CN107051799A - A kind of spray robot - Google Patents

A kind of spray robot Download PDF

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Publication number
CN107051799A
CN107051799A CN201710385925.6A CN201710385925A CN107051799A CN 107051799 A CN107051799 A CN 107051799A CN 201710385925 A CN201710385925 A CN 201710385925A CN 107051799 A CN107051799 A CN 107051799A
Authority
CN
China
Prior art keywords
spray
mechanical arm
connection
air inlet
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710385925.6A
Other languages
Chinese (zh)
Inventor
沙德富
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Auto Repair Auto Technology Co Ltd
Original Assignee
Auto Repair Auto Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Auto Repair Auto Technology Co Ltd filed Critical Auto Repair Auto Technology Co Ltd
Priority to CN201710385925.6A priority Critical patent/CN107051799A/en
Publication of CN107051799A publication Critical patent/CN107051799A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/80Arrangements in which the spray area is not enclosed, e.g. spray tables

Abstract

The invention discloses a kind of spray robot, including turntable, rotating base is housed on turntable, first mechanical arm is housed on rotating base, second mechanical arm is housed in first mechanical arm, second mechanical arm front end is equipped with rotation mechanical arm, rotate mechanical arm front end and spray equipment is housed, spray equipment includes gas hood, gas hood is divided into the spray booth and dirt pocket on top by dividing plate, the spray booth is built with spray gun, spray gun connects air inlet pipe, the dirt pocket is built with jet dust removal head, transfer air chamber is connected by gas outlet on the gas hood of dirt pocket lower end, transfer air chamber connects dust-removing recovery device, structure of the present invention is novel, it is stable, it can realize that automatic spraying is processed, it is vdiverse in function, meet present use requirement.

