CN202219881U - Automatic curved surface coating equipment - Google Patents
Automatic curved surface coating equipment Download PDFInfo
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- CN202219881U CN202219881U CN2011203055671U CN201120305567U CN202219881U CN 202219881 U CN202219881 U CN 202219881U CN 2011203055671 U CN2011203055671 U CN 2011203055671U CN 201120305567 U CN201120305567 U CN 201120305567U CN 202219881 U CN202219881 U CN 202219881U
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Abstract
The utility model belongs to the technical field of surface coating and particularly relates to automatic curved surface coating equipment capable of automatically accomplishing the coating process of the curved surface. The automatic curved surface coating equipment consists of a material conveying device and a film conveying device which are arranged on a rack, wherein the material conveying device comprises a mechanical arm for clipping the material and a mechanical arm motion mechanism for driving the mechanical arm to move, the film conveying device consists of a film frame for fixing the film and a film horizontal motion mechanism for driving the film to move, a position measuring device fixed on the rack is arranged on the motion trajectory of the material conveying device and the film conveying device, the film conveying device is arranged in a water tank, the material conveying device, the film conveying device and the measuring device are connected with a computer control device and are controlled by the computer control device, and an activator sprinkling device is also arranged on the rack. The utility model provides the curved surface coating equipment capable of coating the curved surface of the material in an automatic production way.
Description
[technical field]
The utility model belongs to song coating technical field, relates in particular to the curved draped equipment of automation that can accomplish curved draped process automatically.
[background technology]
The water transfer technique is to utilize hydraulic pressure the transfer paper/plastic film of colored pattern to be carried out a kind of printing of macromolecule hydrolysis.Along with people's is to the improve of the requirement of the packing of product and decoration, and the purposes of water transfer printing more and more widely.The principle of its indirect printing and perfect printing effect have solved the difficult problem that many product surfaces are decorated, and are mainly used in the transfer printing of all kinds of plastic cement, five metals, pottery, glass etc.The water transfer technique has two types, and a kind of is the water gauge transfer technique, and another kind is a water coating transfer technique.The former mainly accomplishes the transfer printing of literal and description pattern, and the latter then tends to carry out complete transfer printing on the entire product surface.Coating transfer technique (Cubic Transfer) uses the water-based film in a kind of the dissolving easily in water to carry picture and text.Because water coating memberane stress is splendid, be easy to be wound in product surface and form the picture and text layer,, product surface obtains distinct outward appearance just as spraying paint.Be coated on the workpiece of Any shape, solve the problem of stereo product printing for the manufacturer.Curved drapedly also can add different lines, like dermatoglyph at product surface. wood grain. emerald line and marble line etc., also can avoid normal existing diastema in the general space of a whole page stamp simultaneously.And in printing-flow,, can avoid damaging product surface and integraty thereof because product surface does not need to contact with print film.But now in the water transfer technique field; Equipment such as the several basins of device just that adopt, air pump can be produced; And technological technology implementation is wherein undertaken by manual fully; Cause it to have a lot of uncertain factors, for example: pattern position is inaccurate, many quality problems such as pattern adhesion-tight degree varies.What be even more important is exactly in the present water transfer printing industry, and the quality of product relies on self skill level of operator fully, therefore no matter is the quality that the position printed of pattern or product are printed, and all has bigger difference.This species diversity then relies on fully entrusts producer and client's tolerance to solve, and has therefore also formed an abnormal phenomenon in the modern industry product.And need use curved draped technology to beautify along with the rising and the large-tonnage product of cost of labor this year, the problem that curved draped productive costs height and production efficiency are low also seems more outstanding.Above-mentioned technical matters exist always with industry in, but the very effective technical solution of neither one so far.
[summary of the invention]
The purpose of the utility model provides a kind of mode of production automatically and carries out the curved draped curved draped equipment of material (promptly need carry out curved draped product or parts).The conformability that this equipment industrialization product has jointly also has simultaneously pattern printing position and failure-free product design very accurately.
