CN106824630B - It is a kind of for processing the glue spraying robot system and its glue spraying method of office chair - Google Patents
It is a kind of for processing the glue spraying robot system and its glue spraying method of office chair Download PDFInfo
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- CN106824630B CN106824630B CN201710034352.2A CN201710034352A CN106824630B CN 106824630 B CN106824630 B CN 106824630B CN 201710034352 A CN201710034352 A CN 201710034352A CN 106824630 B CN106824630 B CN 106824630B
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- glue spraying
- glue
- transmission line
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- volley
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
-
- 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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- 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
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
It is specially a kind of for processing the glue spraying robot system and its glue spraying method of office chair the present invention relates to chair processing and manufacturing technology.It is a kind of for processing the glue spraying robot system of office chair, including several glue-spraying mechanisms being sequentially connected end to end, each glue-spraying mechanism includes rack, the transmitting device being arranged on the rack, visual processes room, glue-spraying device and control device；The transmitting device includes the sequentially connected transferring roller component of several groups head and the tail and the pallet that transferring roller component upper surface is arranged in.The present invention can carry out accurately and accurately glue spraying to the accessory of office chair, have high production efficiency, save glue, easy to operate, and defect rate is low, and quality is stablized, securely and reliably, the advantages that high degree of automation.
Description
Technical field
It is specially a kind of for processing the glue spraying robot of office chair the present invention relates to chair processing and manufacturing technology
System and its glue spraying method.
Background technique
Office chair needs to carry out glue spraying processing to sponge and plank, then by sponge and wood during processing and manufacturing
Plate bonding.Traditional glue spraying process is all realized using manual operation, hand-manipulated although the operation is easier
Not only at high cost, low efficiency is also uneven to the glue spraying of sponge or board surface, wastes glue, the quality of product can not
It keeps stablizing, and importantly, the working environment of sprayed glues drastically influences the health of staff, is a kind of
The working environment of high-risk.
In order to solve the industry during production office chair, the above problem which encounters, this field
Technical staff have developed the rubber spray production systems of a variety of office automatic chairs, have to industry industrial upgrading positive
Effect, but the automatization level of most of production systems is not high, cannot really realize that automatic intelligent produces, and glue spraying effect
It is not very good.
Summary of the invention
In view of the problems of the existing technology the present invention, proposes a kind of for processing the system, glue spraying robot of office chair
System and its glue spraying method can carry out accurately and accurately glue spraying to the accessory of office chair, have high production efficiency, save glue
Water, easy to operate, defect rate is low, and quality is stablized, securely and reliably, the advantages that high degree of automation.
The technical solution adopted by the present invention to solve the technical problems is: a kind of for processing the glue spraying machine of office chair
People's system, including several glue-spraying mechanisms being sequentially connected end to end, each glue-spraying mechanism includes rack, is arranged on the rack
Transmitting device, visual processes room, glue-spraying device and control device；
The transmitting device includes the sequentially connected transferring roller component of several groups head and the tail and is arranged in the transferring roller
The pallet of component upper surface；
The visual processes room includes being socketed with the transferring roller component, the part transferring roller component being made to be located at it
Internal hollow out rectangle mounting rack, is arranged in the industrial camera on the mounting rack, the LED light source on the mounting rack is arranged in
With the shading sheet for closing the mounting rack；
The glue-spraying device includes the high sensor of survey being arranged on the mounting rack, is symmetricly set on the mounting rack two
Side and the driving motor being electrically connected with the high sensor of survey, the glue spraying spiral row that both ends are connect with the driving motor respectively
The hot melt adhesive machine of the rack side, and the sebific duct of the connection hot melt adhesive machine and the glue spraying spiral volley of rifle fire is arranged in rifle；
The control device includes control cabinet, and the liquid for being arranged on the mounting rack, being electrically connected with the control cabinet
Crystalline substance screen, emergency switch and sensor；Industrial control computer, main control board and power supply are equipped with inside the control cabinet；It is described
Industrial control computer and the industrial camera and the liquid crystal display are electrically connected.