Description

A kind of spray robot
Technical field
The present invention relates to a kind of robot, specifically a kind of spray robot.
Background technology
Now, the material such as paint, coating is sprayed on workpiece after being atomized using flusher, however, half Spray coating liquor above diffuses in atmosphere, causes a large amount of wastes of resource, very big influence is also caused on operating environment, can be caused Environmental pollution and working environment it is severe.
Water curtain type paint mist purifying means are generally used in the prior art, and water curtain type paint mist purifying means pass through water using water pump Pipe, water curtain plate and water spout formation injecting type overflow, and the water smoke of waterfall state is formed, make the coating cloud one produced in spraying process Colliding water smoke will be adsorbed with water, and punching to sump is accumulated, but useless paint is easily adhered and drawn on water pump, water pipe and water spout Rise and block, water curtain plate because deposition coating cloud can caused by current it is discontinuous, purification efficiency is low.
Now with the continuous progress of science and technology life, the continuous integrated and automation of industrialized production, present flush coater Device people is largely being risen, and spray robot is called paint-spray robot (spray painting robot), is to be sprayed automatically The industrial robot of other coating is painted or sprayed, is invented by Trallfa companies of Norway (being incorporated to ABB groups afterwards) within 1969.Spray painting Robot is mainly made up of robot body, computer and corresponding control system, and the paint-spray robot of hydraulic-driven also includes Hydraulic oil source, such as oil pump, fuel tank and motor.Use 5 or 6DOF articulated structure, arm has larger space more, And the track motion of complexity can be done, its wrist typically has 2~3 frees degree, can flexible motion.More advanced paint-spray robot wrist Portion uses flexible waist, can both be bent to all directions, and rotatably, and it acts the wrist of similar people, can conveniently by compared with Inside workpiece is stretched into small hole, sprays its inner surface.Paint-spray robot typically uses hydraulic-driven, with quick action, prevents The features such as quick-fried performance is good, can realize teaching by teach-by-doing teaching or point position registration.Paint-spray robot is widely used in automobile, instrument The technique productions such as table, electrical equipment, enamel department.
The major advantage (1) of spray robot is flexible big.Working range is significantly.(2) coating quality and materials'use are improved Rate.(3) easily operated and maintenance.Can off-line programing, greatly shorten the field adjustable time.(4) utilization rate of equipment and installations is high.Flush coater The utilization rate of device people is up to 90%-95%.
Present most spray robot structure is relatively simple, and function is single, it is impossible to meet present use requirement.
The content of the invention
It is an object of the invention to provide a kind of spray robot, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical scheme:
It is equipped with a kind of spray robot, including turntable, the turntable on rotating base, rotating base equipped with the first machinery Second mechanical arm is housed, second mechanical arm front end rotates mechanical arm front end and be equipped with equipped with mechanical arm is rotated in arm, first mechanical arm Spray equipment, spray equipment includes gas hood, and gas hood is divided into the spray booth and dirt pocket on top by dividing plate, and the spray booth is built-in There is a spray gun, spray gun connection air inlet pipe, the dirt pocket is built with jet dust removal head, by going out on the gas hood of dirt pocket lower end Gas port connects transfer air chamber, transfer air chamber connection dust-removing recovery device.
It is used as further scheme of the invention:The rotation mechanical arm connects spray painting by flexible tracheae and lower road Case, spray painting occurs case and is arranged in second mechanical arm, and case occurs for spray painting built with air pump.
It is used as further scheme of the invention:The rotation mechanical arm is hinged on second mechanical arm by control device for pivoting Head end.
It is used as further scheme of the invention:The dividing plate end, which is provided with spacing slide rail, spacing slide rail, is equipped with sliding sleeve, sliding Cover lower end and hairbrush is housed.
It is used as further scheme of the invention:The spray gun connects stable-pressure device, and stable-pressure device connects spray painting electrically-controlled valve, Electrically-controlled valve of painting connection air inlet pipe.
It is used as further scheme of the invention:The jet dust removal head connects air inlet pipe by dedusting electrically-controlled valve.
It is used as further scheme of the invention:The air inlet pipe connects air inlet pipe joint.
It is used as further scheme of the invention:The dust-removing recovery device outer end connects air-introduced machine.
Compared with prior art, the beneficial effects of the invention are as follows:Structure of the present invention is novel, stable, can realize certainly Dynamicization spray process, it is vdiverse in function, meet present use requirement.
Brief description of the drawings
Fig. 1 is the structural representation of spray robot.
Fig. 2 is the structural representation of spray equipment in spray robot.
