CN104525418A - Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process - Google Patents
Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process Download PDFInfo
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- CN104525418A CN104525418A CN201410797844.3A CN201410797844A CN104525418A CN 104525418 A CN104525418 A CN 104525418A CN 201410797844 A CN201410797844 A CN 201410797844A CN 104525418 A CN104525418 A CN 104525418A
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- Prior art keywords
- spray gun
- mould
- spraying
- spray
- coating
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Classifications
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- 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
- 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
- B05B13/0278—Arrangement or mounting of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/02—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by baking
- B05D3/0218—Pretreatment, e.g. heating the substrate
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention relates to a mechanical arm special for automatic painting spraying of an aluminum alloy wheel die and an automatic painting spraying process. The special mechanical arm is composed of a robot, a spraying gun assembly and an electronic control system; the spraying gun assembly is installed and driven by the robot to conduct automatic spraying, the robot and the spraying gun assembly are each connected with the electronic control system through circuits, and the spraying gun assembly is controlled by the electronic control system to do spraying work. The mechanical arm is reasonable in structure, rapid and convenient to operate, good in stability, high in quality and efficient; 360-degree dead-angle-free automatic painting spraying on the interior of the die can be carried out, it is guaranteed that the thickness of painting at the position of the die is even and unified, and the machining quality and the machining efficiency are improved; in addition, in-sequence solidification is guaranteed, and the quality of wheel products is improved.
Description
Technical field
The invention belongs to aluminum-alloy wheel manufacture field, especially a kind of aluminum-alloy wheel mould automatic coating material special manipulator and automatic coating material technique.
Background technology
During aluminum-alloy wheel low pressure casting is produced, consecutive solidification is the key factor ensureing product in casting process, the order that low pressure casting wheel product solidifies is that wheel rim progressively solidifies from top to bottom, and spoke ecto-entad solidifies, the gate location final set at bed die center.Freely control temperature in mould and solidification sequence gradient to match guarantee blank solidification sequence, just probably shrinkage defect is produced for the position not according to solidification sequence, has a strong impact on product quality, even cause bulk article to scrap.In control mould conventional at present, the mode in temperature field is at the thermal insulation coatings applying different-thickness according to cooling order in mould.And the limit mould coating for the different position of cooling velocity is different from bed die coating formula.
At present, that mould is rolled off the production line for mould coating material, processing temperature is arrived through heat treatment, be sent on spraying platform, by manually using spray gun to spray mould inner surface, there is larger danger for processing staff in die material, labor strength is large, spray efficiency is lower, and the effect of spraying relies on artificial experience to operate completely, is difficult to accomplish that coating quality reaches unified standard.
Through detecting, do not find the patent application identical with present patent application.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, a kind of rational in infrastructure, simple operation, good stability, the aluminum-alloy wheel mould automatic coating material special manipulator of high-quality and high-efficiency and automatic coating material technique are provided.
The present invention solves its technical problem and takes following technical scheme to realize:
A kind of aluminum-alloy wheel mould automatic coating material special manipulator, it is characterized in that: be made up of robot, spray gun assembly and electric-control system, robot installs and drives spray gun assembly to carry out automatic coating, robot and spray gun assembly all connect electric-control system by control circuit, and carry out spray coating operations by electric control system controls spray gun assembly;
Robot comprises base, horizontal rotating disc, control cabinet, principal arm, wheel disc, swing arm, swing arm rotating disk, actuating arm and spray gun rotating disk, is coaxially installed with horizontal rotating disc in base upper end, and this horizontal rotating disc can horizontally rotate on base; A control cabinet is fixed with in horizontal rotating disc upper end, the lower end of this side, control cabinet upper end hinge dress principal arm, this principal arm is upper and lower rotation in perpendicular, and principal arm upper end is contained in the radial side of swing arm by wheel disc hinge, and this swing arm carries out rotation around the wheel disc axle of principal arm upper end; Axial one end of this swing arm is coaxially installed with swing arm rotating disk, and the axial other end of rotating disk is axially fixed with an actuating arm, and this swing arm driven by rotary disc actuating arm carries out the rotation coaxial with rotating disk; The radial side guiding drive installation of actuating arm has a spray gun assembly, and actuating arm drives spray gun assembly to move along actuating arm axial reciprocating; Between spray gun assembly and actuating arm, be provided with a spray gun rotating disk, this spray gun rotating disk band spray gun assembly rotates;
Spray gun assembly comprises support, infrared sensor, limit mould spray gun cup head and bed die spray gun cup head, support installing at spray gun turntable shaft to one end, pedestal lower end interval is provided with limit mould spray gun cup head and bed die spray gun cup head, this limit mould spray gun cup head and bed die spray gun cup head fillet mould coating pressure bucket and bed die coating pressure bucket respectively; Support one middle side part is provided with an infrared sensor, and this infrared sensor is for detecting mold temperature.
