CN105127990A - Single-arm mechanical hand - Google Patents
Single-arm mechanical hand Download PDFInfo
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- CN105127990A CN105127990A CN201510542123.2A CN201510542123A CN105127990A CN 105127990 A CN105127990 A CN 105127990A CN 201510542123 A CN201510542123 A CN 201510542123A CN 105127990 A CN105127990 A CN 105127990A
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- arm
- rotating shaft
- spray gun
- cursor
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Abstract
The invention discloses a single-arm mechanical hand. The single-arm mechanical hand comprises a stand column mechanism, a transverse arm mechanism, a telescopic boom mechanism and a spray gun mechanism, wherein the stand column mechanism comprises a base, a stand column arranged on the base, a stand column slide table which is arranged on the stand column in a sliding mode and a transmission mechanism capable of driving the stand column slide table to lift and slide; and the spray gun mechanism can be driven by the stand column mechanism, the transverse arm mechanism ad the telescopic boom mechanism to carry out tri-axial motion. The single-arm mechanical arm adopts a single stand column type mechanism, so that a space occupied by the mechanical arm is effectively reduced, the mechanical structure is simplified and the manufacturing cost is reduced; the transmission mechanism adopts a lead screw transmission mechanism or a chain transmission mechanism; and the lead screw transmission mechanism or the chain transmission mechanism is high in transmission force, high in precision and good in stability, so that the integral stability and the spraying precision of the single-arm type spraying mechanical hand are improved in a facilitated mode.
Description
Technical field
The present invention relates to is a kind of single arm robot being applied to spraying operation.
Background technology
Along with the process of automation, and owing to spraying the particularity of industry, the current spraying operation hand spray that has gradually changes manipulator spraying into, the gantry frame structure of the two column of the many employings of current spray coating mechanical hand, although structural stability is high, but it is large to take up room, and manufacturing cost is high, is unfavorable for a large amount of applying.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of single arm robot.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of single arm robot, comprising:
Column agency, described column agency comprises base, the column be arranged on base, be slidably arranged in the upright column sliding platform on column and can drive the transmission mechanism of upright column sliding platform lifting carriage;
Transverse arm mechanism, described transverse arm organization establishes is on upright column sliding platform, it transverse arm slide unit comprising transverse arm section bar, be arranged on the transverse arm belt drive unit on transverse arm section bar and be slidably arranged on transverse arm section bar, described transverse arm slide unit is connected with transverse arm belt drive unit and can drives transverse translation by transverse arm belt drive unit;
Telescopic boom mechanism, the telescopic arm slide unit that described Telescopic boom mechanism comprises telescopic arm section bar, is arranged on the telescopic arm belt drive unit on telescopic arm section bar and is slidably arranged on telescopic arm section bar, described telescopic arm slide unit is connected with telescopic arm belt drive unit and can drives longitudinal translation by telescopic arm belt drive unit, and described telescopic arm slide unit is fixedly connected with transverse arm slide unit;
Spray gun mechanism, described spray gun mechanism is arranged and Telescopic boom mechanism end, it comprises fixed arm, cursor, spray gun, described fixed arm comprises fixed arm motor, the output shaft of described fixed arm motor is connected with a rotating shaft, the length direction of described rotating shaft and fixed arm roughly in the same way and extend to outside fixed arm, described cursor is fixed in described rotating shaft, a cursor motor is provided with in described cursor, described cursor side is provided with a spray gun rotating shaft, the described axis of spray gun rotating shaft and the length direction of cursor are mutually angle, described cursor motor is connected with spray gun rotating shaft by a transmission mechanism, described spray gun is arranged in spray gun rotating shaft.
The transmission mechanism of described column agency is a lead screw transmission mechanism, described lead screw transmission mechanism comprises lead screw motor, the drive lead screw arranged along strut length direction and the feed screw nut be arranged on drive lead screw, described drive lead screw is connected with lead screw motor, and described upright column sliding platform is fixedly connected with feed screw nut.
