CN103143469A - Automatic spray gun changing device and method - Google Patents
Automatic spray gun changing device and method Download PDFInfo
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- CN103143469A CN103143469A CN2013101091677A CN201310109167A CN103143469A CN 103143469 A CN103143469 A CN 103143469A CN 2013101091677 A CN2013101091677 A CN 2013101091677A CN 201310109167 A CN201310109167 A CN 201310109167A CN 103143469 A CN103143469 A CN 103143469A
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- 239000007921 spray Substances 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 230000008878 coupling Effects 0.000 claims description 33
- 238000010168 coupling process Methods 0.000 claims description 33
- 238000005859 coupling reaction Methods 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000008901 benefit Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000003973 paint Substances 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000002966 varnish Substances 0.000 description 1
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Abstract
The invention provides an automatic spray gun changing device which comprises a vertical axis direction moving member, a rotating-around-vertical-axis angle control device, a rotating-around-vertical-axis angle transmission device and a rotating main body, wherein the rotating-around-vertical-axis angle control device is arranged at the upper end of the vertical axis direction moving member, the rotating-around-vertical-axis angle transmission device is arranged at the lower end of the rotating-around-vertical-axis angle control device, and the rotating-around-vertical-axis angle transmission device penetrates through the vertical axis direction moving member and is connected with the rotating main body. The automatic spray gun changing device has the beneficial effects of being simple in structure, being free of replacing a spray gun and oil path system, rapidly changing a spray gun system online, being capable of carrying out continuous operation and high in working efficiency, avoiding wasting paint, and preventing multiple times of loading and unloading and carrying of a workpiece from influencing a previously completed procedure.
Description
Technical field
The present invention relates to a kind of spray gun device and method, relate in particular to a kind of can be at space any direction continuous spraying
The device and method of certainly moving spray gun that is coated with.
Background technology
During furniture or some industry are sprayed paint, (be called middle paint in technique) after having sprayed colored paint, can be immediately on its surface cover layer varnish or polish lacquer (being called finish paint in technique) again.Finish paint is mainly used to reach high light, inferior light texts, increases gloss, the hardness of product, obtains richness coating preferably, and has good weather-proof guarantor
Light, colour retention, the formula of two kinds of above-mentioned paint is also not identical with color, for fear of pollution each other, and exempts to clean the fuel feeding facility, traditional hand spray generally is equipped with 2 spray gun and corresponding oil supply system and air control system for air.Oil supply system comprises oil plant bucket, membrane pump, oil-way pipe etc.Air control system for air comprises the switch of spray gun to be controlled, tracheae and the executive component of atomizing effect control etc.Complete above operation with two above-mentioned cover spraying facilities respectively, by above-mentioned technique as can be known, change spray gun, must switch simultaneously its oil supply system and the good air-path control system of parametrization, the equipment major part of existing space continuous any direction spraying realizes above technique by simple magnetic valve to the switching of oil path gas path, because spray gun is not changed, this method causes the pollution of spray gun and terminal pipeline, unfavorable spraying.Even if cleaning process is contained in the centre, also increased complexity, efficient is too low.If different operations adopts the spray gun of different bores in addition, this method is not capable, and the dismounting method is also more traditional way, by the plug pipeline, spray gun is unloaded, newer spray gun is installed.According to the difference of operation, insert corresponding oil gas interface, the terminal that contains integrated interface is made by many cover oil and gas paths system.
Spray gun device function singleness on the market, can not the fast online replacement gun system, can not work continuously, inefficiency, complex process, paint waste is large and workpiece repeatedly loads and unloads and carries easily previous completed operation is exerted an influence.
Summary of the invention
The object of the invention be to solve on the market spray gun device function singleness, can not the fast online replacement gun system, can not work continuously, inefficiency, complex process, paint waste is large and workpiece repeatedly loads and unloads and carry easily the deficiency that previous completed operation is exerted an influence and propose can be at the device and method of certainly moving spray gun of space any direction continuous spray.
