CN107876267A - A kind of spray robot - Google Patents
A kind of spray robot Download PDFInfo
- Publication number
- CN107876267A CN107876267A CN201711199757.8A CN201711199757A CN107876267A CN 107876267 A CN107876267 A CN 107876267A CN 201711199757 A CN201711199757 A CN 201711199757A CN 107876267 A CN107876267 A CN 107876267A
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- Prior art keywords
- wheel
- driving wheel
- spraying
- robot
- data
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of spray robot,Its structure includes paint spray gun,Machinery control position axle,Spraying performs arm,Drive shaft,Robot body,Data operating generation track drive mechanism,Rotating seat,Parallel slide,Fixed frame,Cross bar,Fixed frame is installed on parallel slide and excessively coordinated with parallel slide,The present invention by provided with data generate controller the spray coating operations of robot can be realized according to the condition of data memory and accumulation,Add Control During Paint Spraying by Robot perform function,And the running of trajectory accuracy driving wheel is controlled by data transfer plate,In precision disk with realizing that track stroke accurately controls under the cooperation of multiple pulleys,Avoid colliding,Increase safety,Reliability,Simultaneously in the case where lifting driving wheel and mobile interior axle drive can multi-angle control spraying arm and paint spray gun motion,Realization moves up and down,Increase spray range,It is practical.
Description
Technical field
The present invention is a kind of spray robot, belongs to spray robot technical field.
Background technology
Spray robot is can to carry out auto spray painting or spray the industrial robot of other coating, paint-spray robot mainly by
Robot body, computer and corresponding control system composition, the paint-spray robot of hydraulic-driven also include hydraulic oil source, such as oil
Pump, fuel tank and motor etc..Use 5 or 6DOF articulated structure, arm has larger space, and can do complexity more
Track is moved, and its wrist typically has 2~3 frees degree, can flexible motion.
Existing spray robot is when realizing the spray coating operations of robot according to the condition of data memory and accumulation, rail
Road Stroke Control is inaccurate, easily avoids colliding, safety coefficient is low.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of spray robot, to solve existing spray
Robot is applied when realizing the spray coating operations of robot according to the condition of data memory and accumulation, track Stroke Control is not smart
Really, easily avoid colliding, safety coefficient is low.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of spray robot, it is tied
Structure includes paint spray gun, machinery control position axle, spraying execution arm, drive shaft, robot body, data operating generation track driving machine
Structure, rotating seat, parallel slide, fixed frame, cross bar, the fixed frame are installed on parallel slide and excessive with parallel slide
Coordinate, be fixed with cross bar on the parallel slide, the rotating seat is embedded in fixed frame and vertical with fixed frame, described
It is connected above rotating seat with robot body, the data operating generation track drive mechanism is located inside robot body,
Spraying is movably equipped with above the robot body and performs arm, the spraying performs arm bottom and driving axis connection, the spraying
Perform arm to be engaged with data operating generation track drive mechanism by drive shaft, the spraying execution arm front end, which is provided with, sprays hand
Rifle, the paint spray gun are flexibly connected with machinery control position axle, and the machinery control position axle performs arm with spraying and is engaged, the data
Operating generation track drive mechanism is by moving interior axle, the first slide rail, dragging track, the first motor, connection control position frame, shell, band
Driving wheel, lifting driving wheel, circle wheel, sliding rail, spring, balance plate, roundlet wheel, orient sliding block, pulley, fixed board, space slide rail,
Trajectory accuracy driving wheel, database creating system, automatically controlled seat, substrate composition, first slide rail are installed on dragging track
On, the first slide rail is located in the movement and is excessively coordinated with the first slide rail, the dragging track and the first motor mutually hang down
Directly, first motor is provided with drive rod, limited block, screw mandrel, the screw mandrel and the first motor connection, and the limited block is located at
On screw mandrel, the screw mandrel is connected to connection control position frame by drive rod, and the connection control position frame bottom is connected to driven wheel center,
The driven wheel with lifting driving wheel be integrated, it is described lifting driving wheel be movably arranged at space slide rail and with space slide rail
Excessively coordinate, the space slide rail is embedded in sliding rail, and the sliding rail is installed inside the housing, on the space slide rail
Orientation sliding block is movably equipped with, the orientation sliding block is vertical with balance plate and is connected to lifting driving wheel by balance plate, described flat
Weighing apparatus plate is provided with spring, and the spring upper and lower side is connected with circle wheel, roundlet wheel respectively, and the roundlet wheel is connected to pulley, described
Pulley is installed in inside fixed board, and the fixed board is connected to be driven with housing exterior layer, the space slide rail bottom provided with trajectory accuracy
Driving wheel, the trajectory accuracy driving wheel side are connected with database creating system, and the database creating system bottom is provided with electricity
Seat is controlled, the automatically controlled seat is fixedly connected and is parallel to each other with substrate.