Described upright column sliding platform one end is provided with a slider bar be slidably located on column, described column front end face is provided with fromer rail group, the front-slider group corresponding with fromer rail group is configured with inside described slider bar, described column rear end face is provided with rear rail group, inside described slider bar, is configured with the rear slider group corresponding with rear rail group.
Described slider bar upper and lower side is respectively arranged with the catch corresponding with fromer rail group, rear rail group.
Described column upper and lower side is respectively arranged with upper limit position block, lower position block, and described upright column sliding platform upper and lower side is respectively arranged with and upper limit position block, the upper buffer stopper that lower position block is corresponding, lower buffer stopper.
The transmission mechanism of described column agency is a chain drive, described chain drive comprises chain motor, chain and is separately positioned on the sprocket wheel at column two ends, described chain winding is on two sprocket wheels, and described chain motor is connected with a wherein sprocket wheel, and described upright column sliding platform is fixed on chain.
Described transverse arm belt drive unit and telescopic arm belt drive unit are configured with belt tension mechanism.
Described fixed arm also comprises a housing, described fixed arm motor is fixedly installed in described housing, described fixed arm motor is connected with rotating shaft by after a fixed arm decelerator, described rotating shaft is provided with rotating shaft inductive disks, described fixed arm is provided with the rotating shaft correlation inductor that also can respond to rotating shaft inductive disks rotary state corresponding to rotating shaft inductive disks.
Described cursor comprises a rotating turret, described rotating turret is fixed in rotating shaft, described cursor motor is fixed on rotating turret, described cursor also comprises the outer cover mounted cover on rotating turret, described spray gun rotating shaft is provided with a spray gun and rotates inductive disks, described cursor is provided with one and rotates spray gun corresponding to inductive disks with this spray gun and rotate correlation inductor.
The axis of described spray gun rotating shaft is mutually vertical with the length direction of cursor, described transmission mechanism comprises two angular wheels cooperatively interacted, be respectively initiatively angular wheel and driven angular wheel, described cursor motor is connected with active angular wheel by a cursor decelerator, and described driven angular wheel is connected with spray gun rotating shaft.
The invention has the beneficial effects as follows: a kind of single arm robot, comprise column agency, transverse arm mechanism, Telescopic boom mechanism, spray gun mechanism, described column agency comprises base, be arranged on the column on base, be slidably arranged in the upright column sliding platform on column and the transmission mechanism of upright column sliding platform lifting carriage can be driven, pass through column agency, transverse arm mechanism, Telescopic boom mechanism can drive the action of spray gun mechanism three axle, the present invention adopts the mechanism of single column, effectively can reduce the space shared by manipulator, and simplify frame for movement, reduce the cost manufactured, and this transmission mechanism adopts lead screw transmission mechanism or chain drive, the driving force of lead screw transmission mechanism or chain drive is high, precision is high, good stability, be conducive to improving the stability of single arm type spray coating mechanical hand entirety and the precision of spraying.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of transverse arm mechanism of the present invention;
Fig. 3 is the decomposing schematic representation of transverse arm mechanism of the present invention;
Fig. 4 is the structural representation of Telescopic boom mechanism of the present invention;
Fig. 5 is the decomposing schematic representation of Telescopic boom mechanism of the present invention;
Fig. 6 is the structural representation of spray gun mechanism of the present invention;
Fig. 7 is the decomposing schematic representation of spray gun mechanism of the present invention;
Fig. 8 is one of structural representation of the first embodiment of column agency of the present invention;
Fig. 9 is the structural representation two of the first embodiment of column agency of the present invention;
Figure 10 is the decomposing schematic representation of the first embodiment of column agency of the present invention;
Figure 11 is the structural representation of column agency the second embodiment of the present invention.
Detailed description of the invention
Referring to figs. 1 through the structural representation that Figure 10, Fig. 1 to Figure 10 are the present invention's specific embodiments, as shown in the figure, a kind of single arm robot, comprises column agency 7, transverse arm mechanism 6, Telescopic boom mechanism 3, spray gun mechanism 5,
As shown in the figure, described column agency 7 comprises base 71, be arranged on the column 72 on base 71, be slidably arranged in the upright column sliding platform 73 on column 72 and the transmission mechanism of upright column sliding platform 73 lifting carriage can be driven, in the present embodiment, described transmission mechanism is a lead screw transmission mechanism, described lead screw transmission mechanism comprises lead screw motor 74, the drive lead screw 75 arranged along column 72 length direction and the feed screw nut 76 be arranged on drive lead screw 75, described lead screw motor 74 is arranged on the top of column 72, and lead screw motor 74 is connected with drive lead screw 75 by after one speed reducer 741, described column 72 top is configured with a motor cover 742.