The present invention is achieved through the following technical solutions: a kind of from moving the device of spray gun, comprise the y direction moving member, around longitudinal axis rotating angle control device, around longitudinal axis anglec of rotation transmission device, rotating main body,
Described y direction moving member upper end is provided with described around longitudinal axis rotating angle control device, describedly be provided with describedly around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device lower end, describedly pass the y direction moving member around longitudinal axis anglec of rotation transmission device and be connected with described rotating main body.
Further, described y direction moving member comprises upper end fixture, y direction moving member main body, lower end fixture, is provided with y direction moving member main body below the fixture of described upper end, is provided with the lower end fixture below described y direction moving member main body.
Further, described is to control motor around the longitudinal axis anglec of rotation around longitudinal axis rotating angle control device.
Further, describedly comprise drive link motor coupler, drive link shaft coupling, drive link, bearing, connector around longitudinal axis anglec of rotation transmission device, described drive link motor coupler one end is connected around longitudinal axis rotating angle control device output shaft with described, the described drive link motor coupler other end is connected with described drive link one end, described drive link passes described y direction moving member and is connected with described drive link shaft coupling, and described drive link shaft coupling passes bearing and is connected with described connector.
further, described rotating main body comprises around the transverse axis rotating angle control device, right-hand member spray gun fixed bar, right-hand member mounting rod shaft coupling, the right-hand member bearing, right fixture, left fixture, the left end bearing, left end mounting rod shaft coupling, left end spray gun fixed bar, it is described below the transverse axis rotating angle control device is fixedly connected on described connector, described left fixture is fixedly connected on described connector left end, described left end mounting rod shaft coupling one end passes described left end bearing and is connected around transverse axis rotating angle control device left end output shaft with described, the described left end mounting rod shaft coupling other end is connected with described left end spray gun fixed bar, described right fixture is fixedly connected on described connector right-hand member, described right-hand member mounting rod shaft coupling one end passes described right-hand member bearing and is connected around transverse axis rotating angle control device right-hand member output shaft with described, the described right-hand member mounting rod shaft coupling other end is connected with described right-hand member spray gun fixed bar.
Further, describedly go out shaft rotating device around the transverse axis rotating angle control device for two.
a kind of method from moving spray gun, two coordinates that first are set in rectangular coordinate system in space become plumbness, be defined as transverse axis and the longitudinal axis, the longitudinal axis is defined as the Z coordinate, transverse axis can be X or Y coordinate, the y direction moving member is set again, around longitudinal axis rotating angle control device, around longitudinal axis anglec of rotation transmission device, four of rotating main bodies are main from moving burner elements, described y direction moving member upper end is provided with described around longitudinal axis rotating angle control device, describedly be provided with described around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device lower end, describedly pass the y direction moving member around longitudinal axis anglec of rotation transmission device and be connected with described rotating main body, described y direction moving member can move vertically along y direction, described can be by making described transmission rotating main body rotate around the longitudinal axis around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device,
be equipped with in the middle of described rotating main body two shafts around the transverse axis rotating angle control device, axle head around the transverse axis rotating angle control device is equipped with column type spray gun fixed bar by shaft coupling, the spray gun fixed bar rotates around transverse axis around the transmission two ends of transverse axis rotating angle control device, the spray gun fixed bar rotation centerline at two ends is consistent, take the shaft centre line that rotates around the longitudinal axis as benchmark, symmetrical equidistant installation spray gun 1# and 2# on two spray gun fixed bars, the lance ejection direction is parallel to the longitudinal axis, two spray guns have air feed oil supply system separately, the spray gun fixed bar drives spray gun and rotates around transverse axis, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, by software control 1#, the 2# spray gun reaches identical movement locus.
Further, reach identical movement locus by software control 1#, 2# spray gun, comprise the following steps:
(1) rotation of 1#, 2# spray gun is synchronized with the movement, and the anglec of rotation is identical, and rotating main body is around longitudinal axis circular motion, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, 1#, the rotation of 2# spray gun are synchronized with the movement, the anglec of rotation is identical.Only the phase difference on circumference is 180 degree.