Further, the trajectory accuracy driving wheel is by execution pulley, precision disk, driving wheel body, data transfer plate, fixed
Wheel, scale strip composition, the precision disk are integrated located at driving wheel body interior and with driving wheel body, the scale
Bar is embedded in precision disk, and for the data transfer plate inside precision disk, the fixed wheel is connected to execution by data transfer plate
Pulley, the execution pulley are connected with pulley.
Further, the database creating system generates controller, memory chip by the Faku County that constructs, data, sets hair
Emitter forms.
Further, the memory chip located at data generation controller inside, the memory chip with construct Faku County, set
Other transmitter, the electrical connection of data transfer plate.
Further, the mobile interior axle is made up of slide plate, micro-machine, pull rope, lubrication groove, rotating shaft, fender rod, described
Slide plate is connected with micro-machine, and the slide plate is connected to lubrication groove by pull rope, and the lubrication groove is integrated with rotating shaft, institute
State rotating shaft to be connected with micro-machine, the fender rod is connected through lubrication groove with rotating shaft inwall, and the rotating shaft is connected to paint spray gun.
Further, the parallel slide is square structure, for converting the position of spray paint robot.
Further, the rotating seat is cylindrical structural.
Beneficial effect
Spraying robot human body, is stably placed at needs to use in the localities first by a kind of spray robot of the present invention,
And the overall moving range of spray robot is controlled by parallel slide, make its installation easier, equipment is entered by paint spray gun
Row spraying, when being sprayed, and external controller is broken down, and spraying stroke that can not be to spray robot is controlled
When, data generate controller by the memory by usually spraying and the motion flow of accumulation so as to generate spraying data, and will
Data are stored in memory chip, and action order is sent to data transfer plate, data transfer plate driving precision disk by construction Faku County
Rotated, and by fixed wheel, perform track stroke accurately controlled under the drive of pulley and pulley, roundlet wheel, according to
Obtained action command is needed, the instruction of spring-reception roundlet wheel is stretched, and is taken turns by circle and driven lifting driving wheel, connection to control
Position frame running, controllable spraying perform arm and moved up and down in sliding rail, and orientation sliding block follows movement on sliding rail,
Increase spraying performs the stability of arm movement, and paint spray gun can carry out horizontal direction movement spraying under the control of mobile interior axle,
Increase spray range.For example, spray robot can be used to carry out spraying use to machine components, equipment.
The present invention by provided with data generate controller machine can be realized according to data memory and the condition of accumulation
The spray coating operations of people, Control During Paint Spraying by Robot perform function is added, and the running of trajectory accuracy driving wheel is controlled by data transfer plate,
Precision disk avoids colliding, increases safe and reliable property, together with realizing that track stroke accurately controls under the cooperation of multiple pulleys
When in the case where lifting driving wheel and mobile interior axle drive can multi-angle control spraying arm and paint spray gun motion, bottom left in realization
Move right, increase spray range, it is practical.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural representation of spray robot of the present invention.
Fig. 2 is the structural representation one of data of the present invention operating generation track drive mechanism.