As preferably, described upright column sliding platform 73 one end is provided with a slider bar 731 be slidably located on column 72, and described feed screw nut 76 is fixedly connected with slider bar 731.
As preferably, as shown in the figure, described column 72 front end face is provided with fromer rail group 721, the front-slider group 722 corresponding with fromer rail group 721 is configured with inside described slider bar 731, described column 72 rear end face is provided with rear rail group 723, the rear slider group 724 corresponding with rear rail group 723 is configured with, to improve smoothness and the stability of slider bar 731 slip inside described slider bar 731.
As preferably, as shown in the figure, described slider bar 731 upper and lower side is respectively arranged with the catch 725 corresponding with fromer rail group 721, rear rail group 723, has prevented dust from falling into the gap of guide rail between slide block, ensures the smooth and easy of guide rail and skid.
As preferably, described column 72 upper and lower side is respectively arranged with upper limit position block 726, lower position block 727, to limit the distance that upright column sliding platform 73 slides, described upright column sliding platform 73 upper and lower side is respectively arranged with and upper limit position block 726, the upper buffer stopper 732 of lower position block 727 correspondence, lower buffer stopper 733, to slow down the impact of limited block, upright column sliding platform 73 also can be arranged and upper limit position block 726, the travel switch of lower position block 727 correspondence, with the sliding distance coordinating control system to control upright column sliding platform 73, certainly described travel switch also can arrange with on column 72, be not described further at this.
The present invention adopts the mechanism of single column, effectively can reduce the space shared by manipulator, and simplify frame for movement, reduce the cost manufactured, and by said structure, namely drive drive lead screw 75 to rotate by lead screw motor 74, coordinate feed screw nut 76, upright column sliding platform 73 can be driven to slide up and down along column 72, the driving force of screw rod transmission is high, precision is high, good stability, be conducive to improving the stability of single arm type spray coating mechanical hand entirety and the precision of spraying.
In the present invention, the transmission mechanism employing lead screw transmission mechanism of column agency 7 is the first embodiment of column agency 7, as shown in figure 11, in specific implementation process, the transmission mechanism of described column agency 7 also can adopt chain drive, this is the second embodiment, described drive lead screw 75 is connected with lead screw motor 74, described upright column sliding platform 73 is fixedly connected with feed screw nut 76, described chain drive comprises chain motor 74a, chain 75a and be separately positioned on the sprocket wheel 76a at column 72 two ends, described chain 75a winding is on two sprocket wheel 76a, described chain motor 74a is connected with a wherein sprocket wheel 76a, described upright column sliding platform 73 is fixed on chain 75a, other mechanisms and above-mentioned lead screw transmission mechanism similar, be not described further at this, the driving force of chain drive is high, precision is high, good stability, be conducive to improving the stability of single arm type spray coating mechanical hand entirety and the precision of spraying.
As shown in the figure, described transverse arm mechanism 6 is arranged on upright column sliding platform 73, it transverse arm slide unit 22 comprising transverse arm section bar 61, be arranged on the transverse arm belt drive unit on transverse arm section bar 61 and be slidably arranged on transverse arm section bar 61, described transverse arm slide unit 22 is connected with transverse arm belt drive unit and can drives transverse translation by transverse arm belt drive unit.
