CN109465131B - Automatic coating unit and method for elastomer structure functional coating - Google Patents
Automatic coating unit and method for elastomer structure functional coating Download PDFInfo
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- CN109465131B CN109465131B CN201910030349.2A CN201910030349A CN109465131B CN 109465131 B CN109465131 B CN 109465131B CN 201910030349 A CN201910030349 A CN 201910030349A CN 109465131 B CN109465131 B CN 109465131B
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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
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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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0228—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the movement of the objects being rotative
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
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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
- B05B16/00—Spray booths
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention belongs to the technical field of surface engineering, and particularly relates to an automatic coating unit and a method for an elastomer structure functional coating. The invention can realize the continuous coating of the multi-functional coatings on the outer walls of a plurality of thin-wall revolving body workpieces in a spraying room with limited area, thereby improving the coating capacity; the non-contact measurement of the thickness of the coating in a wet film state is realized, and the curing waiting time of the coating in a paint spray booth is reduced; precise control of the thickness of the coating is achieved, thereby avoiding sanding of the coating.
Description
Technical Field
The invention belongs to the technical field of surface engineering, and particularly relates to an automatic coating unit and a method for an elastomer structure functional coating.
Background
The special functional coating has the characteristics of strong designability, convenient construction and easy realization of multifunctional compatibility, can endow the whole structure with multiple functions of heat resistance, stealth, corrosion resistance, high-energy laser resistance and the like on the premise of not changing structural materials, and is a key technology for high-performance weapon equipment. A new generation of strategic tactical weapons in China make use of functional coatings in the projectile body section in a large quantity.
However, due to the characteristics of the special functional coating and the reasons of environmental protection, the coating of the functional coating cannot meet the requirement of rapid development of the model, and the reasons are mainly as follows:
(1) the coating of the functional coating belongs to special operation and needs to be carried out in a paint spray booth. Due to the increase of environmental protection pressure, the examination and approval of newly built paint spray booths are more and more strict in various places.
(2) The curing period of the coating is long, and the spraying workpiece occupies a spraying station for a long time, so that the utilization rate of a spraying room is influenced. The related coating is a silicone rubber system, the actual drying time of the coating is longer than 48 hours, manual carrying can be carried out after 24 hours of general spraying for preventing the coating from being damaged in the carrying process due to the adoption of manual carrying, and the workpiece occupies a spraying station for a long time, so that the resource waste is caused.
(3) The coating thickness is controlled and tested finely and needs to be improved urgently, and the phenomena of over-spraying, grinding and less-spraying and additional spraying exist. The control of the thickness of a functional coating is the key of coating, at present, the thickness test of the coating mainly adopts various methods of mechanical thickness measurement, pricking thickness measurement and eddy current thickness measurement (metal base materials), the test methods all require the measured coating to have certain strength, and the coating cannot reach the required strength in a short time after spraying, so the thickness of the coating cannot be detected in time, the thickness control of the coating mainly depends on the coating process and experience, but the coating thickness is simultaneously influenced by various factors such as the viscosity of the coating, various spraying parameters and different spraying operators, so the thickness required by a process file is difficult to reach at one time, and the repeated work problems of overspray polishing and less spray supplement spraying are generated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcomes the defects of the prior art and provides an automatic coating unit for the functional coating of the elastomer structure.