It is mounted on the visual processes room on transferring roller component, detects the work to be sprayed that transferring roller component is sent
This information is passed to industrial control computer by outer dimension, position, the posture of part, and industrial personal computer is to workpiece modeling, correlation data
The workpiece data prestored in library judges workpiece model, position, posture, track to be sprayed, generates the start and stop timing of the volley of rifle fire, control
Volley of rifle fire sports glue-spraying processed, workpiece data can be worker and be input in industrial control computer on liquid crystal display by hand.
Preferably, the transferring roller component includes the upper roller transmission line being overlapped mutually up and down and bottom roll transmission
Respectively by two-way motor by chain drive, the upper roller is passed for line, the upper roller transmission line and the bottom roll transmission line
The transmission direction of defeated line and the bottom roll transmission line is opposite.
Preferably, the upper roller transmission line includes several steel rollers, the diameter of the roller is 55 to 65 millimeters；
The distance between two described drum central axis are 122 to 132 millimeters；Height of the roller upper surface apart from ground is 75 to 81
Centimetre；The face width of the upper roller transmission line is 100 to 120 centimetres, the face length of the upper roller transmission line
It is 2.5 to 3.5 meters.
Preferably, being divided into 60 to 100 millimeters between the upper roller transmission line and the bottom roll transmission line.
Preferably, the pallet includes wooden backplane level and polytetrafluoroethylplastic plastic top plate layer, the backplane level and institute
Top plate layer is stated to fix by rivet.
Preferably, the pallet has a finger-hole in its four avris thickness directions.
Preferably, the glue spraying spiral volley of rifle fire includes several the single rifle being arranged at equal intervals, the glue spraying spiral volley of rifle fire
Interval between middle list rifle quantity and two single rifles need to be equipped with the side length of the pallet.
Preferably, the glue spraying spiral volley of rifle fire includes the volley of rifle fire of several identical row's spacing.
Preferably, the driving motor includes screw rod, the glue spraying spiral volley of rifle fire further includes connecting with the screw rod
Crane.
A kind of glue spraying method using above-mentioned glue spraying robot system, includes the following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display, make data storage to industry
It controls on computer；
2) workpiece to glue spraying is placed on pallet, is sent to pallet with constant speed by transferring roller component
In visual processes room；
3) workpiece is shot by industrial camera, the outer dimension of workpiece, position, posture information is passed into Industry Control meter
Calculation machine, Industrial Control Computer is to workpiece modeling, and the workpiece data prestored in comparison database, judge the model of workpiece, position,
Posture, track to be sprayed, to generate the start and stop timing of each single rifle of the glue spraying spiral volley of rifle fire；
4) height of workpiece is detected by surveying high sensor, and sends altitude information to driving motor, driving motor tune
The height of the glue spraying spiral volley of rifle fire is saved, ordered pair workpiece carries out glue spraying when then passing through the single rifle start and stop set；
5) after the completion of glue spraying, transferring roller component continues for pallet to be sent to forward at next technique, and pallet is passed through
Transferring roller component returns to initial position.
The invention has the advantages that model, position, angle that 1. vision systems are capable of automatic identification workpiece are sprayed to control
The glue spiral volley of rifle fire start-stop time, by preset glue spraying track glue spraying, high degree of automation；
2. liquid crystal touch screen human-computer interaction interface, when the new workpiece of every increase, by worker on touch LCD screen simply
Scribble can be achieved with glue spraying path and workpiece memory function, easy to operate without highly difficult operations such as cartridge paper or programmings；
3. going out shape and the position of workpiece to be painted by image recognition, the sizing material waste of broad irrigation formula glue spraying is avoided,
It realizes and presses the accurate glue spraying of desired guiding trajectory；
4. eliminating the movement of mechanical arm type by the way of the glue spraying volley of rifle fire, mechanism is simple and reliable, relatively single rifle, spray
Glue speed improves nearly 20 times；
5. 175 DEG C of hot melt adhesive is avoided to scald worker, industrial accident is reduced；
It is rear when pasting sponge 6. avoid single worker elder generation glue spraying, switch time-consuming between two-step, causes hot melt adhesive cooling not
It is viscous, unstable quality；
7. the glue spraying track consistency of workpiece of the same race is good, relatively artificial more arbitrarily glue spraying track is more reasonable, adhesion strength
It is stronger, also more save glue, it is contemplated that save 5-15% glue quantity.