Fig. 3 is the structural representation two of data of the present invention operating generation track drive mechanism.
In figure：Paint spray gun -1, machinery control position axle -2, spraying perform arm -3, drive shaft -4, robot body -5, data
Operating generation track drive mechanism -6, rotating seat -7, parallel slide -8, fixed frame -9, cross bar -10, mobile interior axle -61, the
One slide rail -62, dragging track -63, the first motor -64, connection control position frame -65, shell -66, driven wheel -67, lifting driving wheel -
68th, circle wheel -69, sliding rail -610, spring -611, balance plate -612, roundlet wheel -613, orientation sliding block -614, pulley -615,
Fixed board -616, space slide rail -617, trajectory accuracy driving wheel -618, database creating system -619, automatically controlled seat -620, substrate -
621st, pulley -6180, precision disk -6181, driving wheel body -6182, data transfer plate -6183, fixed wheel -6184, scale are performed
Bar -6185, drive rod -640, limited block -641, screw mandrel -642, construction Faku County -6190, data generation controller -6191, memory
Chip -6192, set transmitter -6193, slide plate -610, micro-machine -611, pull rope -612, lubrication groove -613, rotating shaft -614,
Fender rod -615.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, the present invention is expanded on further.
Embodiment
Fig. 1 to Fig. 3 is referred to, the present invention provides a kind of spray robot, and its structure includes paint spray gun 1, machinery control position
Axle 2, spraying perform arm 3, drive shaft 4, robot body 5, data operating generation track drive mechanism 6, rotating seat 7, parallel cunning
Seat 8, fixed frame 9, cross bar 10, the fixed frame 9 is installed on parallel slide 8 and excessively coordinated with parallel slide 8, described
Cross bar 10 is fixed with parallel slide 8, the rotating seat 7 is embedded in fixed frame 9 and, the rotation vertical with fixed frame 9
The top of swivel base 7 is connected with robot body 5, and the data operating generation track drive mechanism 6 is in robot body 5
Portion, the top of robot body 5 are movably equipped with spraying and perform arm 3, and the spraying performs the bottom of arm 3 and is connected with drive shaft 4, institute
State spraying execution arm 3 to be engaged with data operating generation track drive mechanism 6 by drive shaft 4, the spraying performs the front end of arm 3
Provided with paint spray gun 1, the paint spray gun 1 is flexibly connected with machinery control position axle 2, and the machinery control position axle 2 performs arm 3 with spraying
It is engaged, the data operating generation track drive mechanism 6 is by mobile interior axle 61, the first slide rail 62, the electricity of dragging track 63, first
It is machine 64, connection control position frame 65, shell 66, driven wheel 67, lifting driving wheel 68, circle wheel 69, sliding rail 610, spring 611, flat
Weigh plate 612, roundlet wheel 613, orientation sliding block 614, pulley 615, fixed board 616, space slide rail 617, trajectory accuracy driving wheel 618,
Database creating system 619, automatically controlled seat 620, substrate 621 are formed, and first slide rail 62 is installed on dragging track 63,
The mobile interior axle 61 is located at the first slide rail 62 and excessively coordinates with the first slide rail 62, the motor 64 of dragging track 63 and first
It is mutually perpendicular to, first motor 64 is provided with drive rod 640, limited block 641, screw mandrel 642, the electricity of screw mandrel 642 and first
Machine 64 connects, and for the limited block 641 on screw mandrel 642, the screw mandrel 642 is connected to connection control position frame by drive rod 640
65, connection control position frame 65 bottom is connected to the center of driven wheel 67, and the driven wheel 67 and lifting driving wheel 68 are integrated
Structure, the lifting driving wheel 68 are movably arranged at space slide rail 617 and excessively coordinated with space slide rail 617, the space slide rail
617 are embedded in sliding rail 610, and the sliding rail 610 is installed in inside shell 66, on the space slide rail 617 activity set
There is orientation sliding block 614, the orientation sliding block 614 is vertical with balance plate 612 and is connected to lifting driving wheel by balance plate 612