As shown in the figure, described transverse arm belt drive unit belt motor 62, drive pulley 63, driven pulley 64, belt 65 and be arranged on the belt tensioning mechanism 90 at driven pulley 64 place, microscler cavity is provided with in transverse arm section bar 61, described drive pulley 63 is connected with the conveying axis of belt motor 62 and rotates and is arranged at transverse arm section bar 61 one end, described driven pulley 64 rotates and is provided with Pulley shaft 641, described transverse arm section bar 61 other end both sides are provided with the elongate slots 611 can inserted for Pulley shaft 641, described driven pulley 64 can reciprocatingly slide along elongate slots 611, described belt tensioning mechanism 90 comprises two adjusting bolts 642, described Pulley shaft 641 two ends offer the screwed hole corresponding with adjusting bolt 642 respectively, described adjusting bolt 642 screws in described screwed hole, and top, described adjusting bolt 642 one end is pressed on transverse arm section bar 61.
In the present embodiment, described belt 65 to be set on drive pulley 63 and driven pulley 64 and described belt 65 is provided with transverse arm slide unit 22, described transverse arm slide unit 22 bottom is provided with slide block 653, described transverse arm section bar 61 internal fixtion is provided with a slide rail 652 coordinated with slide block 653, and top, described adjusting bolt 642 end is pressed on slide rail 652.
Described transverse arm section bar 61 is provided with the cover plate of cap seal belt mechanism, when needing the tensile force adjusting belt 65, remove the cover plate of end, and inwardly rotate two adjusting bolts 642, can outwards eject driven pulley 64, the distance between drive pulley 63 and driven pulley 64 can be increased, increase the tensile force of belt 65, make belt 65 tensioning, ensure that the precision of transverse arm slide unit 22 movement, thus ensure that the deposition accuracies of spray coating mechanical hand, and fast easy to adjust.
As preferably, as shown in the figure, be also configured with catch 612 outside described elongate slots 611, described catch 612 is fixedly installed to Pulley shaft 641 end, and to prevent Pulley shaft 641 from sliding axially, preventer skids off inefficacy.
As shown in the figure, described Telescopic boom mechanism 3 comprises telescopic arm section bar 31, be arranged on the telescopic arm belt drive unit on telescopic arm section bar 31, and the telescopic arm slide unit 32 be slidably arranged on telescopic arm section bar 31, described telescopic arm slide unit 32 is connected with telescopic arm belt drive unit and can drives longitudinal translation by telescopic arm belt drive unit, described telescopic arm slide unit 32 is fixedly connected with transverse arm slide unit 22, belt tensioning mechanism 91 is configured with in described telescopic arm belt drive unit, in the present embodiment, the structural principle of telescopic arm belt drive unit and belt tensioning mechanism 91 and the similar of transverse arm mechanism 6, be not described further at this.
As shown in the figure, described spray gun mechanism 5 is arranged and Telescopic boom mechanism 3 end, and it comprises fixed arm 51, cursor 52, spray gun 53.
As shown in the figure, described fixed arm 51 comprises fixed arm motor 512 and housing 511, described fixed arm motor 512 is fixedly installed in described housing 511, the output shaft of described fixed arm motor 512 is connected with a rotating shaft 513 by a fixed arm decelerator 514, and the length direction of described rotating shaft 513 and fixed arm 51 roughly in the same way and extend to outside fixed arm 51.
As shown in the figure, described cursor 52 comprises a rotating turret 521, cursor motor 522 and mounts cover the outer cover 529 on rotating turret 521, described rotating turret 521 is fixed in rotating shaft 513, described cursor motor 522 is fixed on rotating turret 521, described cursor 52 side is provided with a spray gun rotating shaft 523, the axis of described spray gun rotating shaft 523 is mutually vertical with the length direction of cursor 52, and described cursor motor 522 is connected with spray gun rotating shaft 523 by a transmission mechanism.
As shown in the figure, as preferably, described transmission mechanism comprises two angular wheels cooperatively interacted, be respectively initiatively angular wheel 524 and driven angular wheel 525, described cursor motor 522 is connected with active angular wheel 524 by a cursor decelerator 526, described driven angular wheel 525 is connected with spray gun rotating shaft 523, and described spray gun 53 is arranged in spray gun rotating shaft 523 by a gun 531, facilitates the replacing of spray gun 53 to safeguard.
