CN107876267B - A kind of spray robot - Google Patents
A kind of spray robot Download PDFInfo
- Publication number
- CN107876267B CN107876267B CN201711199757.8A CN201711199757A CN107876267B CN 107876267 B CN107876267 B CN 107876267B CN 201711199757 A CN201711199757 A CN 201711199757A CN 107876267 B CN107876267 B CN 107876267B
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- driving wheel
- sliding rail
- wheel
- spraying
- data
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of spray robots, its structure includes paint spray gun, machinery control position axis, spraying executes arm, drive shaft, robot body, data operating generates track driving mechanism, rotating seat, parallel slide, fixed frame, cross bar, fixed frame is installed on parallel slide and excessively cooperates with parallel slide, the present invention passes through the data generation controller being equipped with can realize the spray coating operations of robot according to data memory and the condition of accumulation, it increases Control During Paint Spraying by Robot and executes function, and by the control trajectory accuracy driving wheel running of data transmission plate, it is accurately controlled in precision disk and realization track stroke under the cooperation of multiple pulleys, it avoids colliding, increase safety, reliability, simultaneously in the case where lifting driving wheel and mobile inner shaft drive can multi-angle control spraying arm and paint spray gun movement, realization moves up and down, Increase spray range, it is practical.
Description
Technical field
The present invention is a kind of spray robot, belongs to spray robot technical field.
Background technique
Spray robot is can to carry out auto spray painting or spray the industrial robot of other coating, paint-spray robot mainly by
Robot body, computer and corresponding control system composition, the paint-spray robot of hydraulic-driven further includes hydraulic oil source, such as oil
Pump, fuel tank and motor etc..5 or 6DOF articulated structure are mostly used, arm has biggish space, and can do complexity
Track movement, wrist generally have 2~3 freedom degrees, can flexible motion.
Existing spray robot is when realizing the spray coating operations of robot according to the condition of data memory and accumulation, rail
Stroke control in road is inaccurate, easily avoids colliding, safety coefficient is low.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of spray robot, to solve existing spray
Robot is applied when realizing the spray coating operations of robot according to the condition of data memory and accumulation, the control of track stroke is not smart
Really, it easily avoids colliding, safety coefficient is low.
To achieve the goals above, the present invention is to realize by the following technical solutions: a kind of spray robot, knot
Structure includes paint spray gun, machinery control position axis, spraying execution arm, drive shaft, robot body, data operating generation track driving machine
Structure, rotating seat, parallel slide, fixed frame, cross bar, the fixed frame be installed on parallel slide and with parallel slide transition
Cooperation, is fixed with cross bar on the parallel slide, and the rotating seat is embedded in fixed frame and vertical with fixed frame, described
It is connected above rotating seat with robot body, the data operating generates track driving mechanism and is set to inside robot body,
It is movably equipped with spraying above the robot body and executes arm, the spraying executes arm bottom and driving axis connection, the spraying
It executes arm and is matched by drive shaft with data operating generation track driving mechanism, the spraying executes arm front end and is equipped with spraying hand
Rifle, the paint spray gun are flexibly connected with machinery control position axis, and the mechanical control position axis executes arm with spraying and matches, the data
Operating generates track driving mechanism by moving inner shaft, the first sliding rail, dragging track, first motor, connection control position frame, shell, band
Driving wheel, lifting driving wheel, circle wheel, sliding rail, spring, balance plate, roundlet wheel, orient sliding block, pulley, fixed board, space sliding rail,
Trajectory accuracy driving wheel, database creating system, automatically controlled seat, substrate composition, first sliding rail are installed on dragging track
On, it is located in the first sliding rail in the movement and mutually hangs down with the first sliding rail transition fit, the dragging track and first motor
Directly, the first motor is equipped with drive rod, limited block, screw rod, and the screw rod is connect with first motor, and the limited block is set to
On screw rod, the screw rod is connected to connection control position frame by drive rod, and connection control position frame bottom is connected to band driving wheel center,
The band driving wheel with lifting driving wheel be integrated, the lifting driving wheel be movably arranged at space sliding rail and with space sliding rail
Transition fit, the space sliding rail are embedded in sliding rail, and the sliding rail is installed inside the housing, on the space sliding rail
It is movably equipped with orientation sliding block, the orientation sliding block is vertical with balance plate and is connected to lifting driving wheel by balance plate, described flat
The plate that weighs is equipped with spring, and the spring upper and lower side is connect with circle wheel, roundlet wheel respectively, and the roundlet wheel is connected to pulley, described
Pulley is installed in inside fixed board, the fixed board connected with outer casing extexine, and space sliding rail bottom is equipped with trajectory accuracy driving wheel,
Trajectory accuracy driving wheel side is connect with database creating system, and the database creating system bottom is equipped with automatically controlled seat,
The automatically controlled seat is fixedly connected and is parallel to each other with substrate.