(2) when computer software control, first generate the orbiting motion program with the 1# spray gun.When changing the work of 2# spray gun into, control with phase difference compensation around longitudinal axis circular motion, can make the 2# spray gun arrive the position, phase angle of 1# spray gun, for example the 1# spray gun is spent the position+30, this moment, the 2# spray gun was to spend the position-30, and the 2# spray gun can arrive the position of spray gun 1# after motor forward or contrary turnback.
(3) change the work of 2# spray gun into after, if this moment spray gun around the transverse axis anglec of rotation not when absolute 0 spends, be parallel to the longitudinal axis as benchmark take the lance ejection direction, the spray angle of the relatively previous 1# spray gun of 2# spray gun is reverse, so being 1# angle of gun position around the angle position that transverse axis rotates, takes advantage of in-1 by the 2# spray gun, for example previous 1# spray gun is in+30 degree positions, and changing into after the 2# spray gun should be in-30 degree positions.
(4) through after above backoff algorithm control, under same movement locus program, guaranteed that 2# spray gun movement locus is the same with 1# spray gun movement locus, make spray gun to change fast, present technique has compact conformation, small volume and less weight, movement inertia is little, can consist of multi-shaft interlockedly, the spraying of continuous any direction, be easy to computer software control in the space.
Beneficial effect of the present invention is: but free of replacement spray gun simple in structure and oil piping system, the fast online replacement gun system, can work continuously, high efficiency, the paint that avoids waste, avoid workpiece repeatedly to load and unload and carry previous completed operation is exerted an influence.
Description of drawings
Fig. 1 is that the present invention is from the device and method structural representation of moving spray gun;
Fig. 2 is that the present invention is from the device and method side structure schematic diagram of moving spray gun;
Reference numeral: 1, y direction moving member; 2, around longitudinal axis rotating angle control device; 3, around longitudinal axis anglec of rotation transmission device; 4, rotating main body; 11, upper end fixture; 12, y direction moving member main body; 13, lower end fixture; 31, drive link motor coupler; 32, drive link shaft coupling; 33, drive link; 34, bearing; 35, connector; 401, around the transverse axis rotating angle control device; 402, right-hand member spray gun fixed bar; 403, right-hand member mounting rod shaft coupling; 404, right-hand member bearing; 405, right fixture; 406, left fixture; 407, left end bearing; 408, left end mounting rod shaft coupling; 409, left end spray gun fixed bar.
The specific embodiment
Below in conjunction with the drawings and the specific embodiments, the present invention is described further:
As shown in Figures 1 and 2: a kind of device from moving spray gun, comprise y direction moving member 1, around longitudinal axis rotating angle control device 2, around longitudinal axis anglec of rotation transmission device 3, rotating main body 4, described y direction moving member 1 upper end is provided with described around longitudinal axis rotating angle control device 2, describedly be provided with describedly around longitudinal axis anglec of rotation transmission device 3 around longitudinal axis rotating angle control device 2 lower ends, describedly pass y direction moving member 1 around longitudinal axis anglec of rotation transmission device 3 and be connected with described rotating main body 4.
Preferably, described y direction moving member 1 comprises upper end fixture 11, y direction moving member main body 12, lower end fixture 13, fixture 11 belows, described upper end are provided with y direction moving member main body 12, and described y direction moving member main body 12 belows are provided with lower end fixture 13.
Preferably, described is to control motor around the longitudinal axis anglec of rotation around longitudinal axis rotating angle control device 2.