The present invention is by above-mentioned structure, two rotating shaft actions of spray gun can be realized, and two rotating shafts are vertically mutual or be mutually angle, spraying flexibility is high, when coordinating the manipulator of three axles or four axles and corresponding control system to use, make spray gun can carry out spraying operation to the workpiece of various abnormity, and spraying effect is good.
As preferably, described rotating shaft 513 is provided with rotating shaft inductive disks 515, described fixed arm 51 is provided with the rotating shaft correlation inductor 516 that also can respond to rotating shaft inductive disks 515 rotary state corresponding to rotating shaft inductive disks 515; Described spray gun rotating shaft 523 is provided with a spray gun and rotates inductive disks 526, described cursor 52 is provided with one to rotate spray gun corresponding to inductive disks 526 with this spray gun and rotate correlation inductor 527, rotating correlation inductor 527 by above-mentioned rotating shaft correlation inductor 516, spray gun can the rotary state of perception two rotating shaft, facilitates the rotation of control system countershaft 513 and spray gun rotating shaft 523 to control.
Above better enforcement of the present invention is illustrated; certainly; the present invention can also adopt form different from the embodiment described above; the equivalent conversion that those of ordinary skill in the art do under the prerequisite without prejudice to spirit of the present invention or change accordingly, all should belong in protection scope of the present invention.
Claims (10)
1. a single arm robot, is characterized in that: comprising:
Column agency (7), described column agency (7) comprises base (71), the column (72) be arranged on base (71), be slidably arranged in the upright column sliding platform (73) on column (72) and can drive the transmission mechanism of upright column sliding platform (73) lifting carriage;
Transverse arm mechanism (6), described transverse arm mechanism (6) is arranged on upright column sliding platform (73), it comprises transverse arm section bar (61), is arranged on the transverse arm belt drive unit on transverse arm section bar (61) and is slidably arranged in the transverse arm slide unit (22) on transverse arm section bar (61), and described transverse arm slide unit (22) is connected with transverse arm belt drive unit and can drives transverse translation by transverse arm belt drive unit;
Telescopic boom mechanism (3), described Telescopic boom mechanism (3) comprises telescopic arm section bar (31), is arranged on the telescopic arm belt drive unit on telescopic arm section bar (31) and is slidably arranged in the telescopic arm slide unit (32) on telescopic arm section bar (31), described telescopic arm slide unit (32) is connected with telescopic arm belt drive unit and can drives longitudinal translation by telescopic arm belt drive unit, and described telescopic arm slide unit (32) is fixedly connected with transverse arm slide unit (22);
Spray gun mechanism (5), described spray gun mechanism (5) is arranged and Telescopic boom mechanism (3) end.
2. a kind of single arm robot according to claim 1, it is characterized in that: the transmission mechanism of described column agency (7) is a lead screw transmission mechanism, the drive lead screw (75) that described lead screw transmission mechanism comprises lead screw motor (74), arrange along column (72) length direction and the feed screw nut (76) that is arranged on drive lead screw (75), described drive lead screw (75) is connected with lead screw motor (74), and described upright column sliding platform (73) is fixedly connected with feed screw nut (76).
3. a kind of single arm robot according to claim 2, it is characterized in that: described upright column sliding platform (73) one end is provided with a slider bar (731) be slidably located on column (72), described column (72) front end face is provided with fromer rail group (721), described slider bar (731) inner side is configured with the front-slider group (722) corresponding with fromer rail group (721), described column (72) rear end face is provided with rear rail group (723), described slider bar (731) inner side is configured with the rear slider group (724) corresponding with rear rail group (723).
4. a kind of single arm robot according to claim 3, is characterized in that: described slider bar (731) upper and lower side is respectively arranged with the catch (725) corresponding with fromer rail group (721), rear rail group (723).
5. a kind of single arm robot according to claim 2, it is characterized in that: described column (72) upper and lower side is respectively arranged with upper limit position block (726), lower position block (727), described upright column sliding platform (73) upper and lower side is respectively arranged with and upper limit position block (726), upper buffer stopper (732), lower buffer stopper (733) that lower position block (727) is corresponding.