Further, the trajectory accuracy driving wheel is by execution pulley, precision disk, driving wheel ontology, data transmission plate, fixed
Wheel, scale strip composition, the precision disk are set to driving wheel body interior and are integrated with driving wheel ontology, the scale
Item is embedded in precision disk, and the data transmission plate is set to inside precision disk, and the fixed wheel is connected to execution by data transmission plate
Pulley, the execution pulley are connect with pulley.
Further, the database creating system by the Faku County that constructs, data generate controller, memory chip, set hair
Emitter composition.
Further, the memory chip be set to data generate controller inside, the memory chip with construct Faku County, set
Other transmitter, the electrical connection of data transmission plate.
Further, the mobile inner shaft is made of slide plate, micro-machine, traction rope, lubrication groove, shaft, fender rod, described
Slide plate is connect with micro-machine, and the slide plate is connected to lubrication groove by traction rope, and the lubrication groove is integrated with shaft, institute
It states shaft to connect with micro-machine, the fender rod is connect through lubrication groove with shaft inner wall, and the shaft is connected to paint spray gun.
Further, the parallel slide is square structure, for converting the position of spray paint robot.
Further, the rotating seat is cylindrical structure.
Beneficial effect
A kind of spray robot of the present invention, spraying robot human body is stably placed at first need it is to be used in the localities,
And by parallel slide control spray robot entirety moving range, keep its installation easier, by paint spray gun to equipment into
Row spraying, when being sprayed, and external controller breaks down, can not the spraying stroke to spray robot control
When, data generate controller by the motion flow for passing through the memory and accumulation that usually spray to generate spraying data, and will
Data are stored in memory chip, and action order is sent data transmission plate by construction Faku County, and data transmission plate drives precision disk
Rotated, and by fixed wheel, execute track stroke accurately controlled under the drive of pulley and pulley, roundlet wheel, according to
The instruction of the action command needed, spring-reception roundlet wheel is stretched, and is taken turns by circle and lifting driving wheel, connection is driven to control
Position frame running, controllable spraying execute arm and move up and down in sliding rail, and orientation sliding block follows movement on sliding rail,
Increasing spraying and executes the mobile stability of arm, paint spray gun can carry out the mobile spraying of horizontal direction under the control of mobile inner shaft,
Increase spray range.For example, spray robot can be used to carry out spraying use to machine components, equipment.
The present invention, which passes through the data generation controller being equipped with, to realize machine according to data memory and the condition of accumulation
The spray coating operations of people increase Control During Paint Spraying by Robot and execute function, and operated by data transmission plate control trajectory accuracy driving wheel,
Precision disk is accurately controlled with realization track stroke under the cooperation of multiple pulleys, avoids colliding, and increases safe and reliable property, together
When in the case where lifting driving wheel and mobile inner shaft drive can multi-angle control spraying arm and paint spray gun movement, realize left up and down
It moves right, increases spray range, it is practical.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of spray robot of the present invention.
Fig. 2 is the structural schematic diagram one that data of the present invention operating generates track driving mechanism.
Fig. 3 is the structural schematic diagram two that data of the present invention operating generates track driving mechanism.