68, the balance plate 612 is provided with spring 611, and the upper and lower side of spring 611 is connected with circle wheel 69, roundlet wheel 613 respectively, institute
State roundlet wheel 613 and be connected to pulley 615, the pulley 615 is installed in inside fixed board 616, and the fixed board 616 is connected to and shell
66 extexines, the bottom of space slide rail 617 are provided with trajectory accuracy driving wheel 618, the side of trajectory accuracy driving wheel 618 with
Database creating system 619 connects, and the bottom of database creating system 619 is provided with automatically controlled seat 620, the automatically controlled seat 620 with
Substrate 621 is fixedly connected and is parallel to each other, and the trajectory accuracy driving wheel 618 is by execution pulley 6180, precision disk 6181, driving
Wheel body 6182, data transfer plate 6183, fixed wheel 6184, scale strip 6185 form, and the precision disk 6181 is located at driving wheel sheet
The inside of body 6182 is simultaneously integrated with driving wheel body 6182, and the scale strip 6185 is embedded in precision disk 6181, described
For data transfer plate 6183 inside precision disk 6181, the fixed wheel 6184 is connected to execution pulley by data transfer plate 6183
6180, the execution pulley 6180 is connected with pulley 615, and the database creating system 619 is given birth to by the Faku County 6190 that constructs, data
Into controller 6191, memory chip 6192, set transmitter 6193 and form, the memory chip 6192 is located at data generation control
Inside device 6191, the memory chip 6192 with construction Faku County 6190, set transmitter 6193, data transfer plate 6183 is electrically connected
Connect, the mobile interior axle 61 is by slide plate 610, micro-machine 611, pull rope 612, lubrication groove 613, rotating shaft 614,615 groups of fender rod
Into the slide plate 610 is connected with micro-machine 611, and the slide plate 610 is connected to lubrication groove 613 by pull rope 612, described interior
Wheel 613 is integrated with rotating shaft 614, and the rotating shaft 614 is connected with micro-machine 611, and the fender rod 615 runs through lubrication groove
613 are connected with the inwall of rotating shaft 614, and the rotating shaft 614 is connected to paint spray gun 1, and the parallel slide 8 is square structure, is used for
The position of spray paint robot is converted, the rotating seat 7 is cylindrical structural.
Limited block 641 described in this patent is restriction site " iron block ", and limited block is fixed on into region of interest with screw,
Stroke is controlled, has fixed, is had adjustable.
When using spray robot of the present invention, spraying robot human body is stably placed at what is needed to use first
In the localities, and by parallel slide 8 the overall moving range of spray robot is controlled, makes its installation easier, by paint spray gun 1
Equipment is sprayed, when being sprayed, and external controller breaks down, and spraying stroke that can not be to spray robot enters
During row control, data generate controller 6191 and spray the memory by usually spraying and the motion flow of accumulation so as to generate
Data, and save the data in memory chip 619, action order is sent to data transfer plate 6183 by construction Faku County 6190,
Data transfer plate 6183 drives precision disk 6181 to be rotated, and by fixed wheel 6184, perform pulley 6180 and pulley 615, small
Track stroke is accurately controlled under the drive of circle wheel 613, the action command obtained as needed, spring 611 receives roundlet
The instruction of wheel 613 is stretched, and drives lifting driving wheel 68, connection control position frame 65 to operate by circle wheel 69, and controllable spraying is held
Row arm 3 is moved up and down in sliding rail 610, and orientation sliding block 614 follows movement on sliding rail 610, and increase spraying is held
The stability that row arm 3 moves, paint spray gun 1 can carry out horizontal direction movement spraying, increase spray under the control of mobile interior axle 61
Apply scope.For example, spray robot can be used to carry out spraying use to machine components, equipment.
Scale strip 6185 is arranged on precision disk 6181, when precision disk 6181 is operated, accurately controls rotation
Angle, and drive fixed wheel 6184, execution pulley 6180 to be operated.
