A multifunctional automatic testing device for testing the performance of spring probes

Abstract

The present invention provides a multifunctional automatic detection device for testing the performance of spring probes, including a workbench and a turntable module installed on the workbench, used to rotate the placed spring probe to a position to be detected by self-rotation; an elastic force test module, used to perform elastic force test on the spring probe by elastic pressing; an impedance test module, used to test the resistance of the spring probe; an appearance detection module, used to detect appearance defects of the spring probe; and a rejection module, used to reject the spring probes marked as defective by the elastic force test module, the impedance test module and the appearance detection module. The present invention integrates multiple automated detection functions on one device, and each functional module operates in parallel to realize functional detection of multiple spring probes at the same time, thereby saving labor and improving detection efficiency and the accuracy of detection results. The overall equipment saves space, is easy to operate and maintain, has good economy and high efficiency.

Description

Technical Field

[0001] The invention relates to the field of product performance detection, in particular to an automatic detection device for comprehensively and multifunctionally testing the performance of a spring probe. Background Art

[0002] The spring probe is a precision connector, and its structure is generally composed of three parts: a needle, a spring, and a needle tube. When working, the needle is squeezed by the components, compresses the spring, moves axially, and transmits electrical signals. It is widely used in 3C, automobiles, electrical appliances, medical, aerospace and other electronic products.

[0003] The performance test of spring probe includes the test of mechanical performance and electrical performance, which is mainly divided into two test contents: spring force test and dynamic impedance test. The existing detection method generally adopts manual detection, which is carried out by manual pressing and random inspection. This method has low detection efficiency and the detection personnel are disturbed by subjective factors, which will affect the detection results.

[0004] Some manufacturers also use automated testing equipment, but the current automated testing equipment has a relatively single detection function and can only test a certain performance of the spring probe at a time. In addition, this type of testing equipment only measures one spring probe at a time. To achieve comprehensive testing, multiple testing equipment or multiple tests are required, which has high testing costs and low efficiency.

[0005] In addition, since different products and application environments have different application requirements, there are many types of spring probes, and there is great diversity and difference between the products. The testing equipment also requires high compatibility, which is also a reason that affects the efficiency of the existing testing equipment. Summary of the invention

[0006] The object of the present invention is to provide an automatic testing device for testing the performance of a spring probe in all aspects and with multifunctionality.

[0007] In particular, the present invention provides a multifunctional automatic detection device for testing the performance of a spring probe, comprising a workbench as a mounting base, on which are mounted:

[0008] The turntable module is used to place the spring probe to be tested and rotate the spring probe to the position to be tested in the horizontal direction by self-rotation;

[0009] An elastic force testing module is used to perform an elastic force test on a spring probe placed on the turntable module by elastic pressing;

[0010] An impedance test module, used to test the resistance value of a spring probe placed on the turntable module;

[0011] An appearance inspection module, used to inspect appearance defects of a spring probe placed on the turntable module;

[0012] The rejection module is used to reject the spring probes marked as defective by the elastic force testing module, the impedance testing module and the appearance inspection module.

[0013] In one embodiment of the present invention, the turntable module includes a circular turntable rotatably mounted on the workbench, a motor that provides circular rotational power for the turntable, a cam divider that is respectively connected to the motor and the turntable to control the rotation angle of the turntable, and a fixture mounted on the upper surface of the turntable for fixing a spring probe.

[0014] In one embodiment of the present invention, the jigs are evenly distributed on the upper surface of the turntable.

[0015] In one embodiment of the present invention, the elastic force testing module includes a base fixed to the workbench, a pressure probe for pressing a spring probe and a pressure sensor for responding to the pressure value of the pressure probe, a data collector for reading the measurement value of the pressure sensor, and a three-dimensional movable module installed on the base to enable the pressure probe to move freely in the XYZ directions.

[0016] In one embodiment of the present invention, the pressure probe is connected to the three-dimensional movable module through a sliding module, the sliding module includes a fixed plate connected to the three-dimensional movable module, a slide perpendicular to the workbench is arranged on the fixed plate, the pressure probe is installed on the slide through a slider, a buffer device is installed on one side of the slide, the buffer device includes an upper clamping block connected to the fixed plate, a lower clamping block connected to the slider, a fixed column fixed on the lower clamping block and passing through the upper clamping block, and a spring mounted on the fixed column between the upper clamping block and the lower clamping block.

