CN108940681A - A kind of spray robot work station - Google Patents
A kind of spray robot work station Download PDFInfo
- Publication number
- CN108940681A CN108940681A CN201811192967.9A CN201811192967A CN108940681A CN 108940681 A CN108940681 A CN 108940681A CN 201811192967 A CN201811192967 A CN 201811192967A CN 108940681 A CN108940681 A CN 108940681A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- air
- control cabinet
- spray
- mechanical arm
- 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
Links
- 239000007921 spray Substances 0.000 title claims abstract description 84
- 238000000889 atomisation Methods 0.000 claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 30
- 238000003756 stirring Methods 0.000 claims description 13
- 239000003973 paint Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 6
- 238000001802 infusion Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 6
- 241000486406 Trachea Species 0.000 claims description 2
- 210000003437 trachea Anatomy 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 7
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 239000011248 coating agent Substances 0.000 description 7
- 238000000576 coating method Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 230000003519 ventilatory effect Effects 0.000 description 1
Classifications
-
- 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
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
-
- 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
-
- 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
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Nozzles (AREA)
Abstract
The invention provides a kind of spray robot work station, including mechanical arm, mechanical arm control cabinet, hand-held teaching machine, external PLC control cabinet, diaphragm pump solenoid valve, diaphragm pump, blender, agitator, spray gun solenoid valve, spray gun pressure regulator valve, spray gun, air compressor, gas source master switch, air-source treater, atomization pressure regulating valve and workbench.The spray robot work station carries out real-time control to mechanical arm using hand-held teaching machine, can be needed to set spray procedure according to in-situ spraying, meet the spraying requirement of different objects.
Description
Technical field
The invention is related to a kind of robot workstation, especially a kind of spray robot work station.
Background technique
Spray robot is called paint-spray robot, is that can carry out auto spray painting or spray the industrial robot of other coating,
The spraying that a usually robot is responsible for a kind of product on traditional spraying line, when the different objects of needs are sprayed
When, it needs to install additional robot or replacement robot, is unable to complete the requirement of really intelligent production line.
Summary of the invention
The purpose of the invention is: a kind of spray robot work station is provided, it can be according to in-situ spraying needs pair
Paint-spray robot carries out real-time control, meets the spraying requirement of different objects.
In order to realize the purpose of foregoing invention creation, the invention provides a kind of spray robot work station, including
Mechanical arm, mechanical arm control cabinet, hand-held teaching machine, external PLC control cabinet, diaphragm pump solenoid valve, diaphragm pump, blender, stirring
Bucket, spray gun solenoid valve, spray gun pressure regulator valve, spray gun, air compressor, gas source master switch, air-source treater, atomization pressure regulating valve and
Workbench；Mechanical arm control cabinet is electrically connected with each joint driver of mechanical arm and external PLC control cabinet respectively, for dividing
Other each joint driver to mechanical arm carries out drive control and is attached with external PLC control cabinet to communicate；It is hand-held to show
Teach device and external PLC control cabinet connection communication；Blender is mounted on agitator, for being stirred to stirring liquid in bucket；
Spray gun is mounted on the end of mechanical arm, and is located at the top of workbench；The inlet tube of spray gun passes through infusion pipeline and agitator
Liquid outlet is connected, and diaphragm pump is serially connected on infusion pipeline；Spray gun pressure regulator valve is mounted on the inlet tube of spray gun, for adjust into
The liquid inlet volume of liquid pipe；The gas outlet of air compressor is connected with the air inlet of air-source treater by connecting tracheae；At gas source
The gas outlet for managing device is connected with the air inlet of gas source master switch by connecting tracheae；The gas outlet of gas source master switch passes through three
Connection tracheae is connected with the air inlet of the air inlet of blender, the air inlet of diaphragm pump and spray gun respectively；Diaphragm pump electromagnetism
Valve is serially connected on the connection tracheae between the gas outlet of gas source master switch and the air inlet of diaphragm pump；Spray gun solenoid valve and atomization are adjusted
Pressure valve is serially connected on the connection tracheae between the gas outlet of gas source master switch and the air inlet of spray gun；External PLC control cabinet difference
It is electrically connected with spray gun solenoid valve and diaphragm pump solenoid valve.