Preferably, describedly comprise drive link motor coupler 31, drive link shaft coupling 32, drive link 33, bearing 34, connector 35 around longitudinal axis anglec of rotation transmission device 3, described drive link motor coupler 31 1 ends are connected around longitudinal axis rotating angle control device 2 output shafts with described, described drive link motor coupler 31 other ends are connected with described drive link 33 1 ends, described drive link 33 passes described y direction moving member 1 and is connected with described drive link shaft coupling 32, and described drive link shaft coupling 32 passes bearing 34 and is connected with described connector 35.
preferably, described rotating main body 4 comprises around transverse axis rotating angle control device 401, right-hand member spray gun fixed bar 402, right-hand member mounting rod shaft coupling 403, right-hand member bearing 404, right fixture 405, left fixture 406, left end bearing 407, left end mounting rod shaft coupling 408, left end spray gun fixed bar 409, describedly be fixedly connected on described connector 35 belows around transverse axis rotating angle control device 401, described left fixture 406 is fixedly connected on described connector 35 left ends, described left end mounting rod shaft coupling 408 1 ends pass described left end bearing 407 and are connected around transverse axis rotating angle control device 401 left end output shafts with described, described left end mounting rod shaft coupling 408 other ends are connected with described left end spray gun fixed bar 409, described right fixture 405 is fixedly connected on described connector 35 right-hand members, described right-hand member mounting rod shaft coupling 403 1 ends pass described right-hand member bearing 404 and are connected around transverse axis rotating angle control device 401 right-hand member output shafts with described, described right-hand member mounting rod shaft coupling 403 other ends are connected with described right-hand member spray gun fixed bar 402.
Preferably, describedly go out shaft rotating device around transverse axis rotating angle control device 401 for two.
a kind of method from moving spray gun, two coordinates that first are set in rectangular coordinate system in space become plumbness, be defined as transverse axis and the longitudinal axis, the longitudinal axis is defined as the Z coordinate, transverse axis can be X or Y coordinate, y direction moving member 1 is set again, around longitudinal axis rotating angle control device 2, around longitudinal axis anglec of rotation transmission device 3, 4 four of rotating main bodies are main from moving burner elements, described y direction moving member 1 upper end is provided with described around longitudinal axis rotating angle control device 2, describedly be provided with described around longitudinal axis anglec of rotation transmission device 3 around longitudinal axis rotating angle control device 2 lower ends, describedly pass y direction moving member 1 around longitudinal axis anglec of rotation transmission device 3 and be connected with described rotating main body 4, described y direction moving member 1 can move vertically along y direction, described can be by making described transmission rotating main body 4 rotate around the longitudinal axis around longitudinal axis anglec of rotation transmission device 3 around longitudinal axis rotating angle control device 2,
be equipped with in the middle of described rotating main body 4 two shafts around transverse axis rotating angle control device 401, axle head around transverse axis rotating angle control device 401 is equipped with column type spray gun fixed bar by shaft coupling, the spray gun fixed bar rotates around transverse axis around the transmission two ends of transverse axis rotating angle control device 401, the spray gun fixed bar rotation centerline at two ends is consistent, take the shaft centre line that rotates around the longitudinal axis as benchmark, symmetrical equidistant installation spray gun 1# and 2# on two spray gun fixed bars, the lance ejection direction is parallel to the longitudinal axis, two spray guns have air feed oil supply system separately, the spray gun fixed bar drives spray gun and rotates around transverse axis, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, by software control 1#, the 2# spray gun reaches identical movement locus.
Preferably, reach identical movement locus by software control 1#, 2# spray gun, comprise the following steps:
(1) rotation of 1#, 2# spray gun is synchronized with the movement, and the anglec of rotation is identical, and rotating main body 4 is around longitudinal axis circular motion, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, 1#, the rotation of 2# spray gun are synchronized with the movement, the anglec of rotation is identical.Only the phase difference on circumference is 180 degree.
(2) when computer software control, first generate the orbiting motion program with the 1# spray gun, when changing the work of 2# spray gun into, control with phase difference compensation around longitudinal axis circular motion, can make the 2# spray gun arrive the position, phase angle of 1# spray gun, for example the 1# spray gun is spent the position+30, and this moment, the 2# spray gun was to spend the position-30, and the 2# spray gun can arrive the position of spray gun 1# after motor forward or contrary turnback.
