CN113578647B - Lens blacking equipment capable of limiting range - Google Patents

Lens blacking equipment capable of limiting range Download PDF

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Publication number
CN113578647B
CN113578647B CN202110965490.9A CN202110965490A CN113578647B CN 113578647 B CN113578647 B CN 113578647B CN 202110965490 A CN202110965490 A CN 202110965490A CN 113578647 B CN113578647 B CN 113578647B
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China
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plate
limiting
lens
star
shaped
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CN202110965490.9A
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CN113578647A (en
Inventor
苗强
陈冬
尹礼东
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ZHANGJIAGANG CITY OPTICAL INSTRUMENT CO Ltd
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ZHANGJIAGANG CITY OPTICAL INSTRUMENT CO Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C1/00Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
    • B05C1/02Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to separate articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05CAPPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00Means for manipulating or holding work, e.g. for separate articles
    • B05C13/02Means for manipulating or holding work, e.g. for separate articles for particular articles
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B1/00Optical elements characterised by the material of which they are made; Optical coatings for optical elements
    • G02B1/10Optical coatings produced by application to, or surface treatment of, optical elements

Abstract

The invention discloses lens blackening equipment capable of limiting a range, which comprises a supporting table, wherein a lens is clamped and arranged at the top end of the supporting table through a lifting plate and a fixing plate, star-shaped limiting wheels are clamped and arranged inside the lifting plate and the fixing plate, telescopic rods matched with the star-shaped limiting wheels are clamped and arranged on two sides of the lifting plate and the fixing plate, a first clamping plate and a second clamping plate are arranged above the supporting table, a telescopic mechanism is arranged on one side of the supporting table, a turnover plate is arranged on one side of the telescopic mechanism, a push-pull rod and an ink box are fixedly arranged on the front side of the turnover plate, and an ink head is arranged at the bottom end of the ink box. Has the beneficial effects that: through setting up the spacing wheel of two sets of star types to make first splint and second splint can drive the lens and rotate 45 degrees, can make the lens keep multiple orientation state like this, thereby make things convenient for the ink head to blacken the operation to it, telescopic machanism can be fast accurate drive the ink head and remove to the lens position, thereby improve work efficiency.