Further, hand-held teaching machine includes display screen, microcontroller, control button, memory and power module；It is micro-
Controller is electrically connected with display screen, memory and control button respectively；PLC in microcontroller and external PLC control cabinet is controlled
Device connection communication processed；Power module is respectively display screen, microcontroller, control button and memory power supply.Using memory
The control program for storing various painted objects can be facilitated, to meet the spray painting control needs of different painted objects.
Further, hand-held teaching machine further includes the main wireless communication module being electrically connected with microcontroller；In outside
One slave wireless communication module being electrically connected with PLC controller is installed in PLC control cabinet；Main wireless communication module with from wireless
Communication module wireless communication, to realize the connection communication of microcontroller and PLC controller.Using main wireless communication module with from
Wireless communication module wireless communication is to realize remote wireless control.
Further, external PLC control cabinet includes cabinet body, the control button being arranged at the top of cabinet body and is set to cabinet body
Interior PLC controller；PLC controller is electrically connected with control button, spray gun solenoid valve and diaphragm pump solenoid valve respectively.
Further, blender includes air motor, agitating shaft and stirring blade；Agitating shaft is vertically rotatably mounted on
The top of agitator；Stirring blade is mounted on agitating shaft, and is located in agitator；The output shaft and agitating shaft pair of air motor
Connect installation；The air inlet of blender is the air inlet of air motor.Being stirred driving using air motor can be avoided
Use motor, it is ensured that the safety in spraying process more.
Further, workbench is located in paint collection slot, and the trough rim of paint collection slot is higher than the table top of workbench；?
The trench bottom of paint collection slot is equipped with recycling nozzle；Recycling nozzle is connected to the recovered overhead mouth of agitator by recovery pipe
On.The coating write freely and easily in spraying process can be collected using paint collection slot, to save weight of coated paint, prevent wave
Take.
Further, filter is serially connected in recovery pipe.The coating of recycling can be filtered using filter,
Prevent the impurity in spraying process early period from entering agitator.
Further, mechanical arm, mechanical arm control cabinet, diaphragm pump solenoid valve, diaphragm pump, blender, agitator, spray gun electricity
Magnet valve, spray gun pressure regulator valve, spray gun, air compressor, gas source master switch, air-source treater, atomization pressure regulating valve and workbench are equal
It is set in safe fence；Inlet/outlet is hingedly installed on the front side fence of safe fence.It can be sprayed using safe fence
The realization security protection of mechanism.
Further, safe fence and inlet/outlet are made of frame grid, and covering is equipped on frame grid
Transparent baffle.It is seen convenient for operator in outside while can be realized security protection using the cooperation of frame grid and transparent baffle
It examines.
Further, it is equipped with conical flow guiding cover in the top of safe fence, is connected to setting in the cone top part of conical flow guiding cover
There is proofing air filtering pipeline；Proofing air filtering pipeline is connected to air cleaning facility.Utilize conical flow guiding cover and air cleaning facility energy
The enough tail gas to spraying process carries out air cleaning.
The beneficial effect of the invention is: real-time control is carried out to external PLC control cabinet using hand-held teaching machine, from
And corresponding control command is sent to mechanical arm control cabinet, then drive control is carried out to mechanical arm by mechanical arm control cabinet, it realizes
It is needed to set spray procedure according to in-situ spraying, meets the spraying requirement of different objects；Utilize atomization pressure regulating valve and spray gun tune
Pressure valve hydraulic to atomization air pressure and coating respectively can control, and meet adaptability and adjust needs.
Detailed description of the invention
Fig. 1 is the whole control structure schematic diagram of the invention.