(3) change the work of 2# spray gun into after, if this moment spray gun around the transverse axis anglec of rotation not when absolute 0 spends, be parallel to the longitudinal axis as benchmark take the lance ejection direction, the spray angle of the relatively previous 1# spray gun of 2# spray gun is reverse, so being 1# angle of gun position around the angle position that transverse axis rotates, takes advantage of in-1 by the 2# spray gun, for example previous 1# spray gun is in+30 degree positions, and changing into after the 2# spray gun should be in-30 degree positions.
(4) through after above backoff algorithm control, under same movement locus program, guaranteed that 2# spray gun movement locus is the same with 1# spray gun movement locus, make spray gun to change fast, present technique has compact conformation, small volume and less weight, movement inertia is little, can consist of multi-shaft interlockedly, the spraying of continuous any direction, be easy to computer software control in the space.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also carry out suitable change and modification to above-mentioned embodiment.Therefore, the specific embodiment that discloses and describe above the present invention is not limited to also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although used some specific terms in this specification, these terms do not consist of any restriction to the present invention just for convenience of description.
Claims (8)
1. one kind from moving the device of spray gun, it is characterized in that: comprise the y direction moving member, around longitudinal axis rotating angle control device, around longitudinal axis anglec of rotation transmission device, rotating main body, described y direction moving member upper end is provided with described around longitudinal axis rotating angle control device, describedly be provided with describedly around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device lower end, describedly pass the y direction moving member around longitudinal axis anglec of rotation transmission device and be connected with described rotating main body.
2. described according to claims 1 from moving the device of spray gun, it is characterized in that: described y direction moving member comprises upper end fixture, y direction moving member main body, lower end fixture, fixture below, described upper end is provided with y direction moving member main body, is provided with the lower end fixture below described y direction moving member main body.
3. described according to claims 1 from moving the device of spray gun, it is characterized in that: described around longitudinal axis rotating angle control device for controlling motor around the longitudinal axis anglec of rotation.
4. described according to claims 1 from moving the device of spray gun, it is characterized in that: describedly comprise drive link motor coupler, drive link shaft coupling, drive link, bearing, connector around longitudinal axis anglec of rotation transmission device, described drive link motor coupler one end is connected around longitudinal axis rotating angle control device output shaft with described, the described drive link motor coupler other end is connected with described drive link one end, described drive link passes described y direction moving member and is connected with described drive link shaft coupling, and described drive link shaft coupling passes bearing and is connected with described connector.
5. described according to claims 1 from moving the device of spray gun, it is characterized in that: described rotating main body comprises around the transverse axis rotating angle control device, right-hand member spray gun fixed bar, right-hand member mounting rod shaft coupling, the right-hand member bearing, right fixture, left fixture, the left end bearing, left end mounting rod shaft coupling, left end spray gun fixed bar, it is described below the transverse axis rotating angle control device is fixedly connected on described connector, described left fixture is fixedly connected on described connector left end, described left end mounting rod shaft coupling one end passes described left end bearing and is connected around transverse axis rotating angle control device left end output shaft with described, the described left end mounting rod shaft coupling other end is connected with described left end spray gun fixed bar, described right fixture is fixedly connected on described connector right-hand member, described right-hand member mounting rod shaft coupling one end passes described right-hand member bearing and is connected around transverse axis rotating angle control device right-hand member output shaft with described, the described right-hand member mounting rod shaft coupling other end is connected with described right-hand member spray gun fixed bar.
6. described according to claims 5 from moving the device of spray gun, it is characterized in that: describedly go out shaft rotating device around the transverse axis rotating angle control device for two.