In order to reach above-mentioned technical purpose; The technical solution that the utility model adopts comprises following technology contents: a kind of automatic curved draped equipment; It is characterized in that: described song coating equipment is made up of rack-mounted material feedway and film paper conveyer; Described material feedway comprises that the manipulator of gripping material and the robot movement mechanism that drives robot movement form; The film paper conveyer is by fixedly the film paper frame of film paper and the film paper horicontal motion mechanism of drive film paper motion are formed; Above-mentioned material feedway and film paper conveyer path of motion are provided with the position-measurement device that is fixed on the frame, and described film paper conveyer is arranged in the tank, and above-mentioned material feedway, film paper conveyer and measurement mechanism all are connected with computer controller; And accept the control of computer controller, also be provided with the active agent spray equipment on the described frame.
Described manipulator is pneumatic, electronic or hydraulic efficiency manipulator, also needs corresponding be provided with pneumatic, electronic or fluid pressure drive device for cooperating with this manipulator.
Described robot movement device is to have the running gear that has level and vertical both direction at least, drives the manipulator that is fixed on this robot movement device and moves.
Described robot movement mechanism is a guide rail structure, and this guide rail is at least two slide rails, and above-mentioned slide rail comprises a horizontal slide rail and vertical slide rail at least, to guarantee that slide rail drives manipulator and does level and vertical two square motions.
Described film paper frame is square, is fixed with film paper on it, and film paper frame edge is provided with the structure that is movably fastened that matches with film paper horizontal movement device.
Described film paper horicontal motion mechanism is chain or rail structure, and it is provided with the structure that is movably fastened with film paper frame edge mate.
Described film paper conveyer top is provided with film paper and adds frame automatically; It is provided with jacking system; Through this jacking system the film paper frame is placed on the film paper horicontal motion mechanism, and the film paper frame is fixed on the film paper horicontal motion mechanism through the above-mentioned structure that is movably fastened.
Described film paper horicontal motion mechanism promptly can be arranged on the horizontal surface of tank, also can be arranged under the horizontal surface of tank, but need guarantee that through the shape of adjustment film paper frame film paper swims on the horizontal surface.
Described measurement mechanism is arranged on film paper horizontal movement device and is arranged on robot movement device both sides; Be used to measure the position of film paper and film paper frame; It is provided with number needs and guarantees robot movement device and horizontal movement device when doing two dimension or three-dimensional adjusting motion, and satisfied assurance has enough survey precision.
Described computer controller is connected with measurement mechanism through wired or wireless mode; And the reception measurement mechanism is transferred to the information of computer controller; Computer controller also through wired or wireless mode and film paper horizontal movement device be arranged on the robot movement device and be connected; And the logical program that the metrical information combination of obtaining is provided with in advance, the speed of transmission of controlling diaphragm paper horizontal movement device, and the folding of the kinematic velocity of robot movement device and manipulator and angular adjustment; Being synchronized with the movement between controlling diaphragm paper and the material accomplished curved draped processing thus.
Through adopting above-mentioned technical solution; The utility model has obtained following advantage and positive technique effect: the utility model is through being employed in the structure that material feedway and film paper conveyer are set on the frame; Adopting measurement mechanism to cooperate simultaneously accurately measures the material position of film paper and manipulator clamping; Through under the control of computer controller, carry out curved draped accurately processing then.Through adopting above-mentioned this structure design; Realized accuracy control, thoroughly realized full-automatic song coating production, this mode of production material and film paper relative position; Has good conformability; Because it has accurate coating action and work-hours accurately, the quality of its product is also very reliable, has also significantly improved the qualification rate of product simultaneously; Through adopting hydraulic pressure, pneumatic or electronic mode to control the action of manipulator and robot movement mechanism, mainly be to different operating needs institute design-calculated, as: pneumatic actuation then is swift in motion, and hydraulic pressure then moves accurately; And robot movement mechanism is taken to the running gear of rare two sense of motions; Can guarantee that manipulator has enough locomitivities; When if the curved draped precision prescribed that carries out certainly is higher; Then need adopt kinematic mechanism, reach the kinematic accuracy of further raising manipulator with three sense of motions; The utility model is provided with the structure that is movably fastened that matches with the film paper frame through being employed on the film paper conveyer; Film paper conveyer and film paper frame can fixingly automatically flexibly be reached to break away from; Make the supply of film paper and the disengaging of film paper frame realize automation, realize soaked film paper without interruption automatically; Through being employed in film paper conveyer and the manipulator feedway path of motion scope; Be provided with measurement mechanism; Can actv. carry the precise position information of film paper and material accurately through these measurement mechanisms to computer controller; Since above-mentioned computer controller also simultaneously junctional membrane paper horizontal movement device be arranged on the robot movement device, computer controller installation and control program is comprehensively adjusted the speed and the angle of film paper horizontal movement device and robot movement device after the metrical information of collecting is analyzed; Realize the synchronous of film paper and material, actv. has guaranteed the precision and the crudy of curved draped processing.