The technical solution of the invention is as follows:
an automatic coating unit for functional coatings of elastomer structures comprises a spraying mechanical arm, three rotary tables, a laser scanning thickness measuring device, two rails, a waste liquid barrel, a feeding system, a central control system and a spraying room; the two tracks are respectively a first track and a second track, and the three turntables are respectively a first turntable, a second turntable and a third turntable;
the spraying mechanical arm, the three rotary tables, the laser scanning thickness measuring device, the two rails, the waste liquid barrel and the feeding system are arranged in the spraying room, and the central control system is arranged outside the spraying room;
the spraying room is a room and can be used for coating work, a first rail and a second rail are arranged on the ground in the spraying room, the distance between the first rail and the second rail is 1.5-2 times of the diameter of a maximum workpiece to be sprayed, and the minimum distance is not less than 2 m;
a spraying mechanical arm is arranged at the gap position between the first rail and the second rail, and the laser scanning thickness measuring device is integrated on the spraying mechanical arm;
the first turntable is arranged on the first track, and the second turntable and the third turntable are arranged on the second track;
a workpiece to be sprayed slides onto the first rotary table through the first rail;
the workpiece to be sprayed slides onto the second rotary table through the second rail;
the workpiece to be sprayed slides onto the third rotary table through the second rail;
the three rotary tables are respectively provided with a clamp for positioning a workpiece to be sprayed so as to avoid the problems of collision damage and uncured coating damage possibly caused by directly conveying the workpiece;
the feeding system is arranged on one corner of the spraying room and is connected with the spraying mechanical arm through a pipeline;
the waste liquid barrel is arranged near the spraying mechanical arm and used for cleaning a spray gun of the spraying mechanical arm;
the feeding system adopts a reciprocating piston type flowmeter;
the central control system is used for transporting the workpieces on the track;
the central control system is used for controlling the laser scanning thickness measuring device to measure the thickness and judging the thickness measured by the laser scanning thickness measuring device, and the judgment of the thickness means whether the thickness meets the requirement of the specified thickness;
the central control system is used for controlling the feeding system and comprises the opening and closing of the feeding system and the output flow of the feeding system;
the central control system is used for controlling the rotation of the three turntables;
the central control system is also used for controlling the on-off of a spray gun of the spraying mechanical arm and the movement of the spraying mechanical arm, such as the switching of the spray gun among workpieces to be sprayed on the three rotary tables;
the laser scanning thickness measuring device is used for measuring the thickness of a coating sprayed on the outer surface of a workpiece to be sprayed on line, and the method comprises the following steps: firstly, before spraying a workpiece, scanning the outline of the workpiece by using a laser scanning thickness measuring device to generate a three-dimensional image, namely a three-dimensional image A, in the process of coating the workpiece, scanning the outline of the workpiece sprayed with a coating by using the laser scanning thickness measuring device to generate a three-dimensional image, namely a three-dimensional image B, subtracting the three-dimensional image A from the three-dimensional image B to obtain the thickness of the coating on the surface of the current workpiece, finishing spraying when the obtained thickness of the coating on the surface of the current workpiece reaches the required thickness, and otherwise, continuing spraying, and measuring the thickness of the coating on the surface of the current workpiece by using the same method until the required thickness is met.
The feeding system is used for providing special functional coating, and the special functional coating is heat-proof coating, laser-resistant coating or stealthy coating.
An automatic coating method for an elastomer structure functional coating, which comprises the following steps:
(1) a workpiece to be sprayed slides onto the first rotary table through the first rail; the workpiece to be sprayed slides onto the second rotary table through the second rail; the workpiece to be sprayed slides onto the third rotary table through the second rail;
(2) the central control system controls the switch of a spray gun of the spraying mechanical arm and the switching of the spray gun among the workpieces to be sprayed on the three rotary tables;
(3) measuring the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed on line through a laser scanning thickness measuring device, and stopping spraying when the thickness meets the requirement;
(4) the spray gun is rotated to the waste liquid barrel through the central control system, the waste liquid barrel is utilized to clean the spray gun, and the automatic coating of the elastomer structure functional coating is completed.
Advantageous effects
(1) The invention combines the characteristics of the elastomer structure and the functional coating, and can realize high-quality rapid construction of the functional coating by utilizing a limited field through the optimized design of the automatic coating unit scheme of the functional coating of the elastomer structure, thereby solving the problems of capacity and automation of the automatic coating of the functional coating of the elastomer structure.
(2) The laser scanning thickness measuring device is integrated with a spraying mechanical arm, the appearance contour of a workpiece is scanned and a three-dimensional image is generated through transportation of the spraying mechanical arm and rotation of the workpiece, the coated workpiece is scanned after spraying operation, and the thickness of a coating at each position of the workpiece is obtained through subtraction. And the central control system analyzes the thickness result, judges whether the thickness result meets the requirements or not, transports the workpiece with the thickness meeting the requirements away from the coating unit, cleans the coating part of the spraying mechanical arm, prepares to coat the next workpiece, and continues to coat the workpiece when the thickness of the workpiece is insufficient.
(3) The invention can realize the continuous coating of the multi-functional coatings on the outer walls of a plurality of thin-wall revolving body workpieces in a spraying room with limited area, thereby improving the coating capacity;
(4) the non-contact measurement of the thickness of the coating in a wet film state is realized, and the curing waiting time of the coating in a paint spray booth is reduced;
(5) precise control of the thickness of the coating is achieved, thereby avoiding sanding of the coating.
Drawings
Fig. 1 is a layout view of a coating unit.