7. one kind from the method for moving spray gun, it is characterized in that: two coordinates that first are set in rectangular coordinate system in space become plumbness, be defined as transverse axis and the longitudinal axis, the longitudinal axis is defined as the Z coordinate, transverse axis can be X or Y coordinate, the y direction moving member is set again, around longitudinal axis rotating angle control device, around longitudinal axis anglec of rotation transmission device, four of rotating main bodies are main from moving burner elements, described y direction moving member upper end is provided with described around longitudinal axis rotating angle control device, describedly be provided with described around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device lower end, describedly pass the y direction moving member around longitudinal axis anglec of rotation transmission device and be connected with described rotating main body, described y direction moving member can move vertically along y direction, described can be by making described transmission rotating main body rotate around the longitudinal axis around longitudinal axis anglec of rotation transmission device around longitudinal axis rotating angle control device,
be equipped with in the middle of described rotating main body two shafts around the transverse axis rotating angle control device, axle head around the transverse axis rotating angle control device is equipped with the spray gun fixed bar by shaft coupling, the spray gun fixed bar rotates around transverse axis around the transmission two ends of transverse axis rotating angle control device, the spray gun fixed bar rotation centerline at two ends is consistent, take the shaft centre line that rotates around the longitudinal axis as benchmark, symmetrical equidistant installation spray gun 1# and 2# on two spray gun fixed bars, the lance ejection direction is parallel to the longitudinal axis, two spray guns have air feed oil supply system separately, the spray gun fixed bar drives spray gun and rotates around transverse axis, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, by software control 1#, the 2# spray gun reaches identical movement locus.
8. described according to claims 7 from the method for moving spray gun, it is characterized in that: reach identical movement locus by software control 1#, 2# spray gun, comprise the following steps:
(1) 1#, the rotation of 2# spray gun are synchronized with the movement, and the anglec of rotation is identical, and rotating main body is around longitudinal axis circular motion, clockwise turn on the occasion of, be rotated counterclockwise and be negative value, 1#, the rotation of 2# spray gun are synchronized with the movement, the anglec of rotation is identical, and only the phase difference on circumference is 180 degree;
(2) when computer software control, first generate the orbiting motion program with the 1# spray gun, when changing the work of 2# spray gun into, control with phase difference compensation around longitudinal axis circular motion, can make the 2# spray gun arrive the position, phase angle of 1# spray gun, for example the 1# spray gun is spent the position+30, and this moment, the 2# spray gun was to spend the position-30, and the 2# spray gun can arrive the position of spray gun 1# after motor forward or contrary turnback;
(3) change the work of 2# spray gun into after, if this moment spray gun around the transverse axis anglec of rotation not when absolute 0 spends, be parallel to the longitudinal axis as benchmark take the lance ejection direction, the spray angle of the relatively previous 1# spray gun of 2# spray gun is reverse, so being 1# angle of gun position around the angle position that transverse axis rotates, takes advantage of in-1 by the 2# spray gun, for example previous 1# spray gun is in+30 degree positions, and changing into after the 2# spray gun should be in-30 degree positions;
(4) through after above backoff algorithm control, under same movement locus program, guaranteed that 2# spray gun movement locus is the same with 1# spray gun movement locus, made spray gun to change fast.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310109167.7A CN103143469B (en) | 2013-04-01 | 2013-04-01 | A kind of device and method from moving spray gun |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310109167.7A CN103143469B (en) | 2013-04-01 | 2013-04-01 | A kind of device and method from moving spray gun |
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| CN103143469A true CN103143469A (en) | 2013-06-12 |
| CN103143469B CN103143469B (en) | 2015-11-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107930930A (en) * | 2017-12-25 | 2018-04-20 | 无锡特恒科技有限公司 | A kind of rotation oiling mechanism driven by servomotor |
| CN110801590A (en) * | 2019-09-27 | 2020-02-18 | 安徽延达智能科技有限公司 | Self-spraying cooling protection mechanism of fire-fighting robot |
| CN113000263A (en) * | 2021-03-06 | 2021-06-22 | 麦特汽车服务股份有限公司 | Method for adjusting angle of spray gun of automatic paint spraying equipment for automobile repair |
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| CN113000263A (en) * | 2021-03-06 | 2021-06-22 | 麦特汽车服务股份有限公司 | Method for adjusting angle of spray gun of automatic paint spraying equipment for automobile repair |
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| Publication number | Publication date |
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| CN103143469B (en) | 2015-11-04 |
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