CN110270451B - Automatic change paint finishing - Google Patents
Automatic change paint finishing Download PDFInfo
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- CN110270451B CN110270451B CN201910350177.7A CN201910350177A CN110270451B CN 110270451 B CN110270451 B CN 110270451B CN 201910350177 A CN201910350177 A CN 201910350177A CN 110270451 B CN110270451 B CN 110270451B
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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
Abstract
The invention provides an automatic spraying system which comprises a feeding device, a plurality of spraying devices and a plurality of material grabbing devices, wherein the material grabbing devices are close to the feeding device, are matched with the spraying devices and are used for grabbing workpieces from the feeding device and conveying the workpieces to the corresponding spraying devices. When the workpiece is arranged on the feeding device, the plurality of material grabbing devices grab the workpiece in one of the following modes: (1) selecting a material grabbing device in an idle state to grab a workpiece, setting a priority order for a plurality of material grabbing devices, and grabbing the workpiece by the plurality of material grabbing devices in the idle state according to the priority order when the plurality of material grabbing devices are in the idle state; (2) a plurality of material grabbing devices grab the workpieces circularly; (3) and identifying the workpiece, and selecting a material gripping device matched with the workpiece to grip the workpiece according to the identification result. The automatic spraying system is reasonable in layout, and unnecessary waste is avoided.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to an automatic spraying system.
Background
Electrostatic spraying is a spraying method which utilizes a high-voltage electrostatic electric field to make negatively charged paint particles directionally move along the direction opposite to the electric field and adsorb the paint particles on the surface of a workpiece. The electrostatic spraying technology has wide application range because a thicker coating can be obtained by one-time coating. Along with the development of society, the degree of automation is higher and higher, and the application of spraying production line is also wider and wider to go deep into a plurality of fields of national economy. The spraying equipment on the market can be divided into the following according to the degree of automation: manual spraying equipment, semi-automatic spraying equipment and full-automatic spraying equipment. The existing automatic spraying system generally conveys a workpiece to a spraying station, paint is sprayed on the workpiece by using spraying equipment, and then the workpiece enters a curing chamber to be cured in an illumination mode, so that a finished product is finally obtained. However, the spraying method has low efficiency, low utilization rate of equipment and waste of equipment cost.
Disclosure of Invention
Therefore, an automatic spraying system with high spraying efficiency and high equipment utilization rate is needed.
The embodiment of the invention provides an automatic spraying system which comprises a feeding device, a plurality of spraying devices and a plurality of material grabbing devices, wherein the material grabbing devices are adjacent to the feeding device, are matched with the spraying devices and are used for grabbing workpieces from the feeding device and conveying the workpieces to the corresponding spraying devices; when the workpiece is arranged on the feeding device, the plurality of material grabbing devices grab the workpiece in one of the following modes:
(1) selecting a material grabbing device in an idle state to grab a workpiece, setting a priority order for the material grabbing devices, and grabbing the workpiece according to the priority order by the material grabbing devices in the idle state when the material grabbing devices are in the idle state;
(2) the material grabbing devices grab workpieces circularly;
(3) and identifying the workpiece, and selecting a material gripping device matched with the workpiece to grip the workpiece according to an identification result.
Preferably, each material grabbing device is matched with a plurality of corresponding spraying devices, and the material grabbing devices grab workpieces from the feeding devices and respectively convey the workpieces to the spraying devices; or
Each material grabbing device is matched with one corresponding spraying device, a plurality of spraying stations are arranged on each spraying device, and the material grabbing devices grab workpieces from the feeding devices and respectively convey the workpieces to the spraying stations.
Preferably, the feeding device comprises a base, a plurality of driving rollers and a first motor, the plurality of driving rollers are arranged on the base, the first motor drives the plurality of driving rollers to rotate around the axes of the driving rollers, and a gap is formed between every two adjacent driving rollers;
the first end of loading attachment is fixed with positioner, positioner includes conveying piece, setting element and location driving piece, the setting element is formed with and is located last location frame of loading attachment, conveying piece is located in the clearance, the location driving piece with conveying piece is connected, the drive of location driving piece conveying piece to setting element conveying work piece.