Description

Lens blacking equipment capable of limiting range
Technical Field
The invention relates to the technical field of lens ink coating, in particular to lens blackening equipment capable of limiting a range.
Background
Generally, in order to improve the image quality of a lens and reduce the influence of stray light reflection, the outer diameter or the end face of the lens is always required to be uniformly blackened by coating, an inking device is used in the blackening process, the existing inking device is expensive and complex in structure, and is not suitable for small and medium-sized processing enterprises, so that the enterprises still need to manually clamp the lens by workers and then apply ink, the inking method needs to manually hold the workers to control the inking range, the inking accuracy cannot be well guaranteed, and particularly some unskilled workers cannot control the inking range easily, so that troubles are brought to the inking work of the lenses by the workers.
Wherein, patent No. CN210252958U discloses a lens terminal surface that can inject scope blackens equipment, and this patent is through setting up footboard, rope, sliding sleeve, spring, motor, first splint, second splint, commentaries on classics handle, screw thread post and ink head to the realization is fixed spacingly to the lens, and utilizes the screw thread post to drive fly leaf and ink horn and remove, thereby blackens the lens, but this patent still has following defect when in-service use: 1. according to the lens clamping device, the two groups of clamping plates are driven to rotate by the motor, the rotating angle is difficult to control accurately in the actual operation process, and the first clamping plate is movably arranged, so that the first clamping plate and the second clamping plate are easily misaligned, and the lens cannot be clamped; 2. this patent drives the ink horn through the screw thread post and removes, however the lens in the in-service use is mostly arc structure, and the screw thread post can only carry out the horizontal migration of fixed direction to can't be to the arc even and comprehensive operation of blacking that carries on.
Disclosure of Invention
In view of the problems in the related art, the present invention provides a lens blackening apparatus capable of limiting the scope of the lens blackening process, so as to overcome the above technical problems in the related art.
Therefore, the invention adopts the following specific technical scheme:
a lens blacking device capable of limiting range comprises a supporting table, wherein a plurality of supporting legs are arranged at the bottom end of the supporting table, lenses are clamped and arranged at the top end of the supporting table through a lifting plate and a fixing plate, the lifting plate is connected with a pedal at the bottom of the supporting table through a sliding rod and a rope, star-shaped limiting wheels are horizontally and movably clamped and arranged in the lifting plate and the fixing plate, telescopic rods matched with the star-shaped limiting wheels are clamped and arranged on two sides of the lifting plate and two sides of the fixing plate, a rotating block is fixedly arranged at the top end of the star-shaped limiting wheel in the fixing plate, a first clamping plate is fixedly arranged at the top end of the rotating block, a second clamping plate is fixedly arranged at the bottom end of the star-shaped limiting wheel in the lifting plate, and lenses are clamped and arranged between the first clamping plate and the second clamping plate; one side of the supporting table is fixedly provided with a telescopic mechanism through a supporting plate, one side of the telescopic mechanism, which is close to the lens, is provided with a turnover plate, the front side of the turnover plate is fixedly provided with a push-pull rod and an ink box, and the bottom end of the ink box is provided with an ink head.
Further, in order to carry out spacingly to star type spacing wheel, the circumference outside equidistance of star type spacing wheel is provided with eight sets of arc recesses, and eight sets of arc recesses are the arc transition, and the telescopic link is close to one side of star type spacing wheel and sets up to spherical structure, and this telescopic link is kept away from one side joint of this star type spacing wheel and is provided with first spring.
Further, for the convenience of installing the lens, the draw-in groove with lens looks lock is all seted up to the one end that first splint and second splint are close to each other.
Furthermore, in order to ensure that the ink box does not deflect horizontally, the telescopic mechanism comprises a mounting plate fixedly connected with the top end of the supporting plate, a first transverse limiting plate and a first longitudinal limiting plate are respectively and hingedly arranged at the middle part and one side of the mounting plate, a second transverse limiting plate and a second longitudinal limiting plate are respectively and hingedly arranged at one ends, far away from the mounting plate, of the first transverse limiting plate and the first longitudinal limiting plate, one ends, far away from the mounting plate, of the second transverse limiting plate and the second longitudinal limiting plate are respectively and rotatably connected with the middle part and one side of the movable plate, and a turnover plate is hinged to the other end of the movable plate.