Specific embodiment
As shown in Figure 1, it includes: mechanical arm, mechanical arm control that the invention, which provides a kind of spray robot work station,
Cabinet, hand-held teaching machine, external PLC control cabinet, diaphragm pump solenoid valve, diaphragm pump, blender, agitator, spray gun solenoid valve, spray gun
Pressure regulator valve, spray gun, air compressor, gas source master switch, air-source treater, atomization pressure regulating valve and workbench；Mechanical arm control
Cabinet is electrically connected with each joint driver of mechanical arm and external PLC control cabinet respectively, for respectively to each of mechanical arm
Joint driver carries out drive control and is attached with external PLC control cabinet to communicate；Hand-held teaching machine and outside PLC are controlled
Cabinet connection communication；Blender is mounted on agitator, for being stirred to stirring liquid in bucket；Spray gun is mounted on mechanical arm
End, and it is located at the top of workbench；The inlet tube of spray gun is connected by infusion pipeline with the liquid outlet of agitator, diaphragm pump
It is serially connected on infusion pipeline；Spray gun pressure regulator valve is mounted on the inlet tube of spray gun, for adjusting the liquid inlet volume of inlet tube；Air pressure
The gas outlet of contracting machine is connected with the air inlet of air-source treater by connecting tracheae；The gas outlet of air-source treater and gas source are total
The air inlet of switch is connected by connecting tracheae；The gas outlet of gas source master switch by three connection tracheaes respectively with blender
Air inlet, the air inlet of diaphragm pump and the air inlet of spray gun be connected；Diaphragm pump solenoid valve is serially connected in gas source master switch
On connection tracheae between gas outlet and the air inlet of diaphragm pump；Spray gun solenoid valve and atomization pressure regulating valve are serially connected in gas source master switch
Gas outlet and spray gun air inlet between connection tracheae on；External PLC control cabinet respectively with spray gun solenoid valve and diaphragm
Pump solenoid valve electrical connection.
Further, hand-held teaching machine includes display screen, microcontroller, control button, memory and power module；It is micro-
Controller is electrically connected with display screen, memory and control button respectively；PLC in microcontroller and external PLC control cabinet is controlled
Device connection communication processed；Power module is respectively display screen, microcontroller, control button and memory power supply.Hand-held teaching machine
It further include the main wireless communication module being electrically connected with microcontroller；One is equipped in external PLC control cabinet to control with PLC
The slave wireless communication module of device electrical connection processed；Main wireless communication module is wirelessly communicated with from wireless communication module, to realize micro-
The connection communication of controller and PLC controller.External PLC control cabinet include cabinet body, the control button being arranged at the top of cabinet body with
And it is set to the intracorporal PLC controller of cabinet；PLC controller respectively with control button, spray gun solenoid valve and diaphragm pump solenoid valve
Electrical connection.Blender includes air motor, agitating shaft and stirring blade；Agitating shaft is vertically rotatably mounted on the top of agitator
Portion；Stirring blade is mounted on agitating shaft, and is located in agitator；The output shaft and agitating shaft abutting joint of air motor；It stirs
The air inlet for mixing device is the air inlet of air motor.Workbench is located in paint collection slot, and the trough rim of paint collection slot is high
In the table top of workbench；Recycling nozzle is equipped in the trench bottom of paint collection slot；Recycling nozzle is connected to by recovery pipe to be stirred
It mixes on the recovered overhead mouth of bucket.Filter is serially connected in recovery pipe.Mechanical arm, mechanical arm control cabinet, diaphragm pump solenoid valve,
Diaphragm pump, blender, agitator, spray gun solenoid valve, spray gun pressure regulator valve, spray gun, air compressor, gas source master switch, at gas source
Reason device, atomization pressure regulating valve and workbench are all set in safe fence；It is hingedly equipped on the front side fence of safe fence
Inlet/outlet.Safe fence and inlet/outlet are made of frame grid, and covering is equipped with transparent baffle on frame grid.?
The top of safe fence is equipped with conical flow guiding cover, is provided with and communicated with proofing air filtering pipeline in the cone top part of conical flow guiding cover；Air
Filter pipe is connected to air cleaning facility.
In the spray robot work station that the invention provides, mechanical arm and mechanical arm control cabinet are corollary equipment, directly
It connects using existing industrial machine arm and the matched control cabinet of robotic arm, it is real under the driving effect of mechanical arm control cabinet
Drive control of each joint driver of existing mechanical arm for each freedom degree；External PLC control cabinet is to be provided with PLC control
The control cabinet of device and control button realizes outside safe fence for being communicated with mechanical arm control cabinet to mechanical arm
Carry out real-time start-up and shut-down control；Diaphragm pump solenoid valve and spray gun solenoid valve are all made of existing solenoid valve, are respectively used in external PLC
On-off control is carried out to two-way connection tracheae under the control of control cabinet；It is equipped with and is used on spray gun pressure regulator valve and atomization pressure regulating valve
Manually adjust the knob handle of valve aperture；Air compressor, air-source treater and gas source master switch constitute pneumatic part, use
In providing gas source power for spray gun and diaphragm pump；Teaching machine is held by display screen, microcontroller, control button, memory, main nothing
Line communication module and power module are constituted, wherein microcontroller uses single-chip microcontroller, and the control for receiving control button is believed
Number, mechanical arm is remotely controlled outside safe fence convenient for operator, thus according to different painted objects to machinery
Arm carries out real-time action control, meets the spraying requirement of different objects；It is adopted from wireless communication module and main wireless communication module
With ZigBee wireless communication module, wireless communication is completed.