An automatic coating material technique for aluminum-alloy wheel mould automatic coating material special manipulator, is characterized in that: concrete steps are:
(1) the pre-heat treatment: transmit after mould rolls off the production line and enter automatic preheating stove, mould and die preheating to 170 DEG C-220 DEG C, then is sent to spraying working platform position;
(2) mould is put into the fixed position on spraying working platform, and robot drives spray assembly to move to directly over mould to be sprayed;
(3) infrared sensor spray assembly installed carries out thermometric detection, and temperature reaches spray paint requirement temperature 170 DEG C-220 DEG C;
(4) sprayed coating, electric control system controls robot sprays according to setting track;
Limit mould spraying, open limit mould coating pressure bucket, limit mould spray gun cup head is aimed at limit mould and is sprayed, thinning successively in gradient to the coating thickness in spoke direction by inner rim;
Bed die sprays, and open bed die coating pressure bucket, bed die spray gun cup head is aimed at bed die and sprayed, thinning successively in gradient to the painting thickness in trumpet assembly direction by outer rim;
(5) complete spraying, mould is assembled, and enters the heating of automatic preheating stove and reaches 450 DEG C-500 DEG C, prepare to reach the standard grade production;
(6) according to above step cycle.
And the limit mould spraying in step (4) sprayed coating is thinning successively in gradient to the coating thickness in spoke direction by inner rim, and the limit mould in inner rim portion sprays 1 coating, and 2 coatings are sprayed at middle part, spray 3 coatings near spoke.
And the bed die spraying in step (4) sprayed coating is thinning successively in gradient to the painting thickness in trumpet assembly direction by outer rim, and outer rim sprays 1 coating, and 2 coatings are sprayed at middle part, spray 3 coatings near cast gate.
And the setting track of described electric-control system sets according to computer simulation, or is demonstrated by artificial low speed, track memory storage manually will be demonstrated for spraying setting track.
And during the work of described electric-control system emergent stopping, system is parked in emergent stopping position and waits for, after again starting, the follow-up track continued along not completing carries out work.
Advantage of the present invention and good effect are:
The present invention is rational in infrastructure, simple operation, good stability, high-quality and high-efficiency, can to carrying out 360 degree in mould without dead angle automatic coating material, ensure the paint thickness evenly unification of die location, ensure coating quality, promote spray efficiency, ensure consecutive solidification, promote wheel product quality.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is electric-control system block diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, also by specific embodiment, the invention will be further described, and following examples are descriptive, are not determinate, can not limit protection scope of the present invention with this.
A kind of aluminum-alloy wheel mould automatic coating material special manipulator, be made up of robot, spray gun assembly and electric-control system, robot installs and drives spray gun assembly to carry out automatic coating, robot and spray gun assembly all connect electric-control system by control circuit, and carry out spray coating operations by electric control system controls spray gun assembly.
(1) robot comprises base 9, horizontal rotating disc 8, control cabinet 7, principal arm 6, wheel disc 5, swing arm 4, swing arm rotating disk 3, actuating arm 2, spray gun rotating disk 1 and spray gun assembly, be coaxially installed with horizontal rotating disc in base upper end, this horizontal rotating disc can horizontally rotate on base;
A control cabinet 7 is fixed with in horizontal rotating disc upper end, the lower end of this side, control cabinet upper end hinge dress principal arm 6, this principal arm is upper and lower rotation in perpendicular, and principal arm upper end is contained in the radial side of swing arm 4 by wheel disc 5 hinge, and this swing arm carries out rotation around the wheel disc axle of principal arm upper end;
Axial one end of this swing arm is coaxially installed with swing arm rotating disk 3, and the axial other end of rotating disk is axially fixed with an actuating arm 2, and this swing arm driven by rotary disc actuating arm carries out the rotation coaxial with rotating disk; The radial side guiding drive installation of actuating arm has a spray gun assembly, and actuating arm drives spray gun assembly to move along actuating arm axial reciprocating; Between spray gun assembly and actuating arm, be provided with a spray gun rotating disk 1, this spray gun rotating disk band spray gun assembly rotates;
(2) spray gun assembly comprises support 13, infrared sensor 12, limit mould spray gun cup 11 and bed die spray gun cup 10, support installing at spray gun turntable shaft to one end, pedestal lower end interval is provided with limit mould spray gun cup head and bed die spray gun cup head, this limit mould spray gun cup head and bed die spray gun cup head fillet mould coating pressure bucket and bed die coating pressure bucket respectively; Support one middle side part is provided with an infrared sensor, and this infrared sensor is for detecting mold temperature.