Detailed Description
An automatic coating unit for a functional coating of a projectile body structure comprises two workpiece conveying rails 5, wherein the middle and the end of each rail are respectively provided with a rotary table working position 3, a workpiece 1 is conveyed by the rails and is arranged at the rotary table working position 3, and the rotary table 3 drives the workpiece 1 to rotate; the feeding system 7 is used for preparing the coating and providing the spraying mechanical arm 2; the spraying mechanical arm 2 carries out coating operation on the outer surface of a workpiece, a laser scanning thickness measuring device 4 is integrated on the spraying mechanical arm, the workpiece with the thickness meeting the requirement is transported away from a coating unit, a waste liquid barrel is cleaned 6 at the spraying part of the spraying mechanical arm 2 to prepare for coating the next workpiece, coating is continued if the thickness of the workpiece is insufficient, and all operations in the coating unit are controlled and judged through a central control system 8.
The structure of the coating workpiece is a thin-wall revolving body cylinder or a conical shell section, the coating part is the outer wall, the coating is a large-thickness functional coating, and the workpiece is arranged on the positioning fixture so as to avoid the problems of collision damage and uncured coating damage which are possibly generated by directly transporting the workpiece.
The coating is a heat-proof coating, a laser-resistant coating, a stealth coating and other functional coatings, the thickness of the coating is more than or equal to 1mm, the actual drying time is more than 24 hours, and the single coating thickness is more than or equal to 100 mu m.
The workpiece is arranged on the rotary table station through the positioning fixture on the workpiece, the rotary table can start/stop rotating at any specified position in order to adapt to the size of the workpiece rotary table with different diameters, the rotary table rotates at a low speed, and the rotating speed is not higher than 100 revolutions per minute.
The laser scanning thickness measuring device comprises the following steps: the scanning device is integrated with the mechanical arm, the appearance contour of the workpiece is scanned and a three-dimensional image is generated through transportation of the mechanical arm and rotation of the workpiece, the coated workpiece is scanned after spraying operation, and the thickness of the coating at each position of the workpiece is obtained through subtraction.
The control content of the central control system comprises the start and stop of the ventilation/illumination of the spray booth, the transportation of workpieces, the rotation of the rotary table, the preparation and supply of paint, the coating operation of the mechanical arm, the thickness measurement of the thickness measurement system, the judgment of the coating result and the like.
An automatic coating method of an elastomer structure functional coating comprises the following steps: 3 revolving body workpieces provided with positioning clamps are respectively placed and transported on tracks and are respectively transported to 3 revolving platform stations through the tracks, the stations fix the workpieces on the revolving platform stations through the positioning clamps, the revolving platform stations start to rotate, the mechanical arm drives the thickness measuring device to respectively scan the appearances of the 3 workpieces and generate a three-dimensional model, after the scanning is finished, a feeding system configures coating and provides the coating to a coating machine mechanical arm, the coating machine mechanical arm carries out spraying operation on the outer walls of the workpieces of the 3 stations according to a set program, when the coating is sprayed to about 2/3 of the theoretical thickness, the thickness measuring device carries out scanning again on the appearances of the workpieces and generates the three-dimensional model, the difference of the first scanning result is reduced to obtain the thickness of the coating, a system judges the thickness of the coating and the number of times of coating, if the thickness of the coating meets the requirement, the coating system is cleaned, and, finishing the coating operation; and when the thickness of the coating is smaller than the required thickness, continuing to perform spraying, paying attention to coating according to the coating times which are still required according to the system prompt during spraying, and performing thickness measurement again when the coating times are close to the coating times until the thickness of the coating meets the requirement, thereby finishing the coating operation.