[0017] In one embodiment of the present invention, the impedance test module includes a base fixed to the workbench, an impedance probe that contacts a spring probe from above, a test probe that contacts a fixture from below, a resistance detector connected to the impedance probe and the test probe through positive and negative poles respectively, and a three-dimensional moving module that controls the impedance probe to move freely in the XYZ directions and a lifting module that controls the lifting and lowering of the test probe.

[0018] In one embodiment of the present invention, the appearance inspection module includes a camera device for capturing images of spring probes, a comparator for receiving images from the camera device and performing comparisons, a light source for providing brightness, and a horizontal movement module for controlling the camera device to move freely in the XY directions.

[0019] In one embodiment of the present invention, the light source is connected to the horizontal moving module via a slide rail perpendicular to the fixture to achieve position adjustment in the vertical direction.

[0020] In one embodiment of the present invention, the rejection module includes a fixture for clamping a specified spring probe, a defective identification program that receives information from the data collector, the resistance detector and the comparator to control the operation of the fixture, and a horizontal movement module that controls the movement of the fixture in the XY direction.

[0021] In one embodiment of the present invention, the three-dimensional mobile module includes an X linear guide rail and an X linear module fixed in parallel on the base plate, an X motor driving the X linear module to move horizontally, a Y slide plate installed on the X linear module, a Y linear module installed on the Y slide plate, a Y motor driving the Y linear module to move horizontally relative to the Y slide plate, a Z slide plate fixed on the Y linear module, a Z linear module installed on the Z slide plate, an equipment mounting seat installed on the Z linear module, and a Z motor driving the Z linear module to move vertically relative to the Z slide plate.

[0022] The present invention integrates multiple automated detection functions into one device, and each functional module operates in parallel, realizing the functional detection of multiple spring probes at the same time, thereby saving labor and improving the detection efficiency and the accuracy of the detection results. The overall device saves space, is easy to operate and maintain, has good economy and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of an automatic detection device according to one embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of a turntable module according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the structure of an elastic force testing module in one embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the structure of an impedance test module in one embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a test probe lifting structure in one embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of the structure of an appearance inspection module in one embodiment of the present invention;

[0029] Figure 7 is a schematic diagram of the structure of a rejection module in one embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of a three-dimensional mobile module in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] like Figure 1 As shown, one embodiment of the present invention discloses a multifunctional automatic inspection device for testing the performance of a spring probe, which realizes multiple functional inspections of the spring probe in an assembly line manner, and specifically includes a workbench as a mounting base, and a turntable module installed on the workbench for rotating the spring probe to be inspected to a designated inspection device, an elastic force testing module for testing the elasticity of the spring probe, an impedance testing module for testing the resistance of the spring probe, an appearance inspection module for detecting appearance defects of the spring probe, and a rejection module for rejecting defective spring probes according to the inspection results of the aforementioned inspection equipment.

[0032] The workbench is in the shape of a cabinet, with the upper surface used as a space for installing various testing equipment, and the interior used for installing auxiliary components such as fans, air filters, and industrial computers that control the overall testing process.

[0033] The turntable module is installed on the workbench as a place to place the spring probes to be tested. It can also control the rotation position of the placed spring probes so that the spring probes to be tested or tested can be moved to the designated testing equipment. Therefore, the turntable module rotates horizontally, and each testing equipment is located at a set position on the circumference of the turntable module.

[0034] The elastic force testing module tests the elasticity of the spring probe rotated to the detection position by means of elastic pressing.

[0035] The impedance test module is used to test the resistance value of the spring probe rotated to its detection position.

[0036] The appearance inspection module is used to detect appearance defects of a spring probe rotated to its inspection position.

[0037] The rejection module rejects the spring probes marked as defective by the elastic force test module, impedance test module and appearance inspection module.

[0038] In the above detection process, the detection order of the elastic force test module, the impedance test module and the appearance detection module can be adjusted as needed. The number of spring probes detected simultaneously can also be adjusted as needed. The elastic force test module, the impedance test module and the appearance detection module can use any existing detection equipment, and then they can be combined and controlled by this embodiment to realize the detection work respectively.