6. a kind of single arm robot according to claim 1, it is characterized in that: the transmission mechanism of described column agency (7) is a chain drive, described chain drive comprises chain motor (74a), chain (75a) and is separately positioned on the sprocket wheel (76a) at column (72) two ends, described chain (75a) winding is on two sprocket wheels (76a), described chain motor (74a) is connected with a wherein sprocket wheel (76a), and described upright column sliding platform (73) is fixed on chain (75a).
7. a kind of single arm robot according to claim 1, is characterized in that: described transverse arm belt drive unit and telescopic arm belt drive unit are configured with belt tension mechanism.
8. a kind of single arm robot according to claim 1, it is characterized in that: described spray gun mechanism (5) comprises fixed arm (51), cursor (52), spray gun (53), described fixed arm (51) comprises fixed arm motor (512), the output shaft of described fixed arm motor (512) is connected with a rotating shaft (513), the length direction of described rotating shaft (513) and fixed arm (51) roughly in the same way and extend to fixed arm (51) outward, described cursor (52) is fixed in described rotating shaft (513), a cursor motor (522) is provided with in described cursor (52), described cursor (52) side is provided with a spray gun rotating shaft (523), the axis of described spray gun rotating shaft (523) and the length direction of cursor (52) are mutually angle, described cursor motor (522) is connected with spray gun rotating shaft (523) by a transmission mechanism, described spray gun (53) is arranged in spray gun rotating shaft (523).
9. a kind of single arm robot according to claim 8, it is characterized in that: described fixed arm (51) also comprises a housing (511), described fixed arm motor (512) is fixedly installed in described housing (511), described fixed arm motor (512) is connected with rotating shaft (513) afterwards by a fixed arm decelerator (514), described rotating shaft (513) is provided with rotating shaft inductive disks (515), described fixed arm (51) is provided with the rotating shaft correlation inductor (516) that also can respond to rotating shaft inductive disks (515) rotary state corresponding to rotating shaft inductive disks (515).
10. a kind of single arm robot according to claim 8, it is characterized in that: described cursor (52) comprises a rotating turret (521), described rotating turret (521) is fixed in rotating shaft (513), described cursor motor (522) is fixed on rotating turret (521), described cursor (52) also comprises the outer cover (529) mounted cover on rotating turret (521), described spray gun rotating shaft (523) is provided with a spray gun and rotates inductive disks (526), described cursor (52) is provided with one to rotate spray gun corresponding to inductive disks (526) with this spray gun and rotate correlation inductor (527), the axis of described spray gun rotating shaft (523) is mutually vertical with the length direction of cursor (52), described transmission mechanism comprises two angular wheels cooperatively interacted, be respectively initiatively angular wheel (524) and driven angular wheel (525), described cursor motor (522) is connected with active angular wheel (524) by a cursor decelerator (526), described driven angular wheel (525) is connected with spray gun rotating shaft (523).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510542123.2A CN105127990A (en) | 2015-08-27 | 2015-08-27 | Single-arm mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510542123.2A CN105127990A (en) | 2015-08-27 | 2015-08-27 | Single-arm mechanical hand |
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| CN105127990A true CN105127990A (en) | 2015-12-09 |
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| CN201510542123.2A Pending CN105127990A (en) | 2015-08-27 | 2015-08-27 | Single-arm mechanical hand |