Examples
As shown in fig. 1, an automatic coating unit for functional coatings of elastomer structures comprises a spraying mechanical arm 2, three rotary tables 3, a laser scanning thickness measuring device 4, two rails 5, a waste liquid barrel 6, a feeding system 7, a central control system 8 and a spraying room 9; the two tracks 5 are respectively a first track and a second track, and the three turntables 3 are respectively a first turntable, a second turntable and a third turntable;
the spraying mechanical arm 2, the three rotary tables 3, the laser scanning thickness measuring device 4, the two rails 5, the waste liquid barrel 6 and the feeding system 7 are arranged in the spraying room 9, and the central control system 8 is arranged outside the spraying room 9;
a first rail and a second rail are arranged on the ground in the spraying room 9, the distance between the first rail and the second rail is 1.5-2 times of the diameter of the maximum workpiece to be sprayed, and the minimum distance is not less than 2 m;
a spraying mechanical arm 2 is arranged at the gap position of the first rail and the second rail, and a laser scanning thickness measuring device 4 is integrated on the spraying mechanical arm 2;
the first turntable is arranged on the first track, and the second turntable and the third turntable are arranged on the second track;
the workpiece 11 to be sprayed slides onto the first rotary table through the first track;
the workpiece 12 to be sprayed slides onto the second turntable through the second rail;
the workpiece 13 to be sprayed slides onto the third rotary table through the second track;
the three rotary tables 3 are respectively provided with a clamp for positioning a workpiece to be sprayed so as to avoid the problems of collision damage and uncured coating damage possibly caused by directly conveying the workpiece;
the feeding system 7 is arranged on one corner of the spraying room 9, and the feeding system 7 is connected with the spraying mechanical arm 2 through a pipeline;
the waste liquid barrel 6 is arranged near the spraying mechanical arm 2 and used for cleaning a spray gun of the spraying mechanical arm 2;
the feeding system 7 adopts a reciprocating piston type flowmeter;
the central control system 8 is used for transporting workpieces on the track;
the central control system 8 is used for controlling the laser scanning thickness measuring device 4 to measure the thickness and judging the thickness measured by the laser scanning thickness measuring device 4, and the judgment of the thickness means whether the thickness meets the requirement of the specified thickness;
the central control system 8 is used for controlling the feeding system 7 and comprises the opening and closing of the feeding system 7 and the output flow of the feeding system 7;
the central control system 8 is used for controlling the rotation of the three turntables 3;
the central control system 8 is also used for controlling the on-off of the spray gun of the spraying mechanical arm 2 and the movement of the spraying mechanical arm 2, such as the switching of the spray gun among the workpieces to be sprayed on the three rotary tables 3;
the laser scanning thickness measuring device 4 is used for measuring the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed on line, and the method comprises the following steps: firstly, before spraying a workpiece, scanning the outline of the workpiece by using a laser scanning thickness measuring device 4 to generate a three-dimensional image, namely a three-dimensional image A, in the process of coating the workpiece, scanning the outline of the workpiece sprayed with a coating by using the laser scanning thickness measuring device 4 to generate a three-dimensional image, namely a three-dimensional image B, subtracting the three-dimensional image A from the three-dimensional image B to obtain the thickness of the coating on the surface of the current workpiece, finishing spraying when the obtained thickness of the coating on the surface of the current workpiece reaches the required thickness, and otherwise, continuing spraying, and measuring the thickness of the coating on the surface of the current workpiece by using the same method until the requirement is met.
The feeding system 7 is used for providing special functional coating, and the special functional coating is heat-proof coating, laser-resistant coating or stealth coating.
An automatic coating method for an elastomer structure functional coating, which comprises the following steps:
(1) the workpiece 11 to be sprayed slides onto the first rotary table through the first track; the workpiece 12 to be sprayed slides onto the second turntable through the second rail; the workpiece 13 to be sprayed slides onto the third rotary table through the second track;
(2) the central control system 8 controls the switch of the spray gun of the spraying mechanical arm 2 and the switching of the spray gun among the workpieces to be sprayed on the three rotary tables 3;
(3) the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed is measured on line through the laser scanning thickness measuring device 4, and the spraying work is stopped when the thickness meets the requirement;
(4) the spray gun is rotated to the waste liquid barrel 6 through the central control system 8, the spray gun is cleaned by the waste liquid barrel 6, and automatic coating of the elastomer structure functional coating is completed.