Detailed description of the invention
Fig. 1 is that the present invention is a kind of for processing the structural schematic diagram of the glue spraying robot system of office chair；
Fig. 2 is the structural schematic diagram of transmitting device in Fig. 1；
Fig. 3 is the structural schematic diagram in visual processes room in Fig. 1；
Fig. 4 is the structural schematic diagram of the glue spraying spiral volley of rifle fire in Fig. 1；
Wherein, 1, rack, 21, transferring roller component, 22, pallet, 31, mounting rack, 32, industrial camera, 33, black-out cloth
Cover, 41, the high sensor of survey, 42, driving motor, 43, the glue spraying spiral volley of rifle fire, 44, hot melt adhesive machine, 51, control cabinet, 52, liquid crystal display.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figures 1 to 4, a kind of for processing the glue spraying robot system of office chair, including several successively head and the tail
The glue-spraying mechanism of connection, each glue-spraying mechanism include rack 1, are arranged in the transmitting device in rack 1, visual processes room,
Glue-spraying device and control device.According to production-scale demand, one glue-spraying mechanism or the multiple glue sprayers of setting can be only set
Structure.
The transmitting device includes that the sequentially connected transferring roller component 21 of several groups head and the tail and setting are rolled in the transmission
The pallet 22 of 21 upper surface of cartridge module.The transferring roller component 21 includes the upper roller transmission line and lower rolling being overlapped mutually up and down
Cylinder transmission line, the upper roller transmission line and the bottom roll transmission line respectively by two-way motor by chain drive, it is described on
Roller transmission line and the transmission direction of the bottom roll transmission line are opposite.Upper roller transmission line is used for the work that will be placed on pallet
Part transports visual processes room and carries out glue spraying and then be delivered to the next step again, and bottom roll transmission line is used for will be after the completion of glue spraying
Pallet 22 return to initial position to place workpiece again.
The upper roller transmission line includes several steel rollers, and the diameter of the roller is 55 to 65 millimeters, and optimal is 60
Millimeter, the distance between two described drum central axis be 122 to 132 millimeters, optimal is 127 millimeters, the roller upper surface away from
Height from the ground is 75 to 81 centimetres, and optimal is 78 millimeters, and the face width of the upper roller transmission line is 100 to 120
Centimetre, optimal is 110 centimetres, and the face length of the upper roller transmission line is 2.5 to 3.5 meters, and optimal is 3 meters, the structure
Under upper roller transmission line transmission rate it is best and cost is minimum.The other materials of upper roller transmission line is aluminum profile, appearance beauty
It sees, is not easy to get rusty.
60 to 100 millimeters are divided between the upper roller transmission line and the bottom roll transmission line, optimal is 80 millis
Rice keeps the interval of upper roller transmission line and bottom roll transmission line minimum, reduces in the case where that can be easy access pallet 22
The manufacturing cost of transmitting device.
The pallet 22 includes wooden backplane level and polytetrafluoroethylplastic plastic top plate layer, the backplane level and the top plate layer
It is fixed by rivet.Pallet 22 be rectangular pallet, each 1 meter of length and width, about 16-18 millimeters of bottom plate thickness, about 1 millimeter of top plate thickness.