Preferably, a positioning device is fixed at a first end of the feeding device, the positioning device comprises a driving wheel, a driven wheel, a conveying belt, a second motor and a positioning rod, an output shaft of the second motor is connected with the driving wheel, the belt is wound around the driving wheel and the driven wheel, and the highest point of the conveying belt is higher than or flush with the highest point of the transmission roller.
Preferably, the positioning rod comprises a first positioning rod and a second positioning rod, the first positioning rod and the second positioning rod are fixed on the base, and projections of the first positioning rod and the second positioning rod on the horizontal plane form an included angle, and the included angle faces the direction of the feeding device.
Preferably, the spraying device comprises a first spraying device and a second spraying device;
the first spraying device comprises a first spraying robot and two first sliding material tables arranged at intervals, the first spraying robot is positioned between the two first sliding material tables, and the first conveying manipulator is positioned between the first sliding material table and the feeding device; and/or
The second spraying device comprises a second spraying robot and two second sliding material tables arranged at intervals, the second spraying robot is located between the two second sliding material tables, and the second conveying manipulator is located between the second sliding material tables and the feeding device.
Preferably, the first sliding material table comprises a sliding guide rail and a sliding seat, and the sliding seat is connected to the sliding guide rail in a sliding manner.
Preferably, an electromagnet is fixed on the sliding seat, and the electromagnet is intermittently electrified.
Preferably, the spraying device comprises a first spraying device and a second spraying device;
the first spraying device further comprises a first waste recovery tank, the first end of the first sliding material table is arranged close to the first conveying manipulator, and the second end of the first sliding material table is positioned at the upper part of the first waste recovery tank; and/or the presence of a gas in the gas,
the second spraying device further comprises a second waste recovery tank, the first end of the second sliding material table is close to the second conveying mechanical arm, and the second end of the second sliding material table is located on the upper portion of the second waste recovery tank.
Preferably, the automatic spraying system further comprises a discharging device, wherein the discharging device is close to the first end of the feeding device and is positioned between the first spraying device and the second spraying device.
The same feeding device and the same discharging device serve a plurality of conveying manipulators simultaneously, so that the use efficiency of the feeding device and the discharging device is increased, one conveying manipulator and one spraying robot can serve a plurality of stations respectively positioned at two sides of the conveying manipulator and the spraying robot simultaneously, and the use efficiency of the conveying manipulator and the spraying robot is improved; through the reasonable layout of the structure of the automatic spraying system, the utilization rate of equipment is increased, the equipment cost is reduced, and the spraying efficiency is improved.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic top view of an automated coating system according to a preferred embodiment of the present invention;
FIG. 2 is a schematic top view of an automated coating system according to another preferred embodiment of the present invention;
FIG. 3 is an overall block diagram of an automated spray system according to a preferred embodiment of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
fig. 5 is an enlarged view of a first sliding material table according to a preferred embodiment of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, an automatic spraying system according to an embodiment of the present invention includes a feeding device 1, a plurality of spraying devices, and a plurality of material gripping devices, which are adjacent to the feeding device and cooperate with the plurality of spraying devices, for gripping a workpiece from the feeding device 1 and transferring the workpiece to the corresponding spraying devices. When the workpiece is arranged on the feeding device, the plurality of material grabbing devices grab the workpiece in one of the following modes:
(1) selecting a material grabbing device in an idle state to grab a workpiece, setting a priority order for a plurality of material grabbing devices, and grabbing the workpiece by the plurality of material grabbing devices in the idle state according to the priority order when the plurality of material grabbing devices are in the idle state;
(2) a plurality of material grabbing devices grab the workpieces circularly;
(3) and identifying the workpiece, and selecting a material gripping device matched with the workpiece to grip the workpiece according to the identification result.
A loading attachment serves a plurality of material grabbing device simultaneously, prior art relatively has saved loading attachment, and has improved the efficiency of material loading.