(3) electric-control system, shown in accompanying drawing 2,
Electric-control system comprises Data Enter module, processor, memory and performs processor, and this Data Enter module, execution processor, memory and actuator are linked in sequence successively; Data Enter module is by processor by data into memory corresponding for setting track, and memory is by command to actuator, and actuator control and spray gun assembly carry out action; Spray gun assembly is provided with infrared sensor, and Current Temperatures information transmission is also given execution processor by this infrared sensor detected temperatures, and execution processor continues spray coating operations under confirming that Current Temperatures reaches the prerequisite of spraying temperature requirement; The each building block of robot is separately installed with multiple position sensor, and detect the coordinate data of current location, position signalling is fed back to execution processor by the plurality of position sensor.
In order to can by manually setting working trajectory, position sensor output be connected with an information acquisition module, and this information acquisition module is connected to memory by processor, memory can the positional information that obtains of memory area sensor as setting working trajectory.
At memory be provided with a timer between device by oneself, this timer is provided with time-out module, when there is emergent stopping in processing, position sensor detects that robot stops action, current information is transferred to device by oneself by position sensor, performs the time-out module of processor triggered timer, when recovery action, suspend module startup timer to start from interruption position, carry out work along the follow-up track do not completed.
The operating environment requirements of this manipulator is as follows:
Environment temperature: 0 ~ 45 DEG C;
Relative humidity: 20 ~ 85%RH;
Vibration: vibration acceleration is less than 0.5g;
Power supply: three-phase 380V; Scope range of the fluctuation of voltage :+10% ,-15%; Frequency: 50HZ; Singly to stand capacity: 1. robot control cabinet power supply: 7.5KVA; Ground wire: switch board must distinguish ground connection, earth resistance is less than 100 Ω;
Compressed air: pressure is not less than 0.36-0.6MPa (needing filtrate, oil).
The automatic coating material technique concrete steps of above-mentioned manipulator are:
(5) the pre-heat treatment: transmit after mould rolls off the production line and enter automatic preheating stove, mould and die preheating to 170 DEG C-220 DEG C, then is sent to spraying working platform position;
(6) mould is put into the fixed position on spraying working platform, and robot drives spray assembly to move to directly over mould to be sprayed;
(7) infrared sensor spray assembly installed carries out thermometric detection, and temperature reaches spray paint requirement temperature 170 DEG C-220 DEG C;
(8) sprayed coating, electric control system controls robot sprays according to setting track;
The data that the track of this electric-control system is corresponding can be set by Data Enter, also by the movement locus of the artificial low speed demonstration of information gathering, this can manually be demonstrated track memory storage for spraying setting track; This electric-control system is provided with continuation of the journey function, and during emergent stopping work, system is parked in emergent stopping position and waits for, after again starting, the follow-up track continued along not completing carries out work, can not depart from, also avoid interfering with other barriers from former track;
Spraying limit mould, open limit mould coating pressure bucket, limit mould spray gun cup head is aimed at limit mould and is sprayed, and thinning successively in gradient to the coating thickness in spoke direction by inner rim, the limit mould in inner rim portion sprays 1 coating, and 2 coatings are sprayed at middle part, spray 3 coatings near spoke;
Spraying bed die, open bed die coating pressure bucket, bed die spray gun cup head is aimed at bed die and is sprayed, and thinning successively in gradient to the painting thickness in trumpet assembly direction by outer rim, outer rim sprays 1 coating, and 2 coatings are sprayed at middle part, spray 3 coatings near cast gate;
(5) complete spraying, mould is assembled, and enters the heating of automatic preheating stove and reaches 450 DEG C-500 DEG C, prepare to reach the standard grade production;
(6) according to above step cycle.
Although disclose embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope not departing from the present invention and claims, various replacement, change and amendment are all possible, therefore, scope of the present invention is not limited to the content disclosed in embodiment and accompanying drawing.