Usually spraying action is carried out memory storage by memory chip 6192, is then generated action executing control trajectory accuracy and is driven
Driving wheel 618 carries out track operation control.
Slide plate 610 is driven down by micro-machine 611 and can moved on the first slide rail 62, and limits spray by rotating shaft 614
The rotation coating that pistol 1 carries out multi-angle is applied, fender rod 615 enables its paint spray gun 1 more to stablize in coating, avoids spraying
Painting action is rocked, and influences spraying effect.
The present invention solves the problems, such as it is that prior art is realizing the spray of robot according to the condition of data memory and accumulation
When applying work, track Stroke Control is inaccurate, easily avoids colliding, and safety coefficient is low, and the present invention passes through the mutual of above-mentioned part
It is combined, can by provided with data generate controller the spray of robot can be realized according to the condition of data memory and accumulation
Work is applied, adds Control During Paint Spraying by Robot perform function, and the running of trajectory accuracy driving wheel is controlled by data transfer plate, in precision disk
Realize that track stroke accurately controls under cooperation with multiple pulleys, avoid colliding, increase safe and reliable property, while rising
Driving wheel drops and mobile interior axle drive it is lower can multi-angle control spraying arm and paint spray gun motion, realization moves up and down
It is dynamic, increase spray range, it is practical.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above, for this area skill
For art personnel, it is clear that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Which point therefore, no matter from the point of view of, all should incite somebody to action
Embodiment regards exemplary as, and be it is nonrestrictive, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that all changes fallen in the implication and scope of the equivalency of claim are included in the present invention
It is interior.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of spray robot, its structure includes paint spray gun (1), machinery control position axle (2), spraying execution arm (3), drive shaft
(4), robot body (5), data operating generation track drive mechanism (6), rotating seat (7), parallel slide (8), fixed frame
(9), cross bar (10), it is characterised in that：
The fixed frame (9) is installed on parallel slide (8) and excessively coordinated with parallel slide (8), the parallel slide (8)
On be fixed with cross bar (10), the rotating seat (7) is embedded in fixed frame (9) and, the rotation vertical with fixed frame (9)
It is connected above seat (7) with robot body (5), the data operating generation track drive mechanism (6) is located at robot body
(5) it is internal, spraying is movably equipped with above the robot body (5) and performs arm (3), the spraying performs arm (3) bottom with driving
Moving axis (4) connects, and the spraying performs arm (3) and matched by drive shaft (4) and data operating generation track drive mechanism (6)
Close, the spraying performs arm (3) front end and is provided with paint spray gun (1), and the paint spray gun (1) and machinery control position axle (2) activity are even
Connect, the machinery control position axle (2) performs arm (3) with spraying and is engaged；
Data operating generation track drive mechanism (6) by mobile interior axle (61), the first slide rail (62), dragging track (63),
First motor (64), connection control position frame (65), shell (66), driven wheel (67), lifting driving wheel (68), circle are taken turns (69), slided
Track (610), spring (611), balance plate (612), roundlet wheel (613), orientation sliding block (614), pulley (615), fixed board
(616), space slide rail (617), trajectory accuracy driving wheel (618), database creating system (619), automatically controlled seat (620), substrate
(621) form, first slide rail (62) is installed on dragging track (63), and the mobile interior axle (61) slides located at first
Rail (62) simultaneously excessively coordinates with the first slide rail (62), and the dragging track (63) is mutually perpendicular to the first motor (64), and described the
One motor (64) is provided with drive rod (640), limited block (641), screw mandrel (642), the screw mandrel (642) and the first motor (64)
Connection, for the limited block (641) on screw mandrel (642), the screw mandrel (642) is connected to connection control by drive rod (640)
Position frame (65), described connection control position frame (65) bottom are connected to driven wheel (67) center, and the driven wheel (67) drives with lifting
Wheel (68) be integrated, it is described lifting driving wheel (68) be movably arranged at space slide rail (617) and with space slide rail (617) mistake
Degree coordinates, and the space slide rail (617) is embedded in sliding rail (610), and the sliding rail (610) is installed in shell (66)
Portion, orientation sliding block (614) is movably equipped with the space slide rail (617), and the orientation sliding block (614) is hung down with balance plate (612)
Direct join is connected to lifting driving wheel (68) by balance plate (612), and the balance plate (612) is provided with spring (611), the bullet
Spring (611) upper and lower side is connected with circle wheel (69), roundlet wheel (613) respectively, and the roundlet wheel (613) is connected to pulley (615), institute
State pulley (615) and be installed in fixed board (616) inside, the fixed board (616) is connected to be slided with shell (66) extexine, the space
Rail (617) bottom is provided with trajectory accuracy driving wheel (618), and trajectory accuracy driving wheel (618) side is with database generation
System (619) connection, database creating system (619) bottom is provided with automatically controlled seat (620), the automatically controlled seat (620) and substrate
(621) it is fixedly connected and is parallel to each other.