Compared to metal plate or plastic plate, plank light weight can reduce the weight of pallet 22, reduce labor intensity, plank and steel rollers
Frictional force it is suitable, avoid pallet from skidding in transmission line, avoid glue spraying position inaccuracy, plank makes an uproar when dragging on table top
Signal to noise ratio metal plate is small.Polytetrafluoroethylene plastic plate has not viscous characteristic, can prevent hot melt adhesive from cementing, when accumulating more hot melt adhesive
It can manually be wiped with rag or sponge.The pallet 22 has a finger-hole in its four avris thickness directions, facilitates work
Finger hooks this finger-hole, flexibly drags pallet 22.
The visual processes room includes being socketed with the transferring roller component 21, making the part transferring roller component 21
The industrial camera 32 on the mounting rack 31 is arranged in the hollow out rectangle mounting rack 31 in portion in the inner, is arranged in the mounting rack
The shading sheet 33 of LED light source and the closing mounting rack 31 on 31.This visual processes room and transmitting device are respectively independent, depending on
Feel processing room can on the assembly line of transmitting device any position of sound production.Industrial camera 32 is for shooting workpiece figure on pallet 22
Picture, special LED light source are to highlight edge of work feature, and LED light source and shading sheet 33 cooperate, and provide one surely to camera
Fixed brightness of illumination prevents the influence to Visual Stability such as sunlight, light.
The glue-spraying device includes the high sensor 41 of survey being arranged on the mounting rack 31, is symmetricly set on the installation
31 two sides of frame and the driving motor 42 being electrically connected with the high sensor 41 of survey, both ends are connect with the driving motor 42 respectively
The glue spraying spiral volley of rifle fire 43, the hot melt adhesive machine 44 of 1 side of rack is set, and the connection hot melt adhesive machine 44 and described
The sebific duct of the glue spraying spiral volley of rifle fire 43.The glue spraying spiral volley of rifle fire 43 includes several the single rifle being arranged at equal intervals, the glue spraying spiral shell
Interval in the rotation volley of rifle fire 43 between single rifle quantity and two single rifles need to be equipped with the side length of the pallet 22.Glue spraying spiral row
Rifle 43 is that 20 spray guns are in line, and every glue spraying diameter adjustment rifle is 5 centimetres, and 20 are equal to 100 centimetres multiplied by 5 centimetres,
Equal to 1 meter of pallet width.The glue spraying spiral volley of rifle fire 43 be also possible to include several identical row's spacing the volley of rifle fire, between two volley of rifle fires
Between be divided into 2.5 centimetres, further improve glue spraying efficiency.Teflon is stained on the roller of 43 lower section of the glue spraying spiral volley of rifle fire
Adhesive tape is coated with release agent, non-sticking hot melt adhesive on adhesive tape.
The driving motor 42 is ball screw stepper motor, including screw rod moving up and down, the glue spraying spiral row
Rifle 43 further includes the crane connecting with the screw rod, and screw rod, which moves up and down, to be driven crane to rob together with glue spraying to move up and down.By
It is different in the height of different workpieces, it surveys after high sensor measures height, control driving motor 42 drives 43 liters of the glue spraying spiral volley of rifle fire
Drop, automatic controlled height do not need artificial interference.It puts workpiece to be not required to deliberately position, but must not be overlapped, pallet must not be exceeded.
The control device includes control cabinet 51, and is arranged on the mounting rack 31, electrically connects with the control cabinet 51
Liquid crystal display 52, emergency switch and the sensor connect.Inside the control cabinet 51 be equipped with industrial control computer, main control board and
Power supply, the industrial control computer and the industrial camera 32 and the liquid crystal display 52 are electrically connected.Operator can be
It is scribbled on liquid crystal display 52 by finger and inputs the data of workpiece, be stored in the data in industrial control computer.Industrial camera
Outer dimension, position, the posture of 32 shooting workpiece to be sprayed, pass to industrial control computer, industrial control computer for this information
For machine to workpiece modeling, the workpiece data prestored in comparison database judges workpiece model, position, posture, track to be sprayed,
The start and stop timing for generating each single rifle of the glue spraying spiral volley of rifle fire 43, controls 43 sports glue-spraying of the glue spraying spiral volley of rifle fire.