Claims (6)
1. an aluminum-alloy wheel mould automatic coating material special manipulator, it is characterized in that: be made up of robot, spray gun assembly and electric-control system, robot installs and drives spray gun assembly to carry out automatic coating, robot and spray gun assembly all connect electric-control system by control circuit, and carry out spray coating operations by electric control system controls spray gun assembly;
Robot comprises base, horizontal rotating disc, control cabinet, principal arm, wheel disc, swing arm, swing arm rotating disk, actuating arm and spray gun rotating disk, is coaxially installed with horizontal rotating disc in base upper end, and this horizontal rotating disc can horizontally rotate on base; A control cabinet is fixed with in horizontal rotating disc upper end, the lower end of this side, control cabinet upper end hinge dress principal arm, this principal arm is upper and lower rotation in perpendicular, and principal arm upper end is contained in the radial side of swing arm by wheel disc hinge, and this swing arm carries out rotation around the wheel disc axle of principal arm upper end; Axial one end of this swing arm is coaxially installed with swing arm rotating disk, and the axial other end of rotating disk is axially fixed with an actuating arm, and this swing arm driven by rotary disc actuating arm carries out the rotation coaxial with rotating disk; The radial side guiding drive installation of actuating arm has a spray gun assembly, and actuating arm drives spray gun assembly to move along actuating arm axial reciprocating; Between spray gun assembly and actuating arm, be provided with a spray gun rotating disk, this spray gun rotating disk band spray gun assembly rotates;
Spray gun assembly comprises support, infrared sensor, limit mould spray gun cup head and bed die spray gun cup head, support installing at spray gun turntable shaft to one end, pedestal lower end interval is provided with limit mould spray gun cup head and bed die spray gun cup head, this limit mould spray gun cup head and bed die spray gun cup head fillet mould coating pressure bucket and bed die coating pressure bucket respectively; Support one middle side part is provided with an infrared sensor, and this infrared sensor is for detecting mold temperature.
2. an automatic coating material technique for aluminum-alloy wheel mould automatic coating material special manipulator, is characterized in that: concrete steps are:
(1) the pre-heat treatment: transmit after mould rolls off the production line and enter automatic preheating stove, mould and die preheating to 170 DEG C-220 DEG C, then is sent to spraying working platform position;
(2) mould is put into the fixed position on spraying working platform, and robot drives spray assembly to move to directly over mould to be sprayed;
(3) infrared sensor spray assembly installed carries out thermometric detection, and temperature reaches spray paint requirement temperature 170 DEG C-220 DEG C;
(4) sprayed coating, electric control system controls robot sprays according to setting track;
Limit mould spraying, open limit mould coating pressure bucket, limit mould spray gun cup head is aimed at limit mould and is sprayed, thinning successively in gradient to the coating thickness in spoke direction by inner rim;
Bed die sprays, and open bed die coating pressure bucket, bed die spray gun cup head is aimed at bed die and sprayed, thinning successively in gradient to the painting thickness in trumpet assembly direction by outer rim;
(5) complete spraying, mould is assembled, and enters the heating of automatic preheating stove and reaches 450 DEG C-500 DEG C, prepare to reach the standard grade production;
(6) according to above step cycle.
3. automatic coating material technique according to claim 2, it is characterized in that: the limit mould spraying in described step (4) sprayed coating is thinning successively in gradient to the coating thickness in spoke direction by inner rim, the limit mould in inner rim portion sprays 1 coating, middle part spray 2 coatings, spray 3 coatings near spoke.
4. automatic coating material technique according to claim 2, it is characterized in that: the bed die spraying in described step (4) sprayed coating is thinning successively in gradient to the painting thickness in trumpet assembly direction by outer rim, outer rim sprays 1 coating, middle part spray 2 coatings, spray 3 coatings near cast gate.
5. automatic coating material technique according to claim 2, is characterized in that: the setting track of described electric-control system sets according to computer simulation, or is demonstrated by artificial low speed, manually will demonstrate track memory storage for spraying setting track.
