ldenpress, then shifts molded blank onto biography again
Stress relief annealing is carried out on dynamic stainless (steel) wire band.In this continuous production process, as the operating of stainless (steel) wire band transmits,
Blank after stress relief annealing is gradually taken to the discharge port end of mesh belt, discharging process hereafter mainly by being accomplished manually, i.e., by
Operator grabs blank by hand, then places into and prepares in molding foam packaging case by shape of product.
This mode of operation is simple, does not need other additional facilities, but there is some drawbacks：
（1）It manually operates continuously for 24 hours, large labor intensity, is easy tired, operating efficiency is low；
（2）There are stress for glass concave and convex lenses blank itself, during being phoresied on mesh belt, inevitably can jagged, chipping, people
Work, which is picked up, to be easy to scratch；
（3）When manual operation, dry by many factors is scratched, and the artificial damage of glass concave and convex lenses blank is be easy to cause, to reduce
Product qualification rate and production yields；
（4）Operator is close away from transmission net band distance, increases the risk that operator is hung tag.
Summary of the invention
The present invention overcomes the drawback of above-mentioned all various aspects, and analog manual operation's mechanism is pointedly examined using laser scanning
Survey technology, electromechanical servo technology two dimension trace trap, pneumatic executive item are quickly ingratiated with, the amendment of wrist-like joint hinge trap state,
Adsorption head flexible crawl, the playback of servo-system origin and blank product ordered arrangement put the measures of grade, form a whole set of pickup
And the operating device put.
The technical solution of the invention is as follows：A kind of flexible pendulum that picks up and sort suppressed after concave and convex lenses blank stress annealing
Put device, foam packaging case, it is characterized in that：Including the object motion unit being made of conveying roller and stainless (steel) wire band, packet
It includes detection positioning and flexible pickup unit and unit is put in sequence；Wherein, include in the detection positioning and flexible pickup unit
The testing agency that is made of laser scanner, including control the positioning drive mechanisms moved with vertical and horizontal along stainless (steel) wire,
And flexible mechanism for picking, and flexible mechanism for picking is connect with positioning drive mechanisms；The sequence puts unit by foam collection
Mounted box, movable tray, third servo motor and the 4th servo motor are constituted.
Scanning imagery information of flexibility mechanism for picking described in technical solution of the invention according to testing agency, movement
The top of each concave and convex lenses blank position in rust steel mesh belt is navigated to, sequence is placed in foam collection in place on movable tray after pickup
In mounted box.
Positioning drive mechanisms described in technical solution of the invention include along stainless (steel) wire band it is longitudinally disposed
Two servo motors, second bearing seat, the second sliding block, the second nut, the second screw rod, the second guide rail and movable machine frame, along stainless steel
First servo motor, first bearing seat, the first nut, the first screw rod, the first sliding block, the first guide rail and the connection that mesh belt is laterally arranged
Knot tying；The movable machine frame connects with the second sliding block, the second nut, first servo motor, first bearing seat and the first guide rail respectively
It connects；Second sliding block is slidably matched with the second guide rail being fixed on fixed frame；First sliding block and the first nut are solid
It is scheduled on joint cover, the first sliding block is slidably matched with the first guide rail；Laser scanner is fixed on movable machine frame.
Flexible mechanism for picking described in technical solution of the invention includes cylinder, wrist-like joint hinge and flexible suction
Attached head, joint hinge upper end connect firmly on cylinder piston rod, and lower end connects firmly flexible adsorption head.
Foam packaging case described in technical solution of the invention is placed on movable tray；Third servo motor edge
Stainless (steel) wire band is longitudinally connect with movable tray, and the 4th servo motor is laterally connect with movable tray along stainless (steel) wire band.
The steel core of conveying roller described in technical solution of the invention is externally provided with encapsulated layer；The stainless (steel) wire band
Using 304# stainless steel material.
Testing agency described in technical solution of the invention includes 3 laser scanners.
Flexible adsorption head described in technical solution of the invention is made of industrial silicone.
High temperature is carried out again after quenching when the first screw rod described in technical solution of the invention, the production of the second screw rod to return
The modifier treatment of fire；First nut, the second nut use Nodular cast iron material, and make modifier treatment.