Further, in order to guarantee that the turnover plate drives the ink head to rotate by a certain angle, the movable clamping at the middle of the top end of the movable plate is provided with a movable block, the middle of the movable block is provided with a limiting rod in a penetrating mode, one end of the limiting rod is movably connected with the top end of the turnover plate, the middle of the limiting rod is provided with a limiting block, and the movable block is far away from one side of the limiting block and is provided with a second spring outside the limiting rod.
Furthermore, in order to adjust the rotating block conveniently, a plurality of holding rods are arranged on the outer side of the circumference of the rotating block at equal intervals.
The beneficial effects of the invention are as follows:
(1) The two groups of star-shaped limiting wheels are arranged and limited by the telescopic rod, so that the first clamping plate and the second clamping plate can drive the lens to rotate for 45 degrees, and the lens can be kept in multiple states such as horizontal, vertical and reverse rotation, and the blacking operation of the ink head is facilitated; the lifting plate is driven to lift through the pedal, so that the lens is conveniently clamped, and the telescopic mechanism can quickly and accurately drive the ink head to move to the position of the lens, so that the working efficiency is improved.
(2) The turnover plate is arranged, the limiting rod is arranged at the top of the turnover plate, the turnover plate is guaranteed to drive the ink head to rotate by a certain angle, the arc-shaped lens is evenly blackened, the turnover plate can be limited through the matching of the limiting block and the second spring, and the plane lens is evenly and quickly blackened.
(3) The two groups of transverse limiting plates and the two groups of longitudinal limiting plates interact with each other, so that the movable plate and the ink box can be ensured to perform deflection-free translation.
Drawings
FIG. 1 is an isometric view of a lens darkening apparatus capable of defining an area, according to embodiments of the invention;
FIG. 2 is a front view of a lens darkening apparatus capable of limiting the scope, according to embodiments of the present invention;
FIG. 3 is a top cross-sectional view of a star wheel in a lens darkening apparatus capable of limiting the scope, according to embodiments of the present invention;
FIG. 4 is a schematic structural diagram of a telescopic mechanism in the lens blackening apparatus capable of limiting the range according to the embodiment of the present invention;
fig. 5 is a partially enlarged view of a point a in fig. 4.
In the figure:
1. a support table; 2. supporting legs; 3. a lifting plate; 4. a fixing plate; 5. a lens; 6. a slide bar; 7. a rope; 8. a pedal; 9. a star-shaped limiting wheel; 10. a telescopic rod; 11. rotating the block; 12. a first splint; 13. a second splint; 14. a support plate; 15. a telescoping mechanism; 1501. mounting a plate; 1502. a first transverse limiting plate; 1503. a first longitudinal limiting plate; 1504. a second transverse limiting plate; 1505. a second longitudinal limiting plate; 1506. moving the plate; 16. a turnover plate; 17. a push-pull rod; 18. an ink cartridge; 19. an ink head; 20. a first spring; 21. a movable block; 22. a limiting rod; 23. a limiting block; 24. a second spring; 25. a holding rod.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments, as shown in fig. 1 to 5, a lens blackening device capable of limiting the range according to an embodiment of the invention includes a support table 1, a plurality of support legs 2 are arranged at the bottom end of the support table 1, a lens 5 is clamped and arranged at the top end of the support table 1 through a lifting plate 3 and a fixing plate 4, the lifting plate 3 is connected with a pedal 8 at the bottom of the support table 1 through a sliding rod 6 and a rope 7, star-shaped limiting wheels 9 are horizontally and movably clamped and arranged in the lifting plate 3 and the fixing plate 4, telescopic rods 10 matched with the star-shaped limiting wheels 9 are clamped and arranged at both sides of the lifting plate 3 and the fixing plate 4, a rotating block 11 is fixedly arranged at the top end of the star-shaped limiting wheels 9 in the fixing plate 4, a first clamping plate 12 is fixedly arranged at the top end of the rotating block 11, a second clamping plate 13 is fixedly arranged at the bottom end of the star-shaped limiting wheels 9 in the lifting plate 3, and a lens 5 is clamped and arranged between the first clamping plate 12 and the second clamping plate 13; a telescopic mechanism 15 is fixedly arranged on one side of the support table 1 through a support plate 14, a turnover plate 16 is arranged on one side of the telescopic mechanism 15 close to the lens 5, a push-pull rod 17 and an ink box 18 are fixedly arranged on the front side of the turnover plate 16, and an ink head 19 is arranged at the bottom end of the ink box 18.