In figure:1- turntables, 2- rotating bases, 3- first mechanical arms, 4- second mechanical arms, 5- spray paintings occur case, 6- and rotated Mechanical arm, 7- spray equipments, 8- dirt pockets, 9- jets dust removal head, 10- hairbrush, the spacing slide rails of 11-, 12- dividing plates, 13- sprayings Rifle, 14- spray booths, 15- gas hoods, 16- stable-pressure devices, 17- spray paintings electrically-controlled valve, 18- air inlet pipe, 19- air inlets pipe joint, 20- are removed Dirt electrically-controlled valve, 21- air-introduced machines, 22- dust-removing recovery devices, 23- transfers air chamber, 24- gas outlets.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
Refer in Fig. 1 and 2, the embodiment of the present invention, a kind of spray robot, including turntable 1, equipped with rotating on turntable 1 It is equipped with base 2, rotating base 2 in first mechanical arm 3, first mechanical arm 3 and second mechanical arm 4 is housed, the front end of second mechanical arm 4 Equipped with mechanical arm 6 is rotated, rotate mechanical arm 6 front end and spray equipment 7 be housed, spray equipment 7 includes gas hood 15, gas hood 15 by every 12 points of plate is the spray booth 14 and dirt pocket 8 on top, and spray booth 14 connects air inlet pipe 18 built with spray gun 13, spray gun 13, Dirt pocket 8 passes through gas outlet 24 built with jet dust removal head 9, on the gas hood 15 of the lower end of dirt pocket 8 and connects transfer air chamber 23, transfer Air chamber 23 connects dust-removing recovery device 22, rotates mechanical arm 6 and occurs case 5, spray painting hair by flexible tracheae and the connection spray painting of lower road Raw case 5 is arranged in second mechanical arm 4, and case 5 occurs for spray painting built with air pump, is rotated mechanical arm 6 and is cut with scissors by control device for pivoting The head end of second mechanical arm 4 is connected on, the end of dividing plate 12, which is provided with spacing slide rail 11, spacing slide rail 11, is equipped with sliding sleeve, sliding sleeve lower end dress Have a hairbrush 10, the connection stable-pressure device 16 of spray gun 13, the connection spray painting electrically-controlled valve 17 of stable-pressure device 16, spray painting electrically-controlled valve 17 connect into Tracheae 18, jet dust removal head 9 connects air inlet pipe 18, the connection air inlet of air inlet pipe 18 pipe joint 19, dedusting by dedusting electrically-controlled valve 20 The outer end of retracting device 22 connects air-introduced machine 21.
Structure of the present invention is novel, stable, can realize that automatic spraying is processed, vdiverse in function, meets present Use requirement.
Embodiment 1
In the embodiment of the present invention, a kind of spray robot, including turntable 1 is equipped with rotating base 2, rotating base on turntable 1 It is equipped with 2 in first mechanical arm 3, first mechanical arm 3 and second mechanical arm 4 is housed, the front end of second mechanical arm 4 is equipped with rotation mechanical arm 6, rotate the front end of mechanical arm 6 and spray equipment 7 is housed, spray equipment 7 includes gas hood 15, and 12 points by dividing plate of gas hood 15 is top Spray booth 14 and dirt pocket 8, spray booth 14 connect air inlet pipe 18 built with spray gun 13, spray gun 13, and dirt pocket 8 is built with spray Transfer air chamber 23, the connection dedusting of transfer air chamber 23 are connected by gas outlet 24 on gas dust removal head 9, the gas hood 15 of the lower end of dirt pocket 8 Retracting device 22, rotates mechanical arm 6 and occurs case 5 by flexible tracheae and the connection spray painting of lower road, spray painting occurs case 5 and is arranged on second On mechanical arm 4, case 5 occurs for spray painting built with air pump, rotates mechanical arm 6 and is hinged on second mechanical arm 4 by control device for pivoting Head end, the end of dividing plate 12, which is provided with spacing slide rail 11, spacing slide rail 11, is equipped with sliding sleeve, and sliding sleeve lower end is equipped with hairbrush 10, spray gun 13 connection stable-pressure devices 16, the connection spray painting electrically-controlled valve 17 of stable-pressure device 16, the spray painting connection air inlet pipe 18 of electrically-controlled valve 17, jet dedusting First 9 connect air inlet pipe 18, the connection air inlet of air inlet pipe 18 pipe joint 19, the outer end of dust-removing recovery device 22 company by dedusting electrically-controlled valve 20 Connect air-introduced machine 21.The present invention to plate surface when carrying out spray process, and plate surface is clean without other processing, the present invention Most of spray robots carry out spray process at a glance on the market, pass through the operation of the rotation of mechanical arm, and spray equipment 7 Spray painting processing can be completed.
Embodiment 2
In the embodiment of the present invention, a kind of spray robot, including turntable 1 is equipped with rotating base 2, rotating base on turntable 1 It is equipped with 2 in first mechanical arm 3, first mechanical arm 3 and second mechanical arm 4 is housed, the front end of second mechanical arm 4 is equipped with rotation mechanical arm 6, rotate the front end of mechanical arm 6 and spray equipment 7 is housed, spray equipment 7 includes gas hood 15, and 12 points by dividing plate of gas hood 15 is top Spray booth 14 and dirt pocket 8, spray booth 14 connect air inlet pipe 18 built with spray gun 13, spray gun 13, and dirt pocket 8 is built with spray Transfer air chamber 23, the connection dedusting of transfer air chamber 23 are connected by gas outlet 24 on gas dust removal head 9, the gas hood 15 of the lower end of dirt pocket 8 Retracting device 22, rotates mechanical arm 6 and occurs case 5 by flexible tracheae and the connection spray painting of lower road, spray painting occurs case 5 and is arranged on second On mechanical arm 4, case 5 occurs for spray painting built with air pump, rotates mechanical arm 6 and is hinged on second mechanical arm 4 by control device for pivoting Head end, the end of dividing plate 12, which is provided with spacing slide rail 11, spacing slide