Flexible adsorption head described in technical solution of the invention includes three kinds of different adsorption heads of bore；Flexibility is inhaled
There is an air inlet/outlet in attached head side, and when air inlet unclamps release, and when outlet is attracted.
Brief working principle of the invention is as follows：
（1）Stainless (steel) wire band in object motion unit carries concave and convex lenses blank with speed υ and sails under the drive of conveying roller
To detection positioning and flexible pickup unit workspace.
（2）Detection positioning and first servo motor and the second servo motor combined launch in flexible pickup unit, with
It is mobile to make X-axis, Y-axis two-dimensional surface each constituent element is from zero point A in the unit above object motion unit, simultaneously
Laser scanner is opened, and detects position of the glass concave and convex lenses blank on stainless (steel) wire band, when glass concave and convex lenses Cast blanks surface
When upper while three laser spots of appearance（The necessary and sufficient condition of image capture）, cylinder will drive flexible adsorption head to fast approach glass
Concave and convex lenses blank, then flexible adsorption head inner chamber gas reversely extracts out that concave and convex lenses blank is sucked.
After completing picking action, entire detection positioning and flexible pickup unit are returned at initial position zero point A.
（3）The detailed process that hole position filling in unit is put in sequence is divided into two steps：First step flexibility adsorption head completes first
Secondary picking action and after being returned at initial position zero point A with entire detection positioning and flexible pickup unit, the air inlet of adsorption head inner cavity
Mouth inflation, sucker unclamp, and glass concave and convex lenses blank falls to foam packaging case in the pit at the zero point A of initial position, complete
The filling movement of position is cheated at first row first.Thereafter it awaits orders, the next same movement of preparation.The 4th servo motor of second step
Start and, into a station, the filling of glass concave and convex lenses blank next time is waited to put to close to zero point A department level, that's what it all adds up to,
It puts and finishes until the first row filling of foam packaging case.Hereafter third servo motor starting and to close to zero point A department level into one
A station makes the second row of foam packaging case be in the position that front first row starts, repeatedly, until foam packaging case
Last row's pit station is completed filling and is put.
Detailed description of the invention
Fig. 1 is the flexible structural representation picked up and sort arranging apparatus of compacting concave and convex lenses blank after stress annealing of the present invention
Figure.
In figure：1. conveying roller；2. stainless (steel) wire band；3. glass concave and convex lenses blank；4. laser scanner；5. the
One servo motor；6. first bearing seat；7. the first nut；8. the first sliding block；9. the first guide rail；10. movable machine frame；11.
First screw rod；12. the second servo motor；13. second bearing seat；14. fixed block；15. the second sliding block；16. the second spiral shell
It is female；17. the second screw rod；18. the second guide rail；19. fixed frame；20. joint cover；21. cylinder；22. joint hinge；
23. flexible adsorption head；24. movable tray；25. third servo motor；26. the 4th servo motor；27. foam packaging case.
Specific embodiment
As shown in Figure 1, the flexible arranging apparatus that picks up and sort for suppressing concave and convex lenses blank after stress annealing of the present invention is by transmitting
Roller 1, stainless (steel) wire band 2, glass concave and convex lenses blank 3, laser scanner 4, first servo motor 5, first bearing seat 6, first
Nut 7, the first sliding block 8, the first guide rail 9, movable machine frame 10, the first screw rod 11, the second servo motor 12, second bearing seat 13,
Fixed block 14, the second sliding block 15, the second nut 16, the second screw rod 17, the second guide rail 18, fixed frame 19, joint cover 20, cylinder
21, joint hinge 22, flexible adsorption head 23, movable tray 24, third servo motor 25, the 4th servo motor 26 and foam packaging
Box 27 forms.
Wherein, conveying roller 1, stainless (steel) wire band 2, glass concave and convex lenses blank 3 constitute object moving cell.Whole system
Operation is targeting with this element, i.e., the sequence of movement of whole system is carried out around this element.
In object motion unit, conveying roller 1 is designed using steel core external coated rubber, and this design method allows for increase and passes
Dynamic friction prevents stainless (steel) wire band 2 from skidding, if skidded, just will increase laser scanner 4 in system search positioning capturing when
Between.