By means of the scheme, the two groups of star-shaped limiting wheels 9 are arranged and limited by the telescopic rod 10, so that the first clamping plate 12 and the second clamping plate 13 can drive the lens 5 to rotate for 45 degrees, the lens 5 can be kept in multiple states such as horizontal, vertical and reverse rotation, and the blackening operation of the lens is facilitated by the ink head 19; the lifting plate 3 is driven to lift through the pedal 8, so that the lens 5 is conveniently clamped, and the telescopic mechanism 15 can quickly and accurately drive the ink head 19 to move to the position of the lens 5, so that the working efficiency is improved.
In one embodiment, eight sets of arc-shaped grooves are equidistantly arranged on the outer side of the circumference of the star-shaped limiting wheel 9, the eight sets of arc-shaped grooves are in arc transition, one side of the telescopic rod 10 close to the star-shaped limiting wheel 9 is arranged in a spherical structure, and one side of the telescopic rod 10 far away from the star-shaped limiting wheel 9 is provided with the first spring 20 in a clamping manner, so that the telescopic rod 10 is used for limiting the star-shaped limiting wheel 9.
In one embodiment, the ends of the first clamping plate 12 and the second clamping plate 13 close to each other are provided with a slot for fastening the lens 5, so as to facilitate the installation of the lens 5.
In one embodiment, the telescopic mechanism 15 includes a mounting plate 1501 fixedly connected to the top end of the supporting plate 14, a first transverse limiting plate 1502 and a first longitudinal limiting plate 1503 are respectively hinged to the middle portion and one side of the mounting plate 1501, a second transverse limiting plate 1504 and a second longitudinal limiting plate 1505 are respectively hinged to the ends of the first transverse limiting plate 1502 and the first longitudinal limiting plate 1503 away from the mounting plate 1501, the ends of the second transverse limiting plate 1504 and the second longitudinal limiting plate 1505 away from the mounting plate 1501 are respectively rotatably connected to the middle portion and one side of the moving plate 1506, and a turning plate 16 is hinged to the other end of the moving plate 1506, so as to ensure that the ink cartridge 18 can be translated without deflection.
In one embodiment, the movable clamping in the middle of the top end of the moving plate 1506 is provided with a movable block 21, the middle of the movable block 21 is provided with a limiting rod 22 in a penetrating manner, one end of the limiting rod 22 is movably connected with the top end of the turnover plate 16, the middle of the limiting rod 22 is provided with a limiting block 23, one side of the movable block 21 away from the limiting block 23 and the outside of the limiting rod 22 are provided with a second spring 24, so that the turnover plate 16 can be ensured to drive the ink head 19 to rotate by a certain angle.
In one embodiment, a plurality of holding rods 25 are equidistantly arranged on the outer circumference of the rotating block 11, so that the rotating block 11 can be conveniently adjusted.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical applications, the lifting plate 3 is driven to ascend by pressing the pedal 8 through the rope 7 (the principle that the lifting plate 3 is driven to ascend by the pedal 8 is disclosed in patent CN210252958U, which is not described herein too much), the lifting plate 3 ascends to drive the second clamping plate 13 to ascend, the lens 5 to be processed is placed on the first clamping plate 12, the pedal return spring is loosened to drive the lifting plate 3 to descend, and the lens 5 is clamped by the second clamping plate 13; the push-pull rod 17 is pulled to move towards the lens 5, the lens 5 is blackened by the ink head 19, when the arc-shaped surface of the lens 5 is blackened, only the push-pull rod 17 needs to be pressed, the push-pull rod 17 drives the turnover plate 16 to rotate reversely, so that the ink head 19 rotates reversely for a certain angle, the push-pull rod 17 is loosened, and the turnover plate 16 resets under the action of the limiting rod 22 and the second spring 24;
when the orientation angle of lens 5 needs to be adjusted, make the turning block 11 rotate through promoting holding rod 25, the turning block 11 drives star type spacing wheel 9 and rotates, star type spacing wheel 9 compression telescopic link 10 rotates 45 degrees, when the turning block 11 drives lens 5 and rotates to suitable position, telescopic link 10 stretches out and carries on spacingly to star type spacing wheel 9 under the drive of first spring 20 to the assurance is evenly blackened to a plurality of directions of lens.