[0039] The detection process is as follows: first, the spring probes to be detected are placed at the specified positions of the turntable module, and then the turntable module is controlled to rotate to rotate the first batch of spring probes to the first detection device, such as the elastic force test module. When the first detection device detects the first batch of spring probes, the second batch of spring probes to be detected continue to be placed at the new position. When the first detection device completes the detection and the second batch of spring probes are placed, the turntable module continues to rotate to rotate the first batch of spring probes to the second detection device, such as the impedance test module. At the same time, the second batch of spring probes are rotated to the first detection device, and then the third batch of spring probes are placed at the new position; the above process is continued until the first batch of spring probes are rejected by the rejection module, the defective spring probes are removed, and then the good spring probes are replaced with new spring probes to be detected.

[0040] In the above detection process, each detection device only detects the detection function it has, regardless of whether it is a good product or a defective product. Finally, the industrial computer analyzes the information of each detection device and determines the position of the defective spring probe, and controls the rejection module to reject it.

[0041] This implementation integrates multiple automated detection functions on one device. Each functional module works in parallel, and can simultaneously detect different functions of multiple spring probes. In addition, the elastic force and impedance detection modules can detect the elastic force and impedance performance of multiple probes respectively. This saves labor and improves detection efficiency and the accuracy of detection results. The overall device saves space, is easy to operate and maintain, has good economy and high efficiency.

[0042] It should be noted that the present embodiment is a public description including installation of all test equipment, but in other embodiments, any combination of installation can be performed in the elastic force test module, impedance test module, appearance inspection module and rejection module.

[0043] like Figure 2 As shown, in one embodiment of the present invention, the turntable module 2 may include a circular turntable 21 that can be horizontally rotatably mounted on the upper surface of the workbench 1. The turntable 21 may be made of steel material and mounted on the workbench 1 through a bearing 22. There is a motor 23 that provides circular rotation power for the turntable 21, a cam divider 24 that is respectively connected to the motor 23 and the turntable 21 to control the rotation angle of the turntable 21, and a fixture 25 mounted on the upper surface of the turntable 21 for fixing a spring probe.

[0044] The motor 23 can drive the cam divider 24 to rotate by direct drive or indirect drive. In this embodiment, the output shaft of the motor 23 and the cam divider 24 are respectively connected by two driving wheels 231 connected by a belt 232. The motor 23 can be arranged in a cabinet below the workbench 1. In order to reduce the weight of the turntable 21, a plurality of symmetrical holes 210 can be cut on the turntable 21.

[0045] The fixture 25 is a tool for limiting and fixing the spring probe, and multiple stations can be set to install the spring probes respectively. Multiple fixtures 25 can be set according to the detection speed and evenly distributed on the upper surface of the turntable 21. The number of fixtures 25 set in this embodiment is five.

[0046] The turntable 21 rotates regularly driven by the motor 23, and the cam divider 24 can limit each rotation of the turntable 21 to a specified detection position, and each fixture 25 corresponds to a detection position. After the current detection action is completed, the motor 23 is controlled to drive the turntable 21 to continue rotating to the next detection position.

[0047] like Figure 3 As shown, in one embodiment of the present invention, the elastic force testing module 3 may include a pressure probe 31 capable of simultaneously pressing a row of spring probes to be tested, and a pressure sensor 32 for responding to the pressure magnitude is installed at each pressure probe 31, and each pressure sensor 32 is respectively connected to a data acquisition device.

[0048] The pressure probe 31 presses the spring probe on the fixture 25 vertically downward from the top of the fixture 25. The pressing position and the pressing quantity can be adjusted as needed. For example, in this embodiment, the spring probes arranged on the fixture 25 are pressed in order. The pressure sensor 32 measures the pressure value fed back by the corresponding spring probe and then transmits it to the data collector. The data collector determines whether the pressure values ​​of all spring probes are within a predetermined range based on the feedback pressure value, and marks the position of the spring probe corresponding to the pressure value outside the predetermined range, and then sends it to the industrial computer (the industrial computer can also directly perform pressure judgment).