In a word; The utility model is through above-mentioned a series of designs; A kind of automatic curved draped equipment is provided; Use this equipment can thoroughly change existing curved draped whole manual present situations, significantly improve curved draped production precision and product design, have the advantage of enhancing productivity and reducing production costs simultaneously.
[description of drawings]
Fig. 1 is the scheme drawing of the utility model;
Fig. 2 is the mobile scheme drawing of the utility model manipulator.
Fig. 3 is the mobile scheme drawing of the anchor clamps of the utility model.
Fig. 4 hangs scheme drawing on the material of the utility model;
Fig. 5 is the mobile scheme drawing of the film paper frame of the utility model.
Fig. 6 is water-circulating, the coolant-temperature gage automatic guidance scheme drawing of the utility model.
Fig. 7 is the mobile scheme drawing of the film paper frame of the utility model.
[specific embodiment]
Below in conjunction with accompanying drawing the utility model is further explained:
Relating to a kind of automatic curved draped equipment like Fig. 1-7 the utility model, mainly is to the Special Automaticization equipment that carries out curved draped production in the prior art, and this equipment can change whole present situations of operating by hand that adopt in the existing curved draped production.This equipment mainly contains two parts to be formed, and promptly rack-mounted material feedway and film paper conveyer, these above-mentioned two parts are responsible for the conveying and the control of material 1 and film paper respectively.Described material feedway comprises that the manipulator 3 of gripping material 1 and the robot movement mechanism that drives robot movement 4 form; Manipulator 3 is responsible for clamping and is grasped material 1, just need carry out curved draped product, and manipulator 3 is installed in the robot movement mechanism 4; Through 4 drives of robot movement mechanism material 1 is transported to assigned address; And make corresponding action by manipulator 3, and be that material 1 contacts with the film paper pattern that is dissolved in the water surface, accomplish curved draped processing.The film paper conveyer is made up of with the film paper horicontal motion mechanism that drives the motion of film paper the film paper frame 2 of fixing film paper, and the radical function of film paper conveyer 5 is transported to appointed positions with film paper exactly, the curved draped work of completion after contact with material 1.In order to understand the operating process with the control curved surface coating; Above-mentioned material feedway and film paper conveyer path of motion are provided with the position-measurement device that is fixed on the frame; This measurement mechanism mainly is for position definite and controlling diaphragm paper and material 1; So that angle and position when contacting between control material 1 and the film paper, thereby guarantee curved draped crudy.Need in water, carry out the coating operation owing to curved draped, so described film paper conveyer is arranged in the tank 6.Because the relative position of pattern etc. on time of the angle of material 1 entry, entry in the curved draped operating process, material 1 and the film paper; All can have influence on curved draped quality; So above-mentioned material feedway, film paper conveyer and measurement mechanism all is connected with computer controller, and accepts the control of computer controller.Also be provided with the active agent spray equipment on the described frame, this spray equipment is positioned at and carries out before the curved draped station, and spray equipment is arranged after film paper sprays active agent, can carry out curved draped to material 1.