6. automatic coating material technique according to claim 2, is characterized in that: during the work of described electric-control system emergent stopping, system is parked in emergent stopping position and waits for, after again starting, the follow-up track continued along not completing carries out work.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410797844.3A CN104525418B (en) | 2014-12-19 | 2014-12-19 | Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410797844.3A CN104525418B (en) | 2014-12-19 | 2014-12-19 | Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process |
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| CN104525418B CN104525418B (en) | 2017-02-08 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| CN105499532A (en) * | 2015-12-29 | 2016-04-20 | 中信戴卡股份有限公司 | Wheel mold paint spraying device |
| CN106142102A (en) * | 2016-08-15 | 2016-11-23 | 江苏新光数控技术有限公司 | A kind of streamline Glue Spreading Robot |
| CN106862545A (en) * | 2017-04-18 | 2017-06-20 | 太仓市凯斯汀精密压铸有限公司 | Casting demoulding cleaning spray equipment |
| CN106925751A (en) * | 2017-04-27 | 2017-07-07 | 苏州三基铸造装备股份有限公司 | Extrusion casting machine drift lubricating arrangement |
| CN107139185A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass painting system |
| CN107159490A (en) * | 2017-03-27 | 2017-09-15 | 陕西华拓科技有限责任公司 | droplet ejection robot and robot droplet ejection control method |
| CN108940677A (en) * | 2016-10-20 | 2018-12-07 | 卢永星 | A kind of robot shells inner sunken face segmented spray equipment |
| CN109175275A (en) * | 2018-08-27 | 2019-01-11 | 马鞍山市兴隆铸造有限公司 | A kind of casting flow coating device of high production efficiency |
| CN109201412A (en) * | 2018-09-12 | 2019-01-15 | 珠海格力智能装备有限公司 | Automatic double surface gluer |
| CN109308370A (en) * | 2017-07-27 | 2019-02-05 | 都林安川机器人有限公司 | Vehicle paintwork robot simulation's method |
| CN110576158A (en) * | 2019-10-25 | 2019-12-17 | 哈尔滨博实自动化股份有限公司 | A drawing of patterns system for in ferroalloy casting operation |
| CN111417586A (en) * | 2017-11-29 | 2020-07-14 | 克朗斯股份公司 | Transport system for containers in the beverage industry and method of lubrication |
| CN112275483A (en) * | 2020-09-07 | 2021-01-29 | 惠州市德赛西威汽车电子股份有限公司 | Multifunctional three-proofing paint coating equipment and control method thereof |
| CN115010476A (en) * | 2022-06-06 | 2022-09-06 | 西藏众陶联供应链服务有限公司 | Preparation process of ceramic rock plate with random patterns |
| CN117505772A (en) * | 2024-01-08 | 2024-02-06 | 江苏凯特汽车部件有限公司 | Method for improving surface quality and castability of cast aluminum wheel of new energy automobile |
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| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| CN105499532A (en) * | 2015-12-29 | 2016-04-20 | 中信戴卡股份有限公司 | Wheel mold paint spraying device |
| CN105499532B (en) * | 2015-12-29 | 2017-05-24 | 中信戴卡股份有限公司 | Wheel mold paint spraying device |
| CN106142102A (en) * | 2016-08-15 | 2016-11-23 | 江苏新光数控技术有限公司 | A kind of streamline Glue Spreading Robot |
| CN108940677A (en) * | 2016-10-20 | 2018-12-07 | 卢永星 | A kind of robot shells inner sunken face segmented spray equipment |
| CN107159490A (en) * | 2017-03-27 | 2017-09-15 | 陕西华拓科技有限责任公司 | droplet ejection robot and robot droplet ejection control method |
| CN106862545A (en) * | 2017-04-18 | 2017-06-20 | 太仓市凯斯汀精密压铸有限公司 | Casting demoulding cleaning spray equipment |
| CN106925751A (en) * | 2017-04-27 | 2017-07-07 | 苏州三基铸造装备股份有限公司 | Extrusion casting machine drift lubricating arrangement |
| CN107139185A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass painting system |
| CN107139185B (en) * | 2017-06-19 | 2023-05-26 | 上海发那科机器人有限公司 | Robot glass painting system |
| CN109308370A (en) * | 2017-07-27 | 2019-02-05 | 都林安川机器人有限公司 | Vehicle paintwork robot simulation's method |
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| CN109175275A (en) * | 2018-08-27 | 2019-01-11 | 马鞍山市兴隆铸造有限公司 | A kind of casting flow coating device of high production efficiency |
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| CN104525418B (en) | 2017-02-08 |
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Address after: 300457 in Tianjin Binhai Economic and Technological Development Zone West Guanghua Street No. 58 Patentee after: Tianjin Lizhong group Limited by Share Ltd Address before: 300457 in Tianjin Binhai Economic and Technological Development Zone West Guanghua Street No. 58 Patentee before: Tianjin Lizhong Wheel Co.,Ltd. |
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Address after: No. 58, Guanghua Street, West District, economic and Technological Development Zone, Binhai New Area, Tianjin, 300450 Patentee after: TIANJIN LIZHONG WHEEL Co.,Ltd. Address before: No. 58, Guanghua Street, West District, economic and Technological Development Zone, Binhai New Area, Tianjin Patentee before: TIANJIN LIZHONG GROUP Co.,Ltd. |
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