In object motion unit, stainless (steel) wire band 2 uses 304# stainless steel material, because the mesh belt is in the process of operation
In will high-temperature region Jing Guo 3 stress relief annealing of glass concave and convex lenses blank, 600 DEG C of this area's temperature or more to prevent mesh belt from aoxidizing, prolongs
Its long service life, so using the preferable 304# stainless steel material of antioxygenic property.2 sets of stainless (steel) wire band in conveying roller 1
On.
In object motion unit, the face type of glass concave and convex lenses blank 3 is typically all spherical surface rule or concave or convex, this
The search that feature is highly convenient for laser scanner 4 captures.
Laser scanner 4, first servo motor 5, first bearing seat 6, the first nut 7, the first sliding block 8, the first guide rail 9,
Movable machine frame 10, the first screw rod 11, the second servo motor 12, second bearing seat 13, fixed block 14, the second sliding block 15, the second spiral shell
Female 16, second screw rod 17, the second guide rail 18, fixed frame 19, joint cover 20,23 structure of cylinder 21, joint 22 and flexible adsorption head
At detection positioning and flexible pickup unit.
In detection positioning and flexible pickup unit, the effect of laser scanner 4 is scanning imagery, when its work scanning,
Glass concave and convex lenses blank 3 can be encountered, and has a laser spot to fall on the circular arc spherical surface of glass concave and convex lenses blank 3, for convenience
The scanning of system recognizes that present invention employs three collaborations of laser scanner 4 to capture positioning, and sets and swash and if only if three
When hot spot is fallen in simultaneously on the circular arc spherical surface of glass concave and convex lenses blank 3, it just can confirm that the glass concave and convex lenses blank 3 for pickup pair
As then storing that information in the operation program of system.Laser scanner 4 is fixed on movable machine frame 10.
There are two the displacements in direction, the i.e. position of the displacement of X-direction and Y direction in detection positioning and flexible pickup unit
It moves.
The structural design features of X-direction displacement：First servo motor 5, first bearing seat are connected firmly on movable machine frame 10
6, the first guide rail 9, the first nut 7 and the first sliding block 8 are connected firmly on joint cover 20, and the first sliding block 8 is matched with the sliding of the first guide rail 9
It closes, one end of the first screw rod 11 and 5 fixed connection of first servo motor, the other end are connect with 7 spiral of the first nut.It watches when first
It when taking motor 5 and being activated signal, can be rotated together with the first screw rod 11, and then drive the first nut 7 with joint cover 20
It slidably reciprocates on the first guide rail 9 with the first sliding block 8, the form displacement of X axis.In the relevant components element of X axis displacement
In, the first screw rod 11 and the first nut 7 are prone to wear, and are considered from the difficulty of process for machining and manufacturing, and the first screw rod 11 belongs to elongated shaft,
Difficulty of processing is bigger than the first nut 7, therefore the modifier treatment of high tempering again after quenching in manufacturing process to the first screw rod 11,
And to the first nut 7 then using the Nodular cast iron material compared with easy processing, and make modifier treatment, to 7 modifier treatment of the first nut
Purpose is dimensional stability when increasing its work, because deflection is big when dimensional stability is poor, when nut and screw rod screw
Flexibility will be deteriorated.
The structural design features of Y direction displacement：The second nut 16, the second sliding block 15 are connected firmly on movable machine frame 10, Gu
Determine to connect firmly the second servo motor 12, fixed block 14, the second guide rail 18 in rack 19, and connects firmly the second axis on fixed block 14
Seat 13 is held, one end of the second screw rod 17 and 12 fixed connection of the second servo motor, the other end are connect with 16 spiral of the second nut, when
It when second servo motor 12 is activated signal, can be rotated together with the second screw rod 17, and then drive the second nut 16, second
Sliding block 15, movable machine frame 10 slidably reciprocate along the second guide rail 18, the form displacement of Y direction.Second screw rod 17 therein and
The structure of second nut 16 designs and manufacturing process is identical as the first screw rod 11, the first nut 7 in X axis displacement.