rail 11, is equipped with sliding sleeve, and sliding sleeve lower end is equipped with hairbrush 10, spray gun 13 connection stable-pressure devices 16, the connection spray painting electrically-controlled valve 17 of stable-pressure device 16, the spray painting connection air inlet pipe 18 of electrically-controlled valve 17, jet dedusting First 9 connect air inlet pipe 18, the connection air inlet of air inlet pipe 18 pipe joint 19, the outer end of dust-removing recovery device 22 company by dedusting electrically-controlled valve 20 Connect air-introduced machine 21.The present invention to irregular workpiece surface when carrying out spray process, and plate surface is clean without other processing, It is of the invention and most of spray robots carry out spray process at a glance on the market, pass through the rotation of mechanical arm, and spray equipment 7 Operation can complete spray painting processing.
Embodiment 3
In the embodiment of the present invention, a kind of spray robot, including turntable 1 is equipped with rotating base 2, rotating base on turntable 1 It is equipped with 2 in first mechanical arm 3, first mechanical arm 3 and second mechanical arm 4 is housed, the front end of second mechanical arm 4 is equipped with rotation mechanical arm 6, rotate the front end of mechanical arm 6 and spray equipment 7 is housed, spray equipment 7 includes gas hood 15, and 12 points by dividing plate of gas hood 15 is top Spray booth 14 and dirt pocket 8, spray booth 14 connect air inlet pipe 18 built with spray gun 13, spray gun 13, and dirt pocket 8 is built with spray Transfer air chamber 23, the connection dedusting of transfer air chamber 23 are connected by gas outlet 24 on gas dust removal head 9, the gas hood 15 of the lower end of dirt pocket 8 Retracting device 22, rotates mechanical arm 6 and occurs case 5 by flexible tracheae and the connection spray painting of lower road, spray painting occurs case 5 and is arranged on second On mechanical arm 4, case 5 occurs for spray painting built with air pump, rotates mechanical arm 6 and is hinged on second mechanical arm 4 by control device for pivoting Head end, the end of dividing plate 12, which is provided with spacing slide rail 11, spacing slide rail 11, is equipped with sliding sleeve, and sliding sleeve lower end is equipped with hairbrush 10, spray gun 13 connection stable-pressure devices 16, the connection spray painting electrically-controlled valve 17 of stable-pressure device 16, the spray painting connection air inlet pipe 18 of electrically-controlled valve 17, jet dedusting First 9 connect air inlet pipe 18, the connection air inlet of air inlet pipe 18 pipe joint 19, the outer end of dust-removing recovery device 22 company by dedusting electrically-controlled valve 20 Connect air-introduced machine 21.The present invention to plate surface when carrying out spray process, and plate surface has dust influence spray painting effect, this hair It is bright and most of spray robots carry out spray process at a glance on the market, pass through the design of the dirt pocket 8 in the present invention, realize pair Plate surface carries out dust removal process, then is reclaimed by dust-removing recovery device, realizes dedusting spray painting integration processing, it is ensured that spray Effect is painted, spray painting processing can be completed by the operation of the rotation of mechanical arm, and spray equipment 7.
Embodiment 4
In the embodiment of the present invention, a kind of spray robot, including turntable 1 is equipped with rotating base 2, rotating base on turntable 1 It is equipped with 2 in first mechanical arm 3, first mechanical arm 3 and second mechanical arm 4 is housed, the front end of second mechanical arm 4 is equipped with rotation mechanical arm 6, rotate the front end of mechanical arm 6 and spray equipment 7 is housed, spray equipment 7 includes gas hood 15, and 12 points by dividing plate of gas hood 15 is top Spray booth 14 and dirt pocket 8, spray booth 14 connect air inlet pipe 18 built with spray gun 13, spray gun 13, and dirt pocket 8 is built with spray Transfer air chamber 23, the connection dedusting of transfer air chamber 23 are connected by gas outlet 24 on gas dust removal head 9, the gas hood 15 of the lower end of dirt pocket 8 Retracting device 22, rotates mechanical arm 6 and occurs case 5 by flexible tracheae and the connection spray painting of lower road, spray painting occurs case 5 and is arranged on second On mechanical arm 4, case 5 occurs for spray painting built with air pump, rotates mechanical arm 6 and is hinged on second mechanical arm 4 by control device for pivoting Head end, the end of dividing plate 12, which is provided with spacing slide rail 11, spacing slide rail 11, is equipped with sliding sleeve, and sliding sleeve lower end is equipped with hairbrush 10, spray gun 13 connection stable-pressure devices 16, the connection spray painting electrically-controlled valve 17 of stable-pressure device 16, the spray painting connection air inlet pipe 18 of electrically-controlled valve 17, jet dedusting First 9 connect air inlet pipe 18, the connection air inlet of air inlet pipe 18 pipe joint 19, the outer end of dust-removing recovery device 22 company by dedusting electrically-controlled valve 20 Connect air-introduced machine 21.The present invention to irregular workpiece surface when carrying out spray process, and workpiece surface has dust influence spray painting effect Really, by the design of the dirt pocket 8 in the present invention, realize and dust removal process is carried out to plate surface, then pass through dust-removing recovery device Reclaimed, realize dedusting spray painting integration processing, it is ensured that spray painting effect, by the rotation of mechanical arm, and spray equipment 7 Operation can complete spray painting processing.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art It may be appreciated other embodiment.