In a preferred embodiment, each material gripping device cooperates with a plurality of corresponding spraying devices, and the material gripping devices grip the workpiece from the feeding device and transfer the workpiece to the plurality of spraying devices, respectively. In another preferred embodiment, each material gripping device is matched with a corresponding spraying device, a plurality of spraying stations are arranged on each spraying device, and the material gripping devices grip workpieces from the feeding devices and respectively convey the workpieces to the plurality of spraying stations. A material handling device serves a plurality of painting devices or stations simultaneously, the material handling device placing workpieces to the painting stations/devices in one of the following ways:
(1) the material grabbing device firstly places a workpiece to a first spraying station/device which sends a service request, priorities are set for a plurality of spraying stations/devices, and when the plurality of spraying stations/devices send the service request at the same time, the workpiece is placed to the plurality of spraying stations/devices according to the priority sequence;
(2) the material grabbing device alternately places workpieces to the plurality of spraying material platforms in sequence.
(3) And identifying the workpiece, and selecting to place the workpiece to a spraying station/device matched with the workpiece according to an identification result.
Compared with the prior art, the system can save equipment and fields and also greatly improve the working efficiency.
In a preferred embodiment, the spraying device comprises a spraying robot and a plurality of spraying stations, the plurality of spraying stations are positioned on the peripheral side of the spraying robot, and the spraying robot sprays the workpiece positioned on the spraying stations in one of the following manners;
(1) the spraying robot sprays the workpiece on the first station which sends a request, and if a plurality of stations send requests simultaneously, the workpieces are sprayed according to the priority sequence;
(2) the spraying robot alternately sprays the workpieces in sequence.
In a preferred embodiment, the spraying device comprises a spraying robot and two spraying material tables, the spraying material tables comprise sliding guide rails and sliding seats, the sliding seats are connected with the guide rails in a sliding mode, and the material grabbing device, the spraying robot and the spraying material tables cooperate according to one of the following cooperation modes:
(1) the material grabbing device places the workpieces on the sliding seat in a set mode, the sliding seat slides to a set spraying position, the spraying robot sprays the first workpiece reaching the spraying position, and if a plurality of workpieces reach the spraying position at the same time, the spraying robot sprays according to a preset priority sequence;
(2) the material grabbing device places the workpieces on the sliding seat according to a set mode, the sliding seat slides to a set spraying position, and the spraying robot alternately sprays the workpieces in sequence.
In the preferred embodiment, the material grasping apparatus includes a first transfer robot 51 and a second transfer robot 52, the painting apparatus includes a first painting apparatus 21 and a second painting apparatus 22, the first transfer robot 51 is located between the first painting apparatus 21 and the loading apparatus 1, and the first transfer robot 51 takes the workpiece from the loading apparatus 1 and places the workpiece on the first painting apparatus 21. The second conveying manipulator 52 is positioned between the second spraying device 22 and the feeding device 1, the second conveying manipulator 52 takes workpieces from the feeding device 1 and places the workpieces on the second spraying device 22, and one feeding device 1 serves the first conveying manipulator 51 and the second conveying manipulator 52 at the same time, so that the utilization rate of the feeding device 1 is improved.
In the preferred embodiment, the first spraying device 21 and the second spraying device 22 are respectively located at two sides of the feeding device 1 and near the first end of the feeding device 1 (the first end of the feeding device 1 is located at the downstream of the feeding device 1), and the workpiece conveyed by the feeding device 1 is simultaneously supplied to the first spraying device 21 and the second spraying device 22 for use, so that compared with the prior art in which one feeding device 1 serves one spraying device 2, the embodiment of the present invention saves one feeding device 1.