[0049] The pressure probe 31 needs to move in the XYZ direction in the air during the test, so the pressure probe 31 can be installed on the workbench 1 through a three-dimensional mobile module 33 that can move freely in the XYZ direction. The bottom of the three-dimensional mobile module 33 is fixed to the workbench through a base 34. The three-dimensional mobile module 33 can adopt a three-dimensional mobile table that can realize horizontal and vertical movement in the prior art.

[0050] Furthermore, in order to avoid the pressure probe 31 from hard pressing of the spring probe, the pressure probe 31 can be connected to the three-dimensional movable module 33 through a sliding module 35, and the sliding module 35 includes a fixed plate 351 connected to the three-dimensional movable module 33, and a slide 352 perpendicular to the workbench 1 is arranged on the fixed plate 351. The pressure probe 31 is installed on the slide 352 through a slider 353, and a buffer device 36 is installed on one side of the slide 352. The buffer device 36 includes an upper clamping block 361 connected to the fixed plate 351, a lower clamping block 362 connected to the slider 352, and a fixed column 363 fixed on the lower clamping block 361 and passing through the upper clamping block 362, and a spring is sleeved on the fixed column 363 between the upper clamping block 361 and the lower clamping block 362 (not shown in the figure).

[0051] When the pressure probe 31 presses the spring probe downward from above under the drive of the three-dimensional movable module 33, it will be elastically lifted up by the spring probe and rise along the slide 352. At this time, the rising lower clamp block 362 will squeeze the spring in the direction of the upper clamp block 361. The upper clamp block 361 prevents the pressure probe 31 from breaking away from the contact with the spring probe through the spring, and can always maintain an elastic pressure on the spring probe to avoid hard pressing of the spring probe.

[0052] The installation positions of the pressure probe 31 and the pressure sensor 32 can be adjusted by corresponding installation structures, such as height, connection distance, etc. In addition, the spring can also provide a buffer for the pressure probe 31 to touch other objects when it moves downward.

[0053] like Figure 4 As shown, in one embodiment of the present invention, the impedance test module 4 may include a base 41 fixed to the workbench 1, a three-dimensional movable module 42 capable of free movement in the XYZ directions is installed on the base 41, an impedance probe 43 contacting a spring probe from top to bottom is installed on the three-dimensional movable module 42, and at the same time, a test probe 44 is installed below the workbench 1, which passes through the workbench 1 and the base 41 from bottom to top and contacts the fixture 25, and the impedance probe 43 and the test probe 44 are respectively connected to the positive and negative poles of a resistance detector.

[0054] The three-dimensional moving module 42 in this embodiment can be a three-dimensional moving platform in the prior art. There are multiple impedance probes 43, and an impedance insulating rod 431 is arranged outside the impedance probe 43, and the two are fixed by screws.

[0055] During the test, the impedance probe 43 moves downward under the drive of the three-dimensional moving module 42 to contact the upper end of the spring probe, and transmits the signal to the resistance detector through the positive electrode of the resistance detector; the test probe 44 moves upward under the drive of the lifting module 45 to contact the fixture 25. During the test, the bottom end of the spring probe is in contact with the fixture 25 and is conductive, and the test probe 44 transmits the signal to the resistance detector through the negative electrode of the resistance detector. The resistance detector determines the resistance value of the spring probe at a specific position based on the received signal, and then sends it to the industrial computer to determine whether it meets the standard.

[0056] The installation of the impedance probe 43 and the three-dimensional moving module 42 in this embodiment can adopt the sliding module 35 and the buffer device 36 described in the previous embodiment to prevent the impedance probe 43 from pressing the spring probe hard. The test probe 44 itself has elasticity and is in elastic contact with the fixture 25. The impedance probe 43 can simultaneously realize the resistance measurement of multiple spring probes, and the number of impedance probes 43 can be set according to specific needs, and the corresponding structure can be adjusted.