In summary, according to the above technical solution of the present invention, two sets of star-shaped limiting wheels 9 are arranged and limited by the telescopic rod 10, so that the first clamping plate 12 and the second clamping plate 13 can drive the lens 5 to rotate 45 degrees, and thus the lens 5 can be kept in multiple states, such as horizontal, vertical and reverse, so as to facilitate the black painting operation of the ink head 19; drive lifter plate 3 through footboard 8 and go up and down to the convenience presss from both sides tightly lens 5, and telescopic machanism 15 can be fast accurate drive ink head 19 remove to lens 5 position, thereby improve work efficiency.
In addition, through setting up returning face plate 16 to set up gag lever post 22 at the top of returning face plate 16, thereby guarantee that returning face plate 16 drives the ink head 19 and rotates certain angle, and then evenly scribbles black to curved lens 5, wherein through stopper 23 and second spring 24's cooperation, can carry out spacingly to returning face plate 16, thereby guarantee to carry out even quick the blacking to plane lens 5.
In addition, the two sets of transverse limiting plates and the two sets of longitudinal limiting plates interact with each other, so that the moving plate 1506 and the ink box 18 can perform non-deflection translation, and compared with the existing screw rod driving, the moving speed of the ink box is higher and the ink box is more flexible.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The utility model provides a lens blacking equipment that can inject scope, includes a supporting bench, and this supporting bench's bottom is provided with a plurality of supporting legs, and this supporting bench's top is provided with the lens through lifter plate and fixed plate centre gripping, and this lifter plate is connected its characterized in that through the footboard of slide bar and rope with this supporting bench bottom:
star-shaped limiting wheels are horizontally movably clamped in the lifting plate and the fixed plate, telescopic rods matched with the star-shaped limiting wheels are clamped on two sides of the lifting plate and the fixed plate, a rotating block is fixedly arranged at the top end of the star-shaped limiting wheel in the fixed plate, a first clamping plate is fixedly arranged at the top end of the rotating block, a second clamping plate is fixedly arranged at the bottom end of the star-shaped limiting wheel in the lifting plate, and the lenses are clamped between the first clamping plate and the second clamping plate;
a telescopic mechanism is fixedly arranged on one side of the supporting table through a supporting plate, a turnover plate is arranged on one side of the telescopic mechanism close to the lens, a push-pull rod and an ink box are fixedly arranged on the front side of the turnover plate, and an ink head is arranged at the bottom end of the ink box; the telescopic mechanism comprises a mounting plate fixedly connected with the top end of the supporting plate, a first transverse limiting plate and a first longitudinal limiting plate are hinged to the middle of the mounting plate and one side of the mounting plate respectively, a second transverse limiting plate and a second longitudinal limiting plate are hinged to one ends, away from the mounting plate, of the first transverse limiting plate and the first longitudinal limiting plate respectively, one ends, away from the mounting plate, of the second transverse limiting plate and the second longitudinal limiting plate are connected with the middle of the moving plate and one side of the moving plate in a rotating mode respectively, and the other end of the moving plate is hinged to the turnover plate.
2. The lens blackening equipment capable of limiting the range of claim 1, wherein eight groups of arc-shaped grooves are equidistantly arranged on the outer side of the circumference of the star-shaped limiting wheel, and all the eight groups of arc-shaped grooves are arc-shaped transitions.
3. The lens blackening device capable of limiting the range of claims 1 or 2, wherein one side of the telescopic rod close to the star-shaped limiting wheel is provided with a spherical structure, and one side of the telescopic rod far from the star-shaped limiting wheel is provided with a first spring in a clamping manner.
4. The lens blackening device capable of limiting the range of claim 1, wherein the ends of the first clamping plate and the second clamping plate, which are close to each other, are provided with clamping grooves which are buckled with the lens.
5. The lens blackening device capable of limiting the range according to claim 1, wherein a movable block is movably clamped in the middle of the top end of the movable plate, a limiting rod penetrates through the middle of the movable block, one end of the limiting rod is movably connected with the top end of the turnover plate, a limiting block is arranged in the middle of the limiting rod, and a second spring is arranged on one side of the movable block, which is far away from the limiting block, and outside the limiting rod.
6. A lens blackening device capable of limiting the scope according to claim 1 or 5, wherein a plurality of holding rods are arranged at equal intervals outside the circumference of the rotating block.
CN202110965490.9A 2021-08-23 2021-08-23 Lens blacking equipment capable of limiting range Active CN113578647B (en)