Referring to fig. 3 and 4, in a preferred embodiment, the feeding device 1 includes a base 10, a plurality of driving rollers 11 and a first motor (not shown), the plurality of driving rollers 11 are disposed on the base 10, the first motor drives the plurality of driving rollers 11 to rotate around their own axes, and the driving rollers 11 rotate to drive the workpiece to move toward the first end of the feeding device 1. Further, there is the chain drive between the adjacent driving roller 11, makes all driving rollers 11 synchronous revolution, and first motor drives a plurality of driving rollers 11 and rotates around its own axle center. A gap is provided between adjacent driving rollers 11. Referring to fig. 4, a positioning device is fixed to the first end of the loading device 1, and is used to position the workpiece after the workpiece is transferred to the first end of the loading device 1, so that the first transfer robot 51 can more accurately grasp the workpiece. The positioning device comprises a conveying piece 12, a positioning piece 13 and a positioning driving piece, a positioning frame located on the feeding device 1 is formed on the positioning piece 13, the conveying piece 12 is located in the gap, the positioning driving piece is connected with the conveying piece 12, and the positioning driving piece drives the conveying piece 12 to convey workpieces to the positioning piece 13. The shape of the positioning frame is matched with the shape and size of one side of the workpiece close to the positioning frame, and the workpiece is moved to the position of the positioning frame of the positioning piece 13, so that the position change can not occur any more, and the positioning is finished. The positioning frame is provided with a sensor, when the workpiece is positioned by the positioning piece 13, the sensor transmits a signal to a controller of the system, the controller gives an instruction to the first transmission manipulator 51, and the first transmission manipulator 51 grabs the workpiece and places the workpiece on an empty station.
Referring to fig. 4, in a preferred embodiment, a positioning device is fixed at a first end of the feeding device 1, and the positioning device includes a driving wheel 121, a driven wheel 122, a transmission belt 123, a second motor, and a positioning rod, wherein the driving wheel 121, the driven wheel 122, and the transmission belt 123 are provided in plurality. In this embodiment, the second motor is the positioning driving member. An output shaft of the second motor is connected with the driving wheel 121, the belt is wound around the driving wheel 121 and the driven wheel 122, the output shaft of the second motor is connected with the driving wheel 121, the motor drives the driving wheel 121 to rotate, and the transmission belt 123 tensioned by the driving wheel 121 and the driven wheel 122 also rotates along with the driving wheel 121. The highest point of the conveyor belt 123 is higher than or flush with the highest point of the driving roller 11. The conveyor belt 123 can contact with the workpiece and generate friction force, so as to drive the workpiece to move towards the direction close to the positioning member 13
In a preferred embodiment, the positioning rod includes a first positioning rod 131 and a second positioning rod 132, the first positioning rod 131 and the second positioning rod 132 are fixed on the base 10, a projection of the first positioning rod 131 and the second positioning rod 132 on a horizontal plane has an included angle, the included angle faces to the direction of the feeding device 1, and a space between the first positioning rod 131 and the second positioning rod 132 is a positioning frame.
Referring to fig. 2, in the preferred embodiment, a conveyor 7 and a loading robot 8 are provided adjacent to the second end of the loading device 1 (upstream of the loading device 1 is the second end of the loading device 1 from which workpieces are moved toward the first end of the loading device 1), and the loading robot 8 is provided adjacent to the loading device 1 and the conveyor 7. In this embodiment, the conveying device 7 is a conveying chain, the workpieces are hung on the conveying chain and conveyed to the second end of the feeding device 1, the feeding manipulator 8 takes the workpieces from the chain and places the workpieces at the second end of the feeding device 1, the feeding device 1 conveys the workpieces to the first end of the feeding device 1, and the workpieces are positioned by the positioning device and then placed on the spraying station of the spraying device 2 by the conveying manipulator 8.
Referring to fig. 1-3, in the preferred embodiment, the first painting device 21 includes a first painting robot 41 and two first sliding material tables 211 spaced apart from each other, the first sliding material tables 211 having a painting station disposed thereon. The first painting robot 41 is located between the two first sliding material tables 211, the first transfer robot 51 is located between the first sliding material tables 211 and the loading device 1, and the first painting robot 41 and the first transfer robot 51 serve the two first sliding material tables 211 at the same time. Compared with the existing spraying system, the spraying system saves one spraying robot and one conveying manipulator. The second spraying device 22 comprises a second spraying robot 42 and two second sliding material tables 221 arranged at intervals, a spraying station is also arranged on each second sliding material table 221, the second spraying robot 42 is located between the two second sliding material tables 221, the second conveying manipulator 52 is located between the second sliding material tables 221 and the feeding device 1, and the second spraying robot 42 and the second conveying manipulator 52 serve the two second sliding material tables 221 simultaneously. Compared with the existing spraying system, the spraying system saves a spraying robot and a conveying manipulator.