It can be seen from the above, the structure design of X axis displacement, Y-axis displacement is all related with movable machine frame 10, in addition laser is swept
It retouches instrument 4 to be also secured on movable machine frame 10, and drives the first servo motor 5 and the second servo motor of X axis, Y-axis displacement
12 pumping signal a part come from laser scanner 4, further through movable machine frame 10 with laser scanner 4 act as X axis,
Y-axis displacement, from the Dynamic Closed Loop for being displaced to one scanning of scanning formation, detection, positioning, until three laser spots are fully fallen in
On the curved surface of some concave and convex lenses blank, complete before picking up until target lock-on.
In detection positioning and flexible pickup unit, cylinder 21 is fixed on joint cover 20, and its lower end connects firmly a wrist
Cylindrarthrosis hinge 22, what is connected firmly with joint hinge 22 is flexible adsorption head 23, and wherein the effect of cylinder 21 is to move up and down, row
Journey selection gist is flexible height distance of the adsorption head 23 from stainless (steel) wire band 2.The effect of joint hinge 22 is that flexibility is allowed to adsorb
First 23 have more flexible freedom degree in adsorption process, to facilitate the concave and convex lenses blank for adsorbing different spherical radius.For flexibility
The requirement of adsorption head 23 will then consider its material and suction inlet diameter, since the concave and convex lenses blank after thermoforming itself is there are stress,
So its spherical surface always has different degrees of deformation, 23 material of flexible adsorption head is soft as far as possible thus.Selected material in the present invention
Matter is industrial silica gel, and this material is very soft, and with air tight after concave and convex lenses black skin deformation when absorption, adaptation is good, suction inlet
Diameter is using the diameter dimension of concave and convex lenses blank as foundation, it is contemplated that concave and convex lenses blank diameter is not of uniform size.The present invention devises three
The adsorption head of kind bore, can be replaced depending on concave and convex lenses blank diameter situation at any time.There is air inlet/outlet in flexible 23 side of adsorption head,
Release, outlet are unclamped when air inlet（Pumping）When be attracted.
Movable tray 24, third servo motor 25, the 4th servo motor 26 and foam packaging case 27 constitute sequence and put list
Member.
It can be seen that the anchor point that A point in unit is foam packaging case 27 is put in sequence, when foam packaging case 27 is placed
Must be against two vertical edges for taking A point as former coordinate, accurate occupy-place when being put so as to workpiece.A point is also flexible adsorption head 23
Start-stop point, i.e. adsorption head initial position return to A point after completing absorption movement in A point again.The effect of 4th servo motor 26 is
Driving movable tray 24 moves along the x axis, from the working principle of this system it is found that flexible adsorption head 23 since A point often toward
It returns once, the 4th servo motor 26 will drive the grading station along the x axis of movable tray 24, until first row station
It is taken by concave and convex lenses blank.The effect of third servo motor 25 is that driving movable tray 24 moves along the y axis, by this system
Working principle is it is found that after the station of first row is occupied full；Third servo motor 25 will drive movable tray 24 along the y axis
A grading station, makes the station of original second row become the station of current first row, and such whole system is returned to
Original operating states.Repeatedly, until last row's station of foam packaging case 27 is occupied full.The effect of foam packaging case 27
Be contain glass concave and convex lenses blank 3, due to blank material be glass, to avoid damaging, packaging case use foamed material, and
The size of pit is 3mm bigger than blank diameter when die cast, and the purpose is to facilitate blank smoothly to drop into pit station.
Claims (10)
1. the flexible arranging apparatus that picks up and sort after a kind of compacting concave and convex lenses blank stress annealing, it is characterised in that：Including by
Conveying roller（1）With stainless (steel) wire band（2）The object motion unit of composition, including detection positioning and flexible pickup unit and sequence
Put unit；It wherein, include by laser scanner in the detection positioning and flexible pickup unit（4）The testing agency of composition,
Including controlling along stainless (steel) wire band（2）It is longitudinal（Y）And transverse direction（X）Mobile positioning drive mechanisms and flexible mechanism for picking, and
And flexible mechanism for picking and positioning mechanism are drivingly connected；The sequence puts unit by foam packaging case（27）, movable tray
（24）, third servo motor（25）With the 4th servo motor（26）It constitutes.
2. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1,
It is characterized in that：Scanning imagery information of the flexibility mechanism for picking according to testing agency, running fix to rust steel mesh belt（2）It is upper each
The top of concave and convex lenses blank position, sequence is placed in movable tray after pickup（24）Upper foam packaging case in place（27）It is interior.
3. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The positioning drive mechanisms include along stainless (steel) wire band（2）It is longitudinal（Y）The second servo motor being arranged
（12）, second bearing seat（13）, the second sliding block（15）, the second nut（16）, the second screw rod（17）, the second guide rail（18）And activity
Rack（10）, along stainless (steel) wire band（2）Laterally（X）The first servo motor of setting（5）, first bearing seat（6）, the first nut
（7）, the first screw rod, the first sliding block（8）, the first guide rail（9）And joint cover（20）；The movable machine frame（10）It is sliding with second respectively
Block（15）, the second nut, first servo motor（5）, first bearing seat（6）With the first guide rail（9）Connection；Second sliding block
（15）Be fixed on fixed frame（19）On the second guide rail（18）It is slidably matched；First sliding block（8）With the first nut（7）
It is fixed on joint cover（20）On, the first sliding block（8）With the first guide rail（9）It is slidably matched；Laser scanner（4）It is fixed on moving machine
Frame（10）On.
4. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The flexible mechanism for picking includes cylinder（21）, wrist-like joint hinge（22）With flexible adsorption head（23）, close
Save hinge（22）Upper end is connected firmly in cylinder（21）On piston rod, lower end connects firmly flexible adsorption head（23）.
5. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The foam packaging case（27）It is placed in movable tray（24）On；Third servo motor（25）Along stainless steel
Mesh belt（2）It is longitudinal（Y）With movable tray（24）Connection, the 4th servo motor（26）Along stainless (steel) wire band（2）Laterally（X）With activity
Pallet（24）Connection.
6. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The conveying roller（1）Steel core be externally provided with encapsulated layer；The stainless (steel) wire band（2）It is stainless using 304#
Steel material.
7. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The testing agency includes 3 laser scanners（4）.
8. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：The flexible adsorption head（23）It is made of industrial silicone.
9. the flexible arranging apparatus that picks up and sort after compacting concave and convex lenses blank stress annealing according to claim 1 or 2,
It is characterized in that：First screw rod（11）, second thread（17）The modifier treatment of high tempering is carried out after quenching when production again；
First nut（7）, the second nut（16）Using Nodular cast iron material, and make modifier treatment.
10. dress is put in the flexible pickup and sequence after compacting concave and convex lenses blank stress annealing according to claim 1 or 2
It sets, it is characterised in that：The flexible adsorption head（23）Including the different adsorption head of three kinds of bores；Flexible adsorption head（23）Side
There is an air inlet/outlet, when air inlet unclamps release, and when outlet is attracted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410976.4A CN108910179B (en) | 2018-05-02 | 2018-05-02 | Flexible picking and sorting and placing device for pressed concave-convex lens blank after stress annealing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410976.4A CN108910179B (en) | 2018-05-02 | 2018-05-02 | Flexible picking and sorting and placing device for pressed concave-convex lens blank after stress annealing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108910179A true CN108910179A (en) | 2018-11-30 |
| CN108910179B CN108910179B (en) | 2020-09-18 |
Family
ID=64403573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810410976.4A Active CN108910179B (en) | 2018-05-02 | 2018-05-02 | Flexible picking and sorting and placing device for pressed concave-convex lens blank after stress annealing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108910179B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1191704A (en) * | 1997-09-17 | 1999-04-06 | Inter Pack:Kk | Automatic boxing equipment for tapered product |
| CN101415628A (en) * | 2006-04-07 | 2009-04-22 | 韩美半导体株式会社 | Package handler |
| CN107089373A (en) * | 2017-06-02 | 2017-08-25 | 深圳市同创精密自动化设备有限公司 | A kind of material place machine with balance function |
-
2018
- 2018-05-02 CN CN201810410976.4A patent/CN108910179B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1191704A (en) * | 1997-09-17 | 1999-04-06 | Inter Pack:Kk | Automatic boxing equipment for tapered product |
| CN101415628A (en) * | 2006-04-07 | 2009-04-22 | 韩美半导体株式会社 | Package handler |
| CN107089373A (en) * | 2017-06-02 | 2017-08-25 | 深圳市同创精密自动化设备有限公司 | A kind of material place machine with balance function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108910179B (en) | 2020-09-18 |
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