Claims (8)

1. a kind of spray robot, including turntable (1), it is characterised in that rotating base (2) is housed on the turntable (1), are rotated It is equipped with base (2) in first mechanical arm (3), first mechanical arm (3) and second mechanical arm (4) is housed, second mechanical arm (4) front end Equipped with mechanical arm (6) is rotated, rotate mechanical arm (6) front end and spray equipment (7) is housed, spray equipment (7) includes gas hood (15), gas Cover (15) is divided into the spray booth (14) and dirt pocket (8) on top by dividing plate (12), and the spray booth (14) is built with spray gun (13), spray gun (13) connection air inlet pipe (18), the dirt pocket (8) is built with jet dust removal head (9), dirt pocket (8) lower end Gas hood (15) on pass through gas outlet (24) connect transfer air chamber (23), transfer air chamber (23) connection dust-removing recovery device (22).
2. spray robot according to claim 1, it is characterised in that the rotation mechanical arm (6) passes through flexible tracheae Occurs case (5) with the connection spray painting of lower road, spray painting occurs case (5) and is arranged in second mechanical arm (4), and it is built-in that case (5) occurs for spray painting There is air pump.
3. spray robot according to claim 1, it is characterised in that the rotation mechanical arm (6) is by rotating control Device is hinged on second mechanical arm (4) head end.
4. spray robot according to claim 1, it is characterised in that dividing plate (12) end is provided with spacing slide rail (11), sliding sleeve is housed, sliding sleeve lower end is equipped with hairbrush (10) on spacing slide rail (11).
5. spray robot according to claim 1, it is characterised in that the spray gun (13) connects stable-pressure device (16), stable-pressure device (16) connection spray painting electrically-controlled valve (17), spray painting electrically-controlled valve (17) connection air inlet pipe (18).
6. spray robot according to claim 1, it is characterised in that the jet dust removal head (9) is automatically controlled by dedusting Valve (20) connection air inlet pipe (18).
7. spray robot according to claim 1, it is characterised in that the air inlet pipe (18) connects air inlet pipe joint (19)。
8. spray robot according to claim 1, it is characterised in that dust-removing recovery device (22) the outer end connection is drawn Blower fan (21).
CN201710385925.6A 2017-05-26 2017-05-26 A kind of spray robot Pending CN107051799A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710385925.6A CN107051799A (en) 2017-05-26 2017-05-26 A kind of spray robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710385925.6A CN107051799A (en) 2017-05-26 2017-05-26 A kind of spray robot

Publications (1)

Publication Number Publication Date
CN107051799A true CN107051799A (en) 2017-08-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710385925.6A Pending CN107051799A (en) 2017-05-26 2017-05-26 A kind of spray robot

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Country Link
CN (1) CN107051799A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107812639A (en) * 2017-11-27 2018-03-20 上海卫星装备研究所 One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system
CN108385941A (en) * 2018-01-24 2018-08-10 吕明泽 A kind of intelligent batch of wall telephone
CN108745721A (en) * 2018-06-07 2018-11-06 宝鸡文理学院 Spray robot
CN110450089A (en) * 2019-07-31 2019-11-15 上海发那科机器人有限公司 A kind of pipe racking device and comb method of robot arm capable of spraying bracket
CN110743737A (en) * 2019-11-13 2020-02-04 咸阳职业技术学院 Paint spraying manipulator for production and processing of automobile parts
CN112354720A (en) * 2020-11-09 2021-02-12 马鞍山远荣机器人智能装备有限公司 Spraying thickness automatic control's spraying robot control system
CN112974060A (en) * 2021-04-27 2021-06-18 河南科技学院 Electric paint spraying intelligent trolley for crane box girder

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107812639A (en) * 2017-11-27 2018-03-20 上海卫星装备研究所 One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system
CN108385941A (en) * 2018-01-24 2018-08-10 吕明泽 A kind of intelligent batch of wall telephone
CN108745721A (en) * 2018-06-07 2018-11-06 宝鸡文理学院 Spray robot
CN108745721B (en) * 2018-06-07 2019-09-06 宝鸡文理学院 Spray robot
CN110450089A (en) * 2019-07-31 2019-11-15 上海发那科机器人有限公司 A kind of pipe racking device and comb method of robot arm capable of spraying bracket
CN110743737A (en) * 2019-11-13 2020-02-04 咸阳职业技术学院 Paint spraying manipulator for production and processing of automobile parts
CN112354720A (en) * 2020-11-09 2021-02-12 马鞍山远荣机器人智能装备有限公司 Spraying thickness automatic control's spraying robot control system
CN112974060A (en) * 2021-04-27 2021-06-18 河南科技学院 Electric paint spraying intelligent trolley for crane box girder

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