A kind of 2. spray robot according to claim 1, it is characterised in that：The trajectory accuracy driving wheel (618) by
Perform pulley (6180), precision disk (6181), driving wheel body (6182), data transfer plate (6183), fixed wheel (6184), scale
Bar (6185) forms, and the precision disk (6181) is internal located at driving wheel body (6182) and is one with driving wheel body (6182)
Body structure, the scale strip (6185) are embedded in precision disk (6181), and the data transfer plate (6183) is located at precision disk
(6181) internal, the fixed wheel (6184) is connected to by data transfer plate (6183) performs pulley (6180), described to perform cunning
Wheel (6180) is connected with pulley (615).
A kind of 3. spray robot according to claim 1, it is characterised in that：The database creating system (619) by
Construction Faku County (6190), data generate controller (6191), memory chip (6192), set transmitter (6193) composition.
A kind of 4. spray robot according to claim 3, it is characterised in that：The memory chip (6192) is located at data
It is internal to generate controller (6191), the memory chip (6192) is with constructing Faku County (6190), setting transmitter (6193), data
Transfer plate (6183) electrically connects.
A kind of 5. spray robot according to claim 1, it is characterised in that：The mobile interior axle (61) is by slide plate
(610), micro-machine (611), pull rope (612), lubrication groove (613), rotating shaft (614), fender rod (615) composition, the slide plate
(610) it is connected with micro-machine (611), the slide plate (610) is connected to lubrication groove (613), the lubrication groove by pull rope (612)
(613) it is integrated with rotating shaft (614), the rotating shaft (614) is connected with micro-machine (611), the fender rod (615)
It is connected through lubrication groove (613) with rotating shaft (614) inwall, the rotating shaft (614) is connected to paint spray gun (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711199757.8A CN107876267B (en) | 2017-11-26 | 2017-11-26 | A kind of spray robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711199757.8A CN107876267B (en) | 2017-11-26 | 2017-11-26 | A kind of spray robot |
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| CN107876267A true CN107876267A (en) | 2018-04-06 |
| CN107876267B CN107876267B (en) | 2019-04-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890658A (en) * | 2018-07-13 | 2018-11-27 | 湖州泰信环保科技有限公司 | A kind of paint spraying machinery hand |
| CN108970869A (en) * | 2018-08-30 | 2018-12-11 | 广东宏穗晶科技服务有限公司 | A kind of paint-spray robot |
| CN110152906A (en) * | 2019-05-08 | 2019-08-23 | 重庆沐江科技有限公司 | A kind of control system of paint-spray robot |
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
| CN113102149A (en) * | 2021-05-10 | 2021-07-13 | 彼合彼方机器人(天津)有限公司 | Large-scale facade automatic spraying equipment |
| CN113231259A (en) * | 2021-07-07 | 2021-08-10 | 常州海登赛思涂装设备有限公司 | Annotate wax machine people |
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