The invention provide spray robot work station at work, blender be used for the coating in agitator into
Row stirring, coating realize pressurized delivered under the driving effect by diaphragm pump, and realize and apply under the action of spray gun pressure regulator valve
That expects is hydraulic, shown in the heavy line of coating transport path as shown in figure 1；Air compressor provides gas source for air-source treater, by gas
Compressed air is converted to aerodynamic force to drive the air motor rotation and the driving of diaphragm pump of blender, simultaneously by source processor
Atomization gas source is provided for spray gun, realizes atomization of the spray gun in spray paint；Gas source master switch is distinguished equipped with three-way switch air valve
Switch control is carried out to three tunnels connection tracheae；Diaphragm pump solenoid valve place is connected respectively with spray gun solenoid valve the on-off of tracheae into
Row On-line Control, atomization pressure regulating valve can control the ventilatory capacity of connection tracheae, realize the adjusting of atomization intensity, pneumatic defeated
It send shown in the fine line of path as shown in figure 1；Mechanical arm control cabinet is and mechanical arm is mating is electrically connected, for carrying out to mechanical arm
Drive control, external PLC control cabinet are used to send corresponding control command to mechanical arm control cabinet according to the control program of setting,
Also diaphragm pump solenoid valve and spray gun solenoid valve are controlled simultaneously, are stored with various types in the memory of hand-held teaching machine
The control program of painted object, operator select corresponding control program by control button according to object to be sprayed, then transport
Control command is simultaneously sent to external PLC control cabinet by row control program, sends phase from external PLC control cabinet to mechanical arm control cabinet
The control command answered carries out Adaptive Control to mechanical arm to realize, meets the spraying requirement of various painted objects.
Claims (10)
1. a kind of spray robot work station, it is characterised in that: including mechanical arm, mechanical arm control cabinet, hand-held teaching machine, outside
PLC control cabinet, diaphragm pump solenoid valve, diaphragm pump, blender, agitator, spray gun solenoid valve, spray gun pressure regulator valve, spray gun, air pressure
Contracting machine, gas source master switch, air-source treater, atomization pressure regulating valve and workbench；Mechanical arm control cabinet is each with mechanical arm respectively
A joint driver and external PLC control cabinet electrical connection, for being driven respectively to each joint driver of mechanical arm
It controls and is attached with external PLC control cabinet and communicated；Hand-held teaching machine and external PLC control cabinet connection communication；Blender
It is mounted on agitator, for being stirred to stirring liquid in bucket；Spray gun is mounted on the end of mechanical arm, and is located at workbench
Top；The inlet tube of spray gun is connected by infusion pipeline with the liquid outlet of agitator, and diaphragm pump is serially connected on infusion pipeline；
Spray gun pressure regulator valve is mounted on the inlet tube of spray gun, for adjusting the liquid inlet volume of inlet tube；The gas outlet of air compressor and gas
The air inlet of source processor is connected by connecting tracheae；The gas outlet of air-source treater and the air inlet of gas source master switch pass through
Connection tracheae is connected；The gas outlet of gas source master switch by three connection tracheaes respectively with the air inlet of blender, diaphragm pump
Air inlet and the air inlet of spray gun be connected；Diaphragm pump solenoid valve is serially connected in gas outlet and the diaphragm pump of gas source master switch
On connection tracheae between air inlet；Spray gun solenoid valve and atomization pressure regulating valve are serially connected in gas outlet and the spray gun of gas source master switch
On connection tracheae between air inlet；External PLC control cabinet is electrically connected with spray gun solenoid valve and diaphragm pump solenoid valve respectively.