Claims (1)
1. The utility model provides an automatic application unit of bullet structure function coating which characterized in that: the coating unit comprises a spraying mechanical arm (2), three rotary tables (3), a laser scanning thickness measuring device (4), two rails (5), a waste liquid barrel (6), a feeding system (7), a central control system (8) and a spraying room (9); the two tracks (5) are respectively a first track and a second track, and the three turntables (3) are respectively a first turntable, a second turntable and a third turntable;
the spraying mechanical arm (2), the three rotary tables (3), the laser scanning thickness measuring device (4), the two rails (5), the waste liquid barrel (6) and the feeding system (7) are arranged in the spraying room (9), and the central control system (8) is arranged outside the spraying room (9);
a first rail and a second rail are arranged on the ground in the spray room (9);
a spraying mechanical arm (2) is arranged at the gap position of the first rail and the second rail, and a laser scanning thickness measuring device (4) is integrated on the spraying mechanical arm (2);
the first turntable is arranged on the first track, and the second turntable and the third turntable are arranged on the second track;
the feeding system (7) adopts a reciprocating piston type flowmeter;
the laser scanning thickness measuring device (4) is used for measuring the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed on line;
the distance between the first rail and the second rail is 1.5-2 times of the maximum diameter of a workpiece to be sprayed, and the minimum distance is not less than 2 m;
the three rotary tables are all used for mounting workpieces to be sprayed;
the three rotary tables (3) are respectively provided with a clamp used for positioning a workpiece to be sprayed;
the feeding system (7) is arranged on one corner of the spraying room (9), and the feeding system (7) is connected with the spraying mechanical arm (2) through a pipeline;
the waste liquid barrel (6) is arranged near the spraying mechanical arm (2) and is used for cleaning a spray gun of the spraying mechanical arm (2);
the central control system (8) is used for transporting the workpieces on the track;
the central control system (8) is used for controlling the laser scanning thickness measuring device (4) to measure the thickness and judging the thickness measured by the laser scanning thickness measuring device (4), and the judgment of the thickness means whether the thickness meets the specified thickness requirement;
the central control system (8) is used for controlling the feeding system (7) and comprises the opening and closing of the feeding system (7) and the output flow of the feeding system (7);
the central control system (8) is used for controlling the rotation of the three turntables (3);
the central control system (8) is also used for controlling the on-off of a spray gun of the spraying mechanical arm (2) and the movement of the spraying mechanical arm (2), and the central control system (8) controls the switching of the spray gun among workpieces to be sprayed on the three rotary tables (3);
the method for measuring the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed on line by the laser scanning thickness measuring device (4) comprises the following steps: firstly, before spraying a workpiece, scanning the outline of the workpiece by using a laser scanning thickness measuring device (4) to generate a three-dimensional image, namely a three-dimensional image A, in the process of coating the workpiece, scanning the outline of the workpiece sprayed with a coating by using the laser scanning thickness measuring device (4) to generate a three-dimensional image, namely a three-dimensional image B, subtracting the three-dimensional image A from the three-dimensional image B to obtain the thickness of the coating on the surface of the current workpiece, finishing spraying when the thickness of the obtained coating on the surface of the current workpiece reaches the required thickness, and otherwise, continuing spraying, and measuring the thickness of the coating on the surface of the current workpiece by using the same method until the requirement is met;
the feeding system (7) is used for providing special functional coating, and the special functional coating is heat-proof coating, laser-resistant coating or stealth coating;
an automatic coating method of an elastomer structure functional coating comprises the following steps:
(1) a workpiece (11) to be sprayed slides onto the first rotary table through the first track; the workpiece (12) to be sprayed slides onto the second rotary table through the second track; the workpiece (13) to be sprayed slides onto the third rotary table through the second track;
(2) the central control system (8) is used for controlling the on-off of a spray gun of the spraying mechanical arm (2) and the switching of the spray gun among workpieces to be sprayed on the three rotary tables (3);
(3) the thickness of the coating sprayed on the outer surface of the workpiece to be sprayed is measured on line through a laser scanning thickness measuring device (4), and the spraying work is stopped when the thickness meets the requirement;
(4) the spray gun is rotated to the waste liquid barrel (6) through the central control system (8), the spray gun is cleaned by the waste liquid barrel (6), and automatic coating of the elastomer structure functional coating is completed.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106944295A (en) * | 2014-07-31 | 2017-07-14 | 盖克公司 | Active station and equipment for body surface processing |
| CN108816574A (en) * | 2018-07-23 | 2018-11-16 | 合肥工业大学 | A kind of robot automation's spray-painting production line work station towards large-scale assembling class furniture |
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| US3476082A (en) * | 1968-04-01 | 1969-11-04 | Aluminum Specialty Co | Electrostatic coating device |
| CN101718541B (en) * | 2008-12-30 | 2011-07-27 | 四川虹欧显示器件有限公司 | Automatic measuring device and method of coating layer ND direction film thickness |
| CN203155488U (en) * | 2013-02-07 | 2013-08-28 | 华南理工大学 | Full-automatic fluorescent powder coating equipment |
| KR101503169B1 (en) * | 2013-11-08 | 2015-03-17 | 정지만 | Car backdoor coating system |
| CN203969454U (en) * | 2014-07-25 | 2014-12-03 | 黑金刚（福建）自动化科技股份公司 | A kind of sole location and glue-spraying device of Dual-conveying tall band |
| EP3048181B1 (en) * | 2015-01-20 | 2018-12-19 | Sturm Maschinen- & Anlagenbau GmbH | Installation and method for producing a metallic coating on a workpiece |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106944295A (en) * | 2014-07-31 | 2017-07-14 | 盖克公司 | Active station and equipment for body surface processing |
| CN108816574A (en) * | 2018-07-23 | 2018-11-16 | 合肥工业大学 | A kind of robot automation's spray-painting production line work station towards large-scale assembling class furniture |
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