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Application Number Priority Date Filing Date Title
CN202110965490.9A CN113578647B (en) 2021-08-23 2021-08-23 Lens blacking equipment capable of limiting range

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Application Number Priority Date Filing Date Title
CN202110965490.9A CN113578647B (en) 2021-08-23 2021-08-23 Lens blacking equipment capable of limiting range

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CN113578647B true CN113578647B (en) 2023-03-10

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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203664103U (en) * 2013-12-18 2014-06-25 东莞市康赛电子有限公司 Automatic optics lens inking machine and inking mechanisms thereof
CN203705669U (en) * 2014-01-13 2014-07-09 东莞市康赛电子有限公司 Optical lens semi-automatic ink coating machine and coating angle automatic adjusting mechanism thereof
CN105415382A (en) * 2015-12-21 2016-03-23 戴钢 Intelligent automobile body paint-spraying manipulator for automobile maintenance
WO2016068174A1 (en) * 2014-10-31 2016-05-06 ライフロボティクス株式会社 Multi-joint robot arm mechanism, inkjet printer, three-axis movement mechanism, hydraulic mechanism, and cable wiring mechanism
CN210252958U (en) * 2019-06-26 2020-04-07 成都市新都风华光学机械厂 Lens terminal surface blacking equipment capable of limiting range
CN210476717U (en) * 2019-09-11 2020-05-08 天津小泉精密金属制品有限公司 Clamping and overturning device for machining zoom lens
CN211279198U (en) * 2019-12-18 2020-08-18 福州金珂光学科技有限公司 Fixture is used in lens processing
CN111993213A (en) * 2020-09-03 2020-11-27 安徽泾县通达光学仪器有限公司 Method and device for grinding optical lens
CN112354763A (en) * 2020-11-09 2021-02-12 马鞍山远荣机器人智能装备有限公司 Spraying robot based on visual identification location
CN112871512A (en) * 2021-02-07 2021-06-01 黄河交通学院 Universal machine is with bulb spare spraying equipment that has assistance-localization real-time structure
CN213435323U (en) * 2020-09-28 2021-06-15 宜昌华中睿智光学有限公司 Lens ink coating device

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203664103U (en) * 2013-12-18 2014-06-25 东莞市康赛电子有限公司 Automatic optics lens inking machine and inking mechanisms thereof
CN203705669U (en) * 2014-01-13 2014-07-09 东莞市康赛电子有限公司 Optical lens semi-automatic ink coating machine and coating angle automatic adjusting mechanism thereof
WO2016068174A1 (en) * 2014-10-31 2016-05-06 ライフロボティクス株式会社 Multi-joint robot arm mechanism, inkjet printer, three-axis movement mechanism, hydraulic mechanism, and cable wiring mechanism
JP2016087718A (en) * 2014-10-31 2016-05-23 ライフロボティクス株式会社 Multi-joint robot arm mechanism, inkjet printer, triaxial movement mechanism, hydraulic mechanism, and cable wiring mechanism
TW201622912A (en) * 2014-10-31 2016-07-01 生活機器人學股份有限公司 Multijoint robot arm mechanism, ink jet printer, triaxial moving mechanism, hydraulic mechanism, and cable wiring mechanism
CN105415382A (en) * 2015-12-21 2016-03-23 戴钢 Intelligent automobile body paint-spraying manipulator for automobile maintenance
CN210252958U (en) * 2019-06-26 2020-04-07 成都市新都风华光学机械厂 Lens terminal surface blacking equipment capable of limiting range
CN210476717U (en) * 2019-09-11 2020-05-08 天津小泉精密金属制品有限公司 Clamping and overturning device for machining zoom lens
CN211279198U (en) * 2019-12-18 2020-08-18 福州金珂光学科技有限公司 Fixture is used in lens processing
CN111993213A (en) * 2020-09-03 2020-11-27 安徽泾县通达光学仪器有限公司 Method and device for grinding optical lens
CN213435323U (en) * 2020-09-28 2021-06-15 宜昌华中睿智光学有限公司 Lens ink coating device
CN112354763A (en) * 2020-11-09 2021-02-12 马鞍山远荣机器人智能装备有限公司 Spraying robot based on visual identification location
CN112871512A (en) * 2021-02-07 2021-06-01 黄河交通学院 Universal machine is with bulb spare spraying equipment that has assistance-localization real-time structure

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