The glue spraying method of office chair accessory, includes the following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display 52, make data storage to work
Industry controls on computer；
2) workpiece to glue spraying is placed on pallet 22, by transferring roller component 21 by pallet 22 with constant speed
It is sent in visual processes room；
3) workpiece is shot by industrial camera 32, the outer dimension of workpiece, position, posture information is passed into Industry Control
Computer, Industrial Control Computer is to workpiece modeling, and the workpiece data prestored in comparison database, judges model, the position of workpiece
It sets, posture, track to be sprayed, to generate the start and stop timing of each single rifle of the glue spraying spiral volley of rifle fire 43；
4) height of workpiece is detected by surveying high sensor 41, and sends altitude information to driving motor 42, driving electricity
Machine 42 adjusts the height of the glue spraying spiral volley of rifle fire 43, and ordered pair workpiece carries out glue spraying when then passing through the single rifle start and stop set；
5) after the completion of glue spraying, transferring roller component 21 continues for pallet 22 to be sent to forward at next technique, and by pallet
22 return to initial position by transferring roller component 21.
Embodiment described above is only that preferred embodiments of the present invention will be described, not to design of the invention
It is defined with range.Without departing from the design concept of the invention, ordinary people in the field is to technical side of the invention
The all variations and modifications that case is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
Through being all described in the claims.
Claims (1)
1. a kind of for processing the glue spraying method of the glue spraying robot system of office chair, it is characterised in that: include the following steps,
1) data that staff needs the workpiece of glue spraying by pointing at input on liquid crystal display (52), make data storage to industry
It controls on computer；
2) workpiece to glue spraying is placed on pallet (22), by transferring roller component (21) by pallet (22) with constant speed
Degree is sent in visual processes room；
3) workpiece is shot by industrial camera (32), the outer dimension of workpiece, position, posture information is passed into Industry Control meter
Calculation machine, Industrial Control Computer is to workpiece modeling, and the workpiece data prestored in comparison database, judge the model of workpiece, position,
Posture, track to be sprayed, to generate the start and stop timing of each single rifle of the glue spraying spiral volley of rifle fire (43)；
4) height of workpiece is detected by surveying high sensor (41), and altitude information is sent to driving motor (42), driving electricity
Machine (42) adjusts the height of the glue spraying spiral volley of rifle fire (43), and ordered pair workpiece carries out glue spraying when then passing through the single rifle start and stop set；
5) after the completion of glue spraying, transferring roller component (21) continues for pallet (22) to be sent to forward at next technique, and by pallet
(22) initial position is returned to by transferring roller component (21)；
Wherein glue sprayer device people's system, including several glue-spraying mechanisms being sequentially connected end to end, each glue-spraying mechanism packet
Including rack (1), the transmitting device being arranged on rack (1), visual processes room, glue-spraying device and control device；
The transmitting device includes the sequentially connected transferring roller component (21) of several groups head and the tail and is arranged in the transferring roller
The pallet (22) of component (21) upper surface；
The visual processes room includes being socketed with the transferring roller component (21), making part transferring roller component (21) position
The hollow out rectangle mounting rack (31) in portion in the inner, the industrial camera (32) being arranged on the mounting rack (31) are arranged described
The shading sheet (33) of LED light source and the closing mounting rack (31) on mounting rack (31)；
The glue-spraying device includes the high sensor of survey (41) being arranged on the mounting rack (31), is symmetricly set on the installation
Frame (31) two sides and with the driving motor (42) surveying high sensor (41) and being electrically connected, both ends respectively with the driving motor
(42) hot melt adhesive machine (44) in the rack (1) side, and the connection heat is arranged in the glue spraying spiral volley of rifle fire (43) connected