In figure: paint spray gun -1, mechanical control position axis -2, spraying execute arm -3, drive shaft -4, robot body -5, data
Operating generates track driving mechanism -6, rotating seat -7, parallel slide -8, fixed frame -9, cross bar -10, mobile inner shaft -61, the
One sliding rail -62, dragging track -63, first motor -64, connection control position frame -65, shell -66, band driving wheel -67, lifting driving wheel -
68, circle wheel -69, sliding rail -610, spring -611, balance plate -612, roundlet wheel -613, orientation sliding block -614, pulley -615,
Fixed board -616, space sliding rail -617, trajectory accuracy driving wheel -618, database creating system -619, automatically controlled seat -620, substrate -
621, pulley -6180, precision disk -6181, driving wheel ontology -6182, data transmission plate -6183, fixed wheel -6184, scale are executed
Item -6185, drive rod -640, limited block -641, screw rod -642, construction Faku County -6190, data generate controller -6191, memory
Chip -6192 sets transmitter -6193, slide plate -6110, micro-machine -6111, traction rope -6112, lubrication groove -6113, shaft -
6114, fender rod -6115.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment
It please refers to Fig.1 to Fig.3, the present invention provides a kind of spray robot, and structure includes paint spray gun 1, mechanical control position
Axis 2 sprays execution arm 3, drive shaft 4, robot body 5, data operating generation track driving mechanism 6, rotating seat 7, slides in parallel
Seat 8, fixed frame 9, cross bar 10, the fixed frame 9 be installed on parallel slide 8 and with parallel 8 transition fit of slide, it is described
It is fixed with cross bar 10 on parallel slide 8, the rotating seat 7 is embedded in fixed frame 9 and, the rotation vertical with fixed frame 9
7 top of swivel base is connected with robot body 5, and the data operating generates track driving mechanism 6 and is set in robot body 5
Portion is movably equipped with spraying above the robot body 5 and executes arm 3, and the spraying execution 3 bottom of arm is connect with drive shaft 4, institute
It states spraying execution arm 3 and is matched by drive shaft 4 with data operating generation track driving mechanism 6, the spraying executes 3 front end of arm
Equipped with paint spray gun 1, the paint spray gun 1 is flexibly connected with machinery control position axis 2, and the mechanical control position axis 2 and spraying execute arm 3
It matches, the data operating generates track driving mechanism 6 by mobile inner shaft 61, the first sliding rail 62, the 63, first electricity of dragging track
Machine 64, connection are controlled position frame 65, shell 66, band driving wheel 67, lifting driving wheel 68, circle wheel 69, sliding rail 610, spring 611, are put down
Weigh plate 612, roundlet wheel 613, orientation sliding block 614, pulley 615, fixed board 616, space sliding rail 617, trajectory accuracy driving wheel 618,
Database creating system 619, automatically controlled seat 620, substrate 621 form, and first sliding rail 62 is installed on dragging track 63,
The mobile inner shaft 61 be set to the first sliding rail 62 and with 62 transition fit of the first sliding rail, the dragging track 63 and first motor 64
It is mutually perpendicular to, the first motor 64 is equipped with drive rod 640, limited block 641, screw rod 642, the screw rod 642 and the first electricity
Machine 64 connects, and the limited block 641 is set on screw rod 642, and the screw rod 642 is connected to connection control position frame by drive rod 640
65, the connection control 65 bottom of position frame is connected to band 67 center of driving wheel, and the band driving wheel 67 is integrated with lifting driving wheel 68
Structure, the lifting driving wheel 68 be movably arranged at space sliding rail 617 and with 617 transition fit of space sliding rail, the space sliding rail
617 are embedded in sliding rail 610, and the sliding rail 610 is installed in inside shell 66, and activity is set on the space sliding rail 617
There is orientation sliding block 614, the orientation sliding block 614 is vertical with balance plate 612 and is connected to lifting driving wheel by balance plate 612
68, the balance plate 612 is equipped with spring 611, and 611 upper and lower side of spring is connect with circle wheel 69, roundlet wheel 613 respectively, institute
It states roundlet wheel 613 and is connected to pulley 615, the pulley 615 is installed in inside fixed board 616, outside 616 connected with outer casing 66 of fixed board