2. spray robot work station according to claim 1, it is characterised in that: hand-held teaching machine includes display screen, micro-
Controller, control button, memory and power module；Microcontroller is electric with display screen, memory and control button respectively
Connection；PLC controller connection communication in microcontroller and external PLC control cabinet；Power module is respectively display screen, microcontroller
Device, control button and memory power supply.
3. spray robot work station according to claim 2, it is characterised in that: hand-held teaching machine further include one with it is micro-
The main wireless communication module of controller electrical connection；Be equipped in external PLC control cabinet one be electrically connected with PLC controller from
Wireless communication module；Main wireless communication module is wirelessly communicated with from wireless communication module, to realize that microcontroller and PLC control
The connection communication of device.
4. spray robot work station according to claim 1, it is characterised in that: external PLC control cabinet includes cabinet body, sets
It sets the control button at the top of cabinet body and is set to the intracorporal PLC controller of cabinet；PLC controller respectively with control button, spray
Rifle solenoid valve and the electrical connection of diaphragm pump solenoid valve.
5. spray robot work station according to claim 1, it is characterised in that: blender includes air motor, stirring
Axis and stirring blade；Agitating shaft is vertically rotatably mounted on the top of agitator；Stirring blade is mounted on agitating shaft, and position
In in agitator；The output shaft and agitating shaft abutting joint of air motor；The air inlet of blender is the air inlet of air motor
Mouthful.
6. spray robot work station according to claim 1, it is characterised in that: workbench is located in paint collection slot,
And the trough rim of paint collection slot is higher than the table top of workbench；Recycling nozzle is equipped in the trench bottom of paint collection slot；Recycle nozzle
It is connected on the recovered overhead mouth of agitator by recovery pipe.
7. spray robot work station according to claim 6, it is characterised in that: be serially connected with filtering in recovery pipe
Device.
8. spray robot work station according to claim 1, it is characterised in that: mechanical arm, mechanical arm control cabinet, diaphragm
Pump solenoid valve, diaphragm pump, blender, agitator, spray gun solenoid valve, spray gun pressure regulator valve, spray gun, air compressor, gas source are always opened
Pass, air-source treater, atomization pressure regulating valve and workbench are all set in safe fence；It is cut with scissors on the front side fence of safe fence
It connects and inlet/outlet is installed.
9. spray robot work station according to claim 8, it is characterised in that: safe fence and inlet/outlet are by frame
Grid is constituted, and covering is equipped with transparent baffle on frame grid.
10. spray robot work station according to claim 9, it is characterised in that: be equipped with cone in the top of safe fence
Shape pod is provided with and communicated with proofing air filtering pipeline in the cone top part of conical flow guiding cover；It is net that proofing air filtering pipeline is connected to air
Change equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192967.9A CN108940681A (en) | 2018-10-13 | 2018-10-13 | A kind of spray robot work station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811192967.9A CN108940681A (en) | 2018-10-13 | 2018-10-13 | A kind of spray robot work station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108940681A true CN108940681A (en) | 2018-12-07 |
Family
ID=64481040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811192967.9A Pending CN108940681A (en) | 2018-10-13 | 2018-10-13 | A kind of spray robot work station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108940681A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909099A (en) * | 2019-04-23 | 2019-06-21 | 常州煜明电子有限公司 | Automatic spraying process |
| CN113021941A (en) * | 2021-03-02 | 2021-06-25 | 湖南荣岚智能科技有限公司 | Resin spraying device and preparation method of polyimide resin-based composite wave-transmitting cover |
| CN113976351A (en) * | 2021-11-15 | 2022-01-28 | 广东三向智能科技股份有限公司 | Industrial robot spraying workstation |
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| CN109909099A (en) * | 2019-04-23 | 2019-06-21 | 常州煜明电子有限公司 | Automatic spraying process |
| CN113021941A (en) * | 2021-03-02 | 2021-06-25 | 湖南荣岚智能科技有限公司 | Resin spraying device and preparation method of polyimide resin-based composite wave-transmitting cover |
| CN113976351A (en) * | 2021-11-15 | 2022-01-28 | 广东三向智能科技股份有限公司 | Industrial robot spraying workstation |
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