The main effect of manipulator 3 is exactly that material 1 is grasped in clamping, so manipulator is partly for can adopt general-duty manipulator 3.The type of drive of manipulator 3 is pneumatic, electronic or hydraulic efficiency manipulator, also needs corresponding be provided with pneumatic, electronic or fluid pressure drive device for cooperating with this manipulator 3.Described robot movement mechanism 4 is for having the running gear that has level and vertical both direction at least, and the manipulator that drive is fixed in this robot movement mechanism 4 moves.But what need say a bit is exactly that manipulator 3 not only will have holding function; To possess angle upset adjustment function simultaneously; And this upset also is to have both direction at least, and rotation and upset, can material 1 be adjusted to arbitrarily angled entry through the rotation and the upset of manipulator 3 like this.Manipulator 3 is installed in the robot movement mechanism 4; Robot movement mechanism 4 is a guide rail structure; And this guide rail is at least two slide rails, and above-mentioned slide rail comprises a horizontal slide rail and vertical slide rail at least, to guarantee that slide rail drives manipulator and does level and vertical two square motions.The length of horizontal guide rail wherein is longer, because this guide rail will guarantee that its formation can be passed through the material clamping zone, the curved draped zone of material has processed back material put area.
Described film paper frame 2 is square, is fixed with film paper on it, is printed with on the film paper and need carries out curved draped pattern.Film paper frame 2 edges are provided with the structure that is movably fastened that matches with film paper horizontal movement device.Film paper frame 2 drives motion through film paper horicontal motion mechanism, and described film paper horicontal motion mechanism is chain or rail structure, and it is provided with the structure that is movably fastened with film paper frame 2 edge mate.Pass through adjustment like this to film paper horizontal motion structure motion speed, just can the soak time of controlling diaphragm paper in water.In order further to improve the degree of automation of the utility model; Above described film paper conveyer, be provided with film paper and add frame 7 automatically; It is provided with jacking system and can adjusts the up-down angle as required; Through this jacking system film paper frame 2 is placed on the film paper horicontal motion mechanism, and film paper frame 2 is fixed on the film paper horicontal motion mechanism through the above-mentioned structure that is movably fastened.This similar is in elevator structure; Film paper frame 2 is under the drive of film paper conveyer; From top to bottom successively will be one by one film paper frame 2 carry and come, and by film paper horizontal feed device bringing in the tank 6 one by one, move forward when film paper frame 4 being soaked dissolve in water.
Described film paper horicontal motion mechanism promptly can be arranged on the horizontal surface of tank 6; Also can be arranged under the horizontal surface of tank 6; What need explain here a bit is exactly that film paper horicontal motion mechanism may not be arranged in the water, also can be arranged on the top of tank 6.But consider that film paper frame 2 and film paper must soak dissolving in water; So when film paper horicontal motion mechanism is positioned at the water surface top; Then need change the structure of film paper frame 2, for example: increase by two fixed plates that stretch to the top, above fixed plate, be provided with and be movably fastened structure and be connected with film paper horicontal motion mechanism; Make film paper frame 2 positions to having extended below a segment distance through fixed plate like this, guaranteed that film paper frame 2 and film paper can be in water equally.The advantage that adopts this structure is exactly to avoid film paper horicontal motion mechanism to receive the corrosion of water by actv., prolongs its service life.Also be provided with filtering installation and circulation pump, coolant-temperature gage auto mat in addition in above-mentioned tank bottom; This filtering installation and circulation pump can filter removing film paper and carry out curved draped residue afterwards; Make that water in the tank keeps clean, temperature is consistent, be convenient to curved draped continuous firing.
Since curved draped very high to the status requirement between material 1 and the film paper, so need through the position a plurality of measurement mechanisms 8 be set, come to feed back at any time the accurate position of said two devices at material 1 and film paper.So described measurement mechanism 8 is arranged on film paper horizontal movement device both sides, is used to measure the position of film paper and film paper frame 2.Described measurement mechanism 8 is arranged on manipulator 3 running gear both sides, and it is provided with number needs and guarantees that manipulator 3 when doing two dimension or three-dimensional adjusting motion, all can guarantee to have enough survey precision.In a word; Accuracy requirement according to curved draped production; Need on the motion path of material 1 and film paper process measurement mechanism 8 to be set; When processing request is very high, even measurement mechanism 8 need be set all on the path of each sense of motion, general controlling computer can obtain accurate location information as much as possible.