Surface layer, 617 bottom of space sliding rail are equipped with trajectory accuracy driving wheel 618,618 side of trajectory accuracy driving wheel and data
Library generates system 619 and connects, and 619 bottom of database creating system is equipped with automatically controlled seat 620, the automatically controlled seat 620 and substrate
621 are fixedly connected and are parallel to each other, and the trajectory accuracy driving wheel 618 is by execution pulley 6180, precision disk 6181, driving wheel sheet
Body 6182, data transmission plate 6183, fixed wheel 6184, scale strip 6185 form, and the precision disk 6181 is set to driving wheel ontology
6182 inside are simultaneously integrated with driving wheel ontology 6182, and the scale strip 6185 is embedded in precision disk 6181, the number
It is set to inside precision disk 6181 according to transfer plate 6183, the fixed wheel 6184 is connected to execution pulley by data transmission plate 6183
6180, the execution pulley 6180 is connect with pulley 615, and the database creating system 619 is raw by the Faku County 6190 that constructs, data
At controller 6191, memory chip 6192, the composition of transmitter 6193 is set, the memory chip 6192 is set to data and generates control
Inside device 6191, the memory chip 6192 with construction Faku County 6190, set transmitter 6193, data transmission plate 6183 is electrically connected
It connects, the mobile inner shaft 61 is by slide plate 6110, micro-machine 6111, traction rope 6112, lubrication groove 6113, shaft 6114, fender rod
6115 compositions, the slide plate 6110 are connect with micro-machine 6111, and the slide plate 6110 is connected to lubrication groove by traction rope 6112
6113, the lubrication groove 6113 is integrated with shaft 6114, and the shaft 6114 is connect with micro-machine 6111, described anti-
Guard bar 6115 is connect through lubrication groove 6113 with 6114 inner wall of shaft, and the shaft 6114 is connected to paint spray gun 1, the parallel cunning
Seat 8 is square structure, and for converting the position of spray paint robot, the rotating seat 7 is cylindrical structure.
Limited block 641 described in this patent is restriction site " iron block ", and limited block is fixed on region of interest with screw,
Stroke is controlled, has fixed, is had adjustable.
When using spray robot of the present invention, being first stably placed at spraying robot human body need to be to be used
In the localities, and by the moving range of parallel slide 8 control spray robot entirety, keep its installation easier, by paint spray gun 1
Equipment is sprayed, when being sprayed, and external controller breaks down, can not spraying stroke to spray robot into
When row control, data generate controller 6191 for the motion flow for passing through the memory and accumulation that usually spray to generate spraying
Data, and save the data in memory chip 619, action order is sent data transmission plate 6183 by the Faku County 6190 that constructs,
Data transmission plate 6183 drives precision disk 6181 to be rotated, and by fixed wheel 6184, execute pulley 6180 and pulley 615, small
Track stroke is accurately controlled under the drive of circle wheel 613, the action command obtained as needed, spring 611 receives roundlet
The instruction of wheel 613 is stretched, and drives lifting driving wheel 68, connection control position frame 65 to operate by circle wheel 69, and controllable spraying is held
Row arm 3 is moved up and down in sliding rail 610, and orientation sliding block 614 follows movement on sliding rail 610, is increased spraying and is held
The mobile stability of row arm 3, paint spray gun 1 can carry out the mobile spraying of horizontal direction under the control of mobile inner shaft 61, increase spray
Apply range.For example, spray robot can be used to carry out spraying use to machine components, equipment.
Scale strip 6185 is mounted on precision disk 6181, when precision disk 6181 is operated, accurately controls rotation
Angle, and fixed wheel 6184, execution pulley 6180 is driven to work.
Usually spraying movement is carried out memory storage by memory chip 6192, and then generation movement executes control trajectory accuracy and drives
Driving wheel 618 carries out track operation control.
Slide plate 6110 can be moved under being driven by micro-machine 6111 on the first sliding rail 62, and be limited by shaft 6114
Paint spray gun 1 carries out the rotation coating of multi-angle, and fender rod 6115 keeps its paint spray gun 1 more stable in coating, keeps away
Exempt from spraying movement to shake, influences spraying effect.