[0057] The lifting module 45 can adopt a driving structure capable of realizing vertical (linear) lifting in the prior art, such as Figure 5 As shown, an example of a lifting module 45 is given below:

[0058] A fixed plate 451 is fixed to the workbench 1 or the bottom plate 41, a slideway 452 perpendicular to the fixture 25 is provided on the fixed plate 451, a cylinder 453 is connected to the fixed plate 451 through the slideway 452, and a test probe 44 is installed at one end of the cylinder 453 close to the fixture 25. When the cylinder 453 is working, it can move up and down along the slideway 452, thereby driving the test probe 44 to contact the fixture 25.

[0059] like Figure 6 As shown, in one embodiment of the present invention, the appearance inspection module 5 may include a camera device 51 for capturing an image of a spring probe, a comparator for receiving and comparing the image of the camera device 51, a light source 52 for providing brightness, and a horizontal moving module 53 for controlling the camera device 51 to move freely in the XY direction.

[0060] During the inspection, the camera device 51 can simultaneously acquire images of all or a specified number of spring probes on the jig 25, and then the comparator compares the acquired images with the stored standard images to determine whether the appearance of the spring probes on the jig 25 is defective. Each time the spring probes are photographed and compared, the operator can adjust the sample template in the comparator and the photographing parameters of the camera device 51 according to predetermined requirements to achieve the recognition of the spring probes at the specified number or specified positions.

[0061] The comparator in this embodiment can be an independently set PC or industrial computer, which is connected to the camera device 51 through a data cable, and determines whether there is a difference between the current photo and the sample photo through the internally installed software and the corresponding image algorithm. The camera device 51 is a camera and a lens, which can be installed on the horizontal moving module 53 through a corresponding clamping structure to facilitate installation and adjustment of the installation height. At the same time, a corresponding ruler can be set for precise adjustment, such as a micrometer 511. The comparator is a storage device that can store the image of a standard spring probe and is also installed with an image comparison program. Specifically, an independent device can be connected to the camera device, or an industrial computer can be directly used as a comparator.

[0062] The light source 52 is independently installed on one side of the camera device 51. To facilitate the adjustment of the light source 52, the light source 52 can be connected to the horizontal moving module 53 through a slide rail 521 perpendicular to the fixture 25 so as to freely adjust the height in the vertical direction.

[0063] The horizontal moving module 53 is fixed on the workbench 1 through the bottom plate 54. Compared with the three-dimensional moving modules 33 and 42, it lacks the vertical moving function and can also adopt the horizontal moving platform in the prior art.

[0064] like Figure 7 As shown, in one embodiment of the present invention, the rejection module 6 may include a fixture 61 for clamping a specified spring probe, a defective identification program that receives information from a data acquisition device, a resistance detector, and a comparator or directly receives an industrial computer signal to control the operation of the fixture 61, and a horizontal movement module 62 that controls the movement of the fixture 61 in the XY direction.

[0065] The defective product identification program can control the positioning of the finger cylinder 611, find the spring probe at the specified position according to the received information, and control the finger cylinder 611 to remove it. The horizontal moving module 62 is fixed on the workbench 1 through the bottom plate 63. Compared with the three-dimensional moving modules 33 and 42, it lacks the vertical moving function in terms of function, and the horizontal moving table in the prior art can also be used.

[0066] When the jig 25 that has been inspected by the aforementioned inspection equipment moves to the rejection module 6, the defective product identification program determines the positions of the spring probes that do not meet the predetermined standards based on the inspection information of the aforementioned inspection equipment, and then controls the finger cylinder 611 to clamp them out one by one and place them at the defective product collection area on one side. The remaining good products are collected manually or by machine to the good product collection area, completing a test cycle.

[0067] like Figure 8As shown, in one embodiment of the present invention, taking a three-dimensional moving module 33 as an example, a three-dimensional moving module structure is disclosed, which includes an X linear guide 331 and an X linear module 332 fixed in parallel on a base plate 34, an X motor 333 driving the X linear module 332 to move horizontally, a Y slide plate 334 installed on the X linear module 332, a Y linear module 335 installed on the Y slide plate 334, a Y motor 336 driving the Y linear module 335 to move horizontally relative to the Y slide plate 334, a Z slide plate 337 fixed on the Y linear module 335, a Z linear module 338 installed on the Z slide plate 337, an equipment mounting seat 37 installed on the Z linear module 338, and a Z motor 339 driving the Z linear module 338 to move vertically relative to the Z slide plate 337.