Referring to fig. 5, in the preferred embodiment, the first sliding material table 211 includes a support frame 2111, a sliding guide 2112 and a sliding seat 2113, the sliding guide 2112 is fixed on the support frame 2111, and the sliding seat 2113 is slidably connected to the sliding guide 2112.
In the preferred embodiment, an electromagnet 2114 is secured to the slide shoe 2113, and the electromagnet 2114 is energized intermittently. Furthermore, the electromagnet 2114 is an electric permanent magnet, and the electric permanent magnet is used without electrifying the electromagnet all the time, so that the use is more convenient. The workpiece is metal with magnetic attraction performance, and the workpiece is fixed by the magnet in an adsorption mode. Before the workpiece is placed on the electromagnet 2114, the electromagnet 2114 is electrified, the workpiece is adsorbed on the electromagnet 2114, and the workpiece is more stable and prevented from falling off; after the spraying is finished, when the workpiece needs to be grabbed by the first conveying manipulator 51 or the second conveying manipulator 52, the electromagnet 2114 is powered off, and the workpiece grabbing by the conveying manipulator is facilitated.
In the preferred embodiment, the first spray coating device 21 further includes a first scrap collecting receptacle 61, a first end of the first sliding material table 211 is disposed adjacent to the first transfer robot 51, and a second end of the first sliding material table 211 is disposed at an upper portion of the first scrap collecting receptacle 61. The workpiece is placed on the slide seat 2113 by the first transfer robot 51, and the slide seat 2113 is slid to above the first scrap collecting tank 61, and the painting operation is performed. When the workpiece is sprayed, redundant waste materials fall into the first waste material recovery tank 61, and pollution is reduced. The second spray coating device 22 further includes a second waste recovery tank 62, a first end of the second sliding material table 221 is disposed near the second transfer robot 52, and a second end of the second sliding material table 221 is located at an upper portion of the second waste recovery tank 62. The second scrap collecting receptacle 62 functions in the same manner as the first scrap collecting receptacle 61.
Referring to fig. 2, in a preferred embodiment, the automated spray coating system further comprises a discharge device 3, the discharge device 3 being located near the first end of the loading device 1 and between the first spray coating device 21 and the second spray coating device 22. The first transfer robot 51 and the second transfer robot 52 take the painted workpiece off and place it on the discharging device 3.
The same feeding device and the same discharging device serve a plurality of conveying manipulators simultaneously, so that the use efficiency of the feeding device and the discharging device is increased, one conveying manipulator and one spraying robot can serve a plurality of stations respectively positioned at two sides of the conveying manipulator and the spraying robot simultaneously, and the use efficiency of the conveying manipulator and the spraying robot is improved; through the reasonable layout of the structure of the automatic spraying system, the utilization rate of equipment is increased, the equipment cost is reduced, and the spraying efficiency is improved.
The above examples only express specific embodiments of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An automatic spraying system is characterized by comprising a feeding device, a plurality of spraying devices and a plurality of material grabbing devices, wherein the material grabbing devices are adjacent to the feeding device, are matched with the spraying devices and are used for grabbing workpieces from the feeding device and conveying the workpieces to the corresponding spraying devices;
the multiple spraying devices comprise a first spraying device and a second spraying device, and the multiple material grabbing devices comprise a first conveying manipulator and a second conveying manipulator;
the first spraying device comprises a first spraying robot and two first sliding material tables arranged at intervals, the first spraying robot is positioned between the two first sliding material tables, and the first conveying manipulator is positioned between the first sliding material table and the feeding device; and/or the presence of a gas in the gas,
the second spraying device comprises a second spraying robot and two second sliding material tables arranged at intervals, the second spraying robot is positioned between the two second sliding material tables, and the second conveying manipulator is positioned between the second sliding material table and the feeding device;
when the workpiece is arranged on the feeding device, the plurality of material grabbing devices grab the workpiece in one of the following modes:
(1) selecting a material grabbing device in an idle state to grab a workpiece, setting a priority order for the material grabbing devices, and grabbing the workpiece according to the priority order by the material grabbing devices in the idle state when the material grabbing devices are in the idle state;
(2) the material grabbing devices grab workpieces circularly;
(3) and identifying the workpiece, and selecting a material gripping device matched with the workpiece to grip the workpiece according to an identification result.