The sebific duct of glue-smelting machine (44) and the glue spraying spiral volley of rifle fire (43)；The driving motor (42) includes screw rod, the glue spraying spiral
The volley of rifle fire (43) further includes the crane connecting with the screw rod；
The control device includes control cabinet (51), and is arranged on the mounting rack (31), is electrical with the control cabinet (51)
Liquid crystal display (52), emergency switch and the sensor of connection；Industrial control computer, master control electricity are equipped with inside the control cabinet (51)
Road plate and power supply；The industrial control computer and the industrial camera (32) and the liquid crystal display (52) are electrically connected；
The transferring roller component (21) includes the upper roller transmission line being overlapped mutually up and down and bottom roll transmission line, the upper rolling
Cylinder transmission line and the bottom roll transmission line respectively by two-way motor by chain drive, the upper roller transmission line and it is described under
The transmission direction of roller transmission line is opposite；The upper roller transmission line includes several steel rollers, and the diameter of the roller is 55
To 65 millimeters；The distance between two described drum central axis are 122 to 132 millimeters；Height of the roller upper surface apart from ground
Degree is 75 to 81 centimetres；The face width of the upper roller transmission line is 100 to 120 centimetres, the upper roller transmission line
Face length is 2.5 to 3.5 meters；60 to 100 are divided between the upper roller transmission line and the bottom roll transmission line
Millimeter；
The pallet (22) includes wooden backplane level and polytetrafluoroethylplastic plastic top plate layer, and the backplane level and the top plate layer are logical
Rivet is crossed to fix；The pallet (22) has a finger-hole in its four avris thickness directions；
The glue spraying spiral volley of rifle fire (43) includes several the single rifle being arranged at equal intervals, single rifle in the glue spraying spiral volley of rifle fire (43)
Interval between quantity and two single rifles need to be equipped with the side length of the pallet (22)；The glue spraying spiral volley of rifle fire (43) packet
Include the volley of rifle fire of several identical row's spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034352.2A CN106824630B (en) | 2017-01-18 | 2017-01-18 | It is a kind of for processing the glue spraying robot system and its glue spraying method of office chair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034352.2A CN106824630B (en) | 2017-01-18 | 2017-01-18 | It is a kind of for processing the glue spraying robot system and its glue spraying method of office chair |
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| CN106824630A CN106824630A (en) | 2017-06-13 |
| CN106824630B true CN106824630B (en) | 2019-03-01 |
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| CN109127279B (en) * | 2017-06-28 | 2020-08-28 | 大族激光科技产业集团股份有限公司 | Glue filling method, equipment and storage medium |
| CN107179070B (en) * | 2017-07-20 | 2023-08-29 | 东莞市具力自动化设备科技有限公司 | Glue spraying machine with vision system |
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| CN110860415A (en) * | 2019-12-17 | 2020-03-06 | 安徽普尔德无纺科技有限公司 | Glue spraying mechanism for medical composite sheet laying production equipment |
| CN110976143A (en) * | 2019-12-19 | 2020-04-10 | 孟海洋 | Automatic change mechanical paint spraying apparatus |
| CN111672710B (en) * | 2020-05-22 | 2021-06-11 | 绍兴迪艾仕机械设计有限公司 | Wood chair mounting hole daubing equipment |
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| CN201625616U (en) * | 2010-03-01 | 2010-11-10 | 王燕 | Three-prevention paint coating machine |
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| CN204953190U (en) * | 2015-09-09 | 2016-01-13 | 福州永越自动化工程有限公司 | Automatic identification system of spraying work piece in spraying production line |
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| CN206393650U (en) * | 2017-01-18 | 2017-08-11 | 安吉八塔机器人有限公司 | A kind of glue spraying robot system for being used to process office chair |
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Denomination of invention: Glue spraying robot system for processing office chair and glue spraying method thereof Effective date of registration: 20220128 Granted publication date: 20190301 Pledgee: Zhejiang Anji Rural Commercial Bank Co.,Ltd. Dipu sub branch Pledgor: ANJI BATA ROBOT Co.,Ltd. Registration number: Y2022330000181 |