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| CN105381913A (en) * | 2015-12-14 | 2016-03-09 | 东莞丰卓机电设备有限公司 | Multi-collet spraying manipulator for turret |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN105773592A (en) * | 2016-04-13 | 2016-07-20 | 杨杰 | Rotatable single-arm robot for medical aid |
| CN105797897A (en) * | 2016-05-10 | 2016-07-27 | 无为县宏喜体育用品有限公司 | Spiral type spraying device used for cylindrical copper part |
| CN106881709A (en) * | 2017-04-06 | 2017-06-23 | 贵州伊诺生物科技有限公司 | A kind of feeding mechanical hand for automatic production line |
| CN106925455A (en) * | 2017-04-06 | 2017-07-07 | 天长市金陵电子有限责任公司 | A kind of lift electrostatic powder coating machine |
| CN107053205A (en) * | 2017-04-25 | 2017-08-18 | 佛山市奥通工业科技有限公司 | A kind of spray robot |
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| CN105381913A (en) * | 2015-12-14 | 2016-03-09 | 东莞丰卓机电设备有限公司 | Multi-collet spraying manipulator for turret |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN105437204B (en) * | 2015-12-17 | 2017-09-05 | 佛山市新鹏机器人技术有限公司 | A kind of AGV dollies for loading manipulator |
| CN105773592A (en) * | 2016-04-13 | 2016-07-20 | 杨杰 | Rotatable single-arm robot for medical aid |
| CN105797897B (en) * | 2016-05-10 | 2018-05-01 | 无为县宏喜体育用品有限公司 | A kind of spiral spray equipment for cylindric copper part |
| CN105797897A (en) * | 2016-05-10 | 2016-07-27 | 无为县宏喜体育用品有限公司 | Spiral type spraying device used for cylindrical copper part |
| CN106881709A (en) * | 2017-04-06 | 2017-06-23 | 贵州伊诺生物科技有限公司 | A kind of feeding mechanical hand for automatic production line |
| CN106925455A (en) * | 2017-04-06 | 2017-07-07 | 天长市金陵电子有限责任公司 | A kind of lift electrostatic powder coating machine |
| CN106881709B (en) * | 2017-04-06 | 2020-06-09 | 台州市永锦自动化设备有限公司 | Feeding manipulator for automatic production line |
| CN106925455B (en) * | 2017-04-06 | 2020-06-26 | 天长市金陵电子有限责任公司 | Lifting type electrostatic powder spraying machine |
| CN107053205A (en) * | 2017-04-25 | 2017-08-18 | 佛山市奥通工业科技有限公司 | A kind of spray robot |
| CN107127784A (en) * | 2017-07-03 | 2017-09-05 | 成都市新筑混凝土机械设备有限公司 | A kind of adjustable slide mechanism of the telescopic arm centering of holding spraying machine manipulator |
| CN107322578A (en) * | 2017-07-19 | 2017-11-07 | 重庆东茂科技有限公司 | Truss robot |
| CN107825426A (en) * | 2017-11-23 | 2018-03-23 | 纳博特南京科技有限公司 | A kind of motion control device for industrial robot based on machine vision |
| CN108438880A (en) * | 2018-04-27 | 2018-08-24 | 苏州阡晨金属包装设备有限公司 | A kind of pop can lid carrying system |
| CN108935404A (en) * | 2018-07-09 | 2018-12-07 | 黄超 | A kind of agricultural automatic drug spraying equipment in navel orange trees inside |
| CN109081102A (en) * | 2018-09-03 | 2018-12-25 | 昆山晨鼎嘉电子科技有限公司 | A kind of loading and unloading robot |
| CN111232584A (en) * | 2020-04-09 | 2020-06-05 | 山东腾阳智能装备有限公司 | High-precision single-arm coordinate robot and using method thereof |
| CN112588498A (en) * | 2020-12-03 | 2021-04-02 | 顺德职业技术学院 | High-efficient intelligent paint spraying apparatus is used to furniture |
| CN112588498B (en) * | 2020-12-03 | 2021-08-17 | 顺德职业技术学院 | High-efficient intelligent paint spraying apparatus is used to furniture |
| CN113828481A (en) * | 2021-10-19 | 2021-12-24 | 昆山阿普顿自动化系统有限公司 | Mechanism for automatically brushing lubricating oil |
| CN114226119A (en) * | 2021-12-23 | 2022-03-25 | 杭州樱多电器有限公司 | Equipment convenient for spraying anticorrosive paint |
| CN115318469A (en) * | 2022-08-29 | 2022-11-11 | 江西万橡家具集团有限公司 | Surface plastic spraying device for steel-wood furniture processing |
| CN116328995A (en) * | 2023-05-29 | 2023-06-27 | 常州市闳晖科技发展股份有限公司 | Five automatic flush coater |
| CN116328995B (en) * | 2023-05-29 | 2023-07-21 | 常州市闳晖科技发展股份有限公司 | Five automatic flush coater |
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