Problems solved by the invention is the prior art in the spray for realizing robot according to the condition of data memory and accumulation
When applying work, the control of track stroke is inaccurate, easily avoids colliding, and safety coefficient is low, and the present invention is mutual by above-mentioned component
It is combined, controller can be generated by the data being equipped with can realize the spray of robot according to data memory and the condition of accumulation
Work is applied, Control During Paint Spraying by Robot is increased and executes function, and by the control trajectory accuracy driving wheel running of data transmission plate, in precision disk
Realization track stroke accurately controls under cooperation with multiple pulleys, avoids colliding, and increases safe and reliable property, while rising
Driving wheel drops and mobile inner shaft drive it is lower can multi-angle control spraying arm and paint spray gun movement, realization moves up and down
It is dynamic, increase spray range, it is practical.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of spray robot, structure includes paint spray gun (1), mechanical control position axis (2), spraying execution arm (3), drive shaft
(4), robot body (5), data operating generate track driving mechanism (6), rotating seat (7), parallel slide (8), fixed frame
(9), cross bar (10), it is characterised in that:
The fixed frame (9) be installed on parallel slide (8) and with parallel slide (8) transition fit, the parallel slide (8)
On be fixed with cross bar (10), the rotating seat (7) is embedded in fixed frame (9) and, the rotation vertical with fixed frame (9)
It is connected above seat (7) with robot body (5), the data operating generates track driving mechanism (6) and is set to robot body
(5) internal, it is movably equipped with spraying above the robot body (5) and executes arm (3), the spraying executes arm (3) bottom and drives
Moving axis (4) connection, spraying execution arm (3) generate track driving mechanism (6) matching by drive shaft (4) and data operating
It closes, the spraying executes arm (3) front end and is equipped with paint spray gun (1), and the paint spray gun (1) and mechanical control position axis (2) activity are even
It connects, mechanical control position axis (2) executes arm (3) with spraying and matches；
Data operating generate track driving mechanism (6) by mobile inner shaft (61), the first sliding rail (62), dragging track (63),
First motor (64), connection control position frame (65), shell (66), band driving wheel (67), lifting driving wheel (68), circle wheel (69), sliding
Track (610), spring (611), balance plate (612), roundlet wheel (613), orientation sliding block (614), pulley (615), fixed board
(616), space sliding rail (617), trajectory accuracy driving wheel (618), database creating system (619), automatically controlled seat (620), substrate
(621) it forms, first sliding rail (62) is installed on dragging track (63), and it is sliding that the mobile inner shaft (61) is set to first
Rail (62) and with the first sliding rail (62) transition fit, the dragging track (63) is mutually perpendicular to first motor (64), described
One motor (64) is equipped with drive rod (640), limited block (641), screw rod (642), the screw rod (642) and first motor (64)
Connection, the limited block (641) are set on screw rod (642), and the screw rod (642) is connected to connection control by drive rod (640)
Position frame (65), connection control position frame (65) bottom are connected to band driving wheel (67) center, and the band driving wheel (67) and lifting drive
Wheel (68) be integrated, the lifting driving wheel (68) be movably arranged at space sliding rail (617) and with space sliding rail (617) mistake
Cooperation is crossed, the space sliding rail (617) is embedded in sliding rail (610), and the sliding rail (610) is installed in shell (66)
Portion, orientation sliding block (614) is movably equipped on the space sliding rail (617), and the orientation sliding block (614) and balance plate (612) are vertical
Direct join is connected to lifting driving wheel (68) by balance plate (612), and the balance plate (612) is equipped with spring (611), the bullet
Spring (611) upper and lower side is connect with circle wheel (69), roundlet wheel (613) respectively, and the roundlet wheel (613) is connected to pulley (615), institute
It states pulley (615) and is installed in fixed board (616) inside, fixed board (616) connected with outer casing (66) extexine, the space sliding rail
(617) bottom is equipped with trajectory accuracy driving wheel (618), trajectory accuracy driving wheel (618) side and database creating system
(619) it connects, database creating system (619) bottom is equipped with automatically controlled seat (620), the automatically controlled seat (620) and substrate
(621) it is fixedly connected and is parallel to each other.