2. The automated spray system of claim 1, wherein each of said material grasping devices cooperates with a plurality of corresponding spray devices, said material grasping devices grasping a workpiece from said feeding device and delivering the workpiece to said plurality of spray devices, respectively; or
Each material grabbing device is matched with one corresponding spraying device, a plurality of spraying stations are arranged on each spraying device, and the material grabbing devices grab workpieces from the feeding devices and respectively convey the workpieces to the spraying stations.
3. The automatic spraying system of claim 1, wherein the feeding device comprises a base, a plurality of driving rollers and a first motor, the plurality of driving rollers are arranged on the base, the first motor drives the plurality of driving rollers to rotate around their own axes, and a gap is arranged between adjacent driving rollers;
the first end of loading attachment is fixed with positioner, positioner includes conveying piece, setting element and location driving piece, the setting element is formed with and is located last location frame of loading attachment, conveying piece is located in the clearance, the location driving piece with conveying piece is connected, the drive of location driving piece conveying piece to setting element conveying work piece.
4. The automatic spraying system of claim 3, wherein a positioning device is fixed at a first end of the feeding device, the positioning device comprises a driving wheel, a driven wheel, a conveyor belt, a second motor and a positioning rod, an output shaft of the second motor is connected with the driving wheel, the conveyor belt is wound around the driving wheel and the driven wheel, and the highest point of the conveyor belt is higher than or flush with the highest point of the transmission roller.
5. The automatic spraying system of claim 4, wherein the positioning rod comprises a first positioning rod and a second positioning rod, the first positioning rod and the second positioning rod are fixed on the base, and a projection of the first positioning rod and the second positioning rod on a horizontal plane has an included angle, and the included angle faces the direction of the feeding device.
6. The automated spray system of claim 5, wherein the first sliding material table comprises a sliding guide rail and a sliding base, the sliding base being slidably coupled to the sliding guide rail.
7. The automated spray system of claim 6, wherein an electromagnet is secured to the slide block, the electromagnet being intermittently energized.
8. The automated spray system of claim 7, wherein the spray device comprises a first spray device and a second spray device;
the first spraying device further comprises a first waste recovery tank, the first end of the first sliding material table is arranged close to the first conveying manipulator, and the second end of the first sliding material table is positioned at the upper part of the first waste recovery tank; and/or the presence of a gas in the gas,
the second spraying device further comprises a second waste recovery tank, the first end of the second sliding material table is close to the second conveying mechanical arm, and the second end of the second sliding material table is located on the upper portion of the second waste recovery tank.
9. The automated spray system of claim 1, further comprising a discharge device proximate the first end of the loading device and between the first spray device and the second spray device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350177.7A CN110270451B (en) | 2019-04-28 | 2019-04-28 | Automatic change paint finishing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350177.7A CN110270451B (en) | 2019-04-28 | 2019-04-28 | Automatic change paint finishing |
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| CN110270451A CN110270451A (en) | 2019-09-24 |
| CN110270451B true CN110270451B (en) | 2021-06-15 |
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| CN110787933A (en) * | 2019-10-25 | 2020-02-14 | 苏师大半导体材料与设备研究院(邳州)有限公司 | Manufacturing equipment for spray-coating type pipeline |
| CN111880500B (en) * | 2020-07-29 | 2021-06-25 | 广东韶钢松山股份有限公司 | Steelmaking sample processing method and device based on processing system and processing system |
| CN112346417A (en) * | 2020-10-20 | 2021-02-09 | 歌尔光学科技有限公司 | Production line system and control method and device thereof |
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| CN110270451A (en) | 2019-09-24 |
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Effective date of registration: 20220722 Address after: No.84 Dongyong section of Shinan highway, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU ZEHENG INDUSTRIAL CO.,LTD. Address before: No.84 Dongyong section of Shinan highway, Dongyong Town, Nansha District, Guangzhou City, Guangdong Province Patentee before: Guangdong Zeheng Intelligent Technology Co.,Ltd. |