[0068] Among them, the X linear module 332, the Y linear module 335 and the Z linear module 338 can move back and forth in one direction according to the installation position under the drive of the corresponding motor, and the three can cooperate to enable the corresponding detection equipment installed on the equipment mounting seat 37 to be positioned at any three-dimensional position in space. The specific linear modules can be fixedly adjusted and the fixing strength can be increased through corresponding fixing plates, reinforcing ribs and other structures.

[0069] The structure and working mode of the horizontal moving module described above are the same as those of the three-dimensional moving module, except that the Z linear module 338 and the Z slide plate 337 are missing.

[0070] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A multifunctional automatic testing device for testing the performance of a spring probe, comprising a workbench as a mounting base, characterized in that: Installed on the workbench are: The turntable module is used to place the spring probe to be tested and rotate the spring probe to the position to be tested in the horizontal direction by self-rotation; An elastic force testing module is used to perform an elastic force test on a spring probe placed on the turntable module by elastic pressing; An impedance test module, used to test the resistance value of a spring probe placed on the turntable module; An appearance inspection module, used to inspect appearance defects of a spring probe placed on the turntable module; A rejection module is used to remove the elastic force test module, the impedance test module and the appearance test module. The spring probes marked as defective by the module are rejected; The elastic force test module includes a base fixed to the workbench, a pressure probe for pressing a spring probe and a pressure sensor for responding to the pressure value of the pressure probe, a data collector for reading the measured value of the pressure sensor, and a three-dimensional moving module installed on the base to enable the pressure probe to move freely in the XYZ directions; The impedance test module includes a base fixed to the workbench, an impedance probe that contacts the spring probe from above, a test probe that contacts the fixture from below, a resistance detector connected to the impedance probe and the test probe through positive and negative electrodes, and a three-dimensional moving module that controls the impedance probe to move freely in the XYZ directions and a lifting module that controls the lifting of the test probe; The appearance inspection module includes a camera for photographing a spring probe image, a comparator for receiving and comparing images from the camera, a light source for providing brightness, and a horizontal movement module for controlling the camera to freely move in the XY directions.

2. The automatic detection device according to claim 1, characterized in that: The turntable module includes a circular turntable rotatably mounted on the workbench, a motor that provides circular rotational power for the turntable, a cam divider that is respectively connected to the motor and the turntable to control the rotation angle of the turntable, and a fixture mounted on the upper surface of the turntable for fixing a spring probe.

3. The automatic detection device according to claim 2, characterized in that: The jigs are evenly distributed on the upper surface of the turntable.

4. The automatic detection device according to claim 3, characterized in that: The pressure probe is connected to the three-dimensional movable module through a sliding module, the sliding module includes a fixed plate connected to the three-dimensional movable module, a slideway perpendicular to the workbench is arranged on the fixed plate, the pressure probe is installed on the slideway through a slider, a buffer device is installed on one side of the slideway, the buffer device includes an upper clamping block connected to the fixed plate, a lower clamping block connected to the slider, a fixed column fixed on the lower clamping block and passing through the upper clamping block, and a spring sleeved on the fixed column between the upper clamping block and the lower clamping block.

5. The automatic detection device according to claim 4, characterized in that: The light source is connected to the horizontal moving module via a slide rail perpendicular to the fixture to achieve position adjustment in the vertical direction.

6. The automatic detection device according to claim 1, characterized in that: The rejection module includes a fixture for clamping a specified spring probe, a defective product identification program that receives the elastic force test module, the impedance test module and the appearance inspection module to control the operation of the fixture, and a horizontal movement module that controls the movement of the fixture in the XY direction.

7. The automatic detection device according to claim 1, characterized in that: The three-dimensional moving module includes an X linear guide rail and an X linear module fixed in parallel on the base, an X motor driving the X linear module to move horizontally, a Y slide plate installed on the X linear module, a Y linear module installed on the Y slide plate, a Y motor driving the Y linear module to move horizontally relative to the Y slide plate, a Z slide plate fixed on the Y linear module, a Z linear module installed on the Z slide plate, an equipment mounting base installed on the Z linear module, and a Z motor driving the Z linear module to move vertically relative to the Z slide plate.

Images