2. a kind of spray robot according to claim 1, it is characterised in that: the trajectory accuracy driving wheel (618) by
Execute pulley (6180), precision disk (6181), driving wheel ontology (6182), data transmission plate (6183), fixed wheel (6184), scale
Item (6185) composition, the precision disk (6181) are set to driving wheel ontology (6182) inside and are one with driving wheel ontology (6182)
Body structure, the scale strip (6185) are embedded in precision disk (6181), and the data transmission plate (6183) is set to precision disk
(6181) internal, the fixed wheel (6184) is connected to by data transmission plate (6183) and executes pulley (6180), described to execute cunning
Wheel (6180) is connect with pulley (615).
3. a kind of spray robot according to claim 1, it is characterised in that: the database creating system (619) by
Construction Faku County (6190), data generate controller (6191), memory chip (6192), set transmitter (6193) composition.
4. a kind of spray robot according to claim 3, it is characterised in that: the memory chip (6192) is set to data
Controller (6191) inside is generated, the memory chip (6192) and construction Faku County (6190) set transmitter (6193), data
Transfer plate (6183) electrical connection.
5. a kind of spray robot according to claim 1, it is characterised in that: the mobile inner shaft (61) is by slide plate
(6110), micro-machine (6111), traction rope (6112), lubrication groove (6113), shaft (6114), fender rod (6115) composition, institute
It states slide plate (6110) to connect with micro-machine (6111), the slide plate (6110) is connected to lubrication groove by traction rope (6112)
(6113), the lubrication groove (6113) is integrated with shaft (6114), the shaft (6114) and micro-machine (6111)
Connection, the fender rod (6115) connect through lubrication groove (6113) with shaft (6114) inner wall, and the shaft (6114) is connected to
Paint spray gun (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711199757.8A CN107876267B (en) | 2017-11-26 | 2017-11-26 | A kind of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711199757.8A CN107876267B (en) | 2017-11-26 | 2017-11-26 | A kind of spray robot |
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| Publication Number | Publication Date |
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| CN107876267A CN107876267A (en) | 2018-04-06 |
| CN107876267B true CN107876267B (en) | 2019-04-23 |
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| CN201711199757.8A Active CN107876267B (en) | 2017-11-26 | 2017-11-26 | A kind of spray robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890658A (en) * | 2018-07-13 | 2018-11-27 | 湖州泰信环保科技有限公司 | A kind of paint spraying machinery hand |
| CN108970869B (en) * | 2018-08-30 | 2020-11-06 | 蒋世豪 | Paint spraying robot |
| CN110152906A (en) * | 2019-05-08 | 2019-08-23 | 重庆沐江科技有限公司 | A kind of control system of paint-spray robot |
| CN110450147B (en) * | 2019-08-19 | 2024-06-25 | 北京墨狄科技有限公司 | Crank slide bar mechanical arm with rear-mounted gravity center of spring counterweight and motor rotation angle algorithm thereof |
| CN113102149A (en) * | 2021-05-10 | 2021-07-13 | 彼合彼方机器人(天津)有限公司 | Large-scale facade automatic spraying equipment |
| CN113231259B (en) * | 2021-07-07 | 2022-03-25 | 常州海登赛思涂装设备有限公司 | Annotate wax machine people |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4984745A (en) * | 1985-01-22 | 1991-01-15 | Gmf Robotics Corporation | Electric robot for use in a hazardous location |
| FR2961718B1 (en) * | 2010-06-29 | 2012-08-17 | Plastic Omnium Cie | METHOD AND CABIN FOR PAINTING A CAR BODY PIECE OF A MOTOR VEHICLE |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
| CN103521381B (en) * | 2013-09-09 | 2016-03-02 | 江苏长虹智能装备集团有限公司 | A kind of turntable column five degree of freedom series-parallel connection spray robot |
| CN203816833U (en) * | 2014-05-14 | 2014-09-10 | 杨欣慧 | Gluing robot |
| CN203991046U (en) * | 2014-05-29 | 2014-12-10 | 东莞誉铭新工业有限公司 | Intelligence spray robot device |
| CN205363919U (en) * | 2016-02-02 | 2016-07-06 | 浙江铭泰汽车零部件有限公司 | Spraying machine people of brake block |
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2017
- 2017-11-26 CN CN201711199757.8A patent/CN107876267B/en active Active
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| CN107876267A (en) | 2018-04-06 |
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