Can know that in above-mentioned structure the curved draped equipment of the utility model in the course of the work, and is especially very high to position control precision prescribed between film paper and the material 1, so the utility model is realized the control to equipment through computer and control program.Described computer controller is connected with measurement mechanism through wired or wireless mode; And the reception measurement mechanism is transferred to the information of computer controller; Computer controller also through wired or wireless mode and film paper horizontal movement device be arranged on robot movement device 4 and be connected; And the logical program that the metrical information combination of obtaining is provided with in advance, the speed of transmission of controlling diaphragm paper horizontal movement device, and the folding and the angular adjustment of the kinematic velocity of robot movement device 4 and manipulator 3; Being synchronized with the movement between controlling diaphragm paper and the material 1 accomplished curved draped processing thus.In order to make above-mentioned curved draped equipment can adapt to various material 1; Be provided with the parameter modification function in the above-mentioned computer controller; Comprise the speed of transmission of film paper horizontal movement device, the spraying time and the sprinkling amount of active agent; The folding time of the move distance of manipulator 3 running gears, kinematic velocity, manipulator, folding angle and on diverse location the anglec of rotation or the like parameter setting, to guarantee that above-mentioned curved draped equipment can adapt to multiple different material 1 and carry out curved draped processing.
Shown in Fig. 2-7, the working process of facing the song coating equipment of the utility model down is described in detail.Description is described respectively according to two chief components of song coating equipment.It at first is the motion process of material feedway.The reference position of material feedway is positioned at anchor clamps put area top, and this material 1 put area is the below that is arranged on the feedway reference position, and is fixed on the frame.This is that manipulator 3 begins to open and anchor clamps that are used for fixing material promptly, and promptly after the anchor clamps, manipulator 3 continues to move forward under the effect of material feedway horizontal direction guide rail; And the top of arrival material put area; The material rest area is positioned at the below of material feedway equally, and is fixed on a placement platform on the frame, and the motion of horizontal direction stops; This is that manipulator 3 moves down under the guide rail effect of vertical direction, utilizes anchor clamps to pick up material 1.Use anchor clamps to pick up material 1 and can be employed in the mode that double faced adhesive tape is set on the anchor clamps.Also direct gripping material 1 is selected different modes for use according to the difference of material 1 during actual the use in addition, mentions after utilizing double faced adhesive tape that material 1 is clung.After picking up material 1.After picking up material 1, manipulator 3 moves to above the curved draped station under the horizontal direction guide rail of material feedway drives.Here need to prove that this motion that is promptly can travel forward, also can move backward that concrete sense of motion depends on the relative position between material placement platform, anchor clamps placement platform and the song coating station three.Like figure--shown in; Manipulator 3 beginnings motion backward; And arrive curved draped station after crossing material placement platform and anchor clamps placement platform, and begin to adjust the angle of material 1 entry then by manipulator 3, can carry out material 1 angular adjustment in level and two kinds of motions of vertical direction through manipulator 3.The vertical guide rail of material feedway drives manipulator 3 and descends afterwards, and material 1 is got in the tank 6, with the pattern coating of soaking good and spray active agent to material 1.After through the soak time of setting, manipulator 3 drives decline material 1 at vertical guide rail and leaves the water, and there being horizontal guide rail drive manipulator under material, to hang the zone, material 1 and anchor clamps is put down.What need explanation a bit is, when picking up anchor clamps, material 1 and arriving curved draped station, need detect, and with this message feedback to controlling computer through the position of 8 pairs of manipulators of measurement mechanism, with guarantee the position accurately.And manipulator 3 then can rely on program and the parameter set in the controlling computer to control when carrying out material 1 entry angular adjustment.
The conveying course of processing of film paper is described below.At first film paper is fixed on the film paper frame 2; Then film paper frame 2 being placed into film paper successively adds on the frame 7 automatically; The jacking system that film paper adds on the frame 7 automatically drives 2 declines of film paper frame, and film paper frame 2 is placed on the film paper conveyer, and the film paper conveyer can adopt chain structure.And be fixed on the chain of feedway by the structure that is movably fastened at film paper frame 2 edges.Usually the film paper conveyer that adopts is positioned at the water surface below of tank 6, so this moment, film paper was dipped in the water, mutually curved draped station moves under the chain of feedway drives.Because the quality that the decision of the soak time of different film paper is curved draped,,, can realize control to film paper soak time so pass through to adjust the kinematic velocity of film paper conveyer so the soak time of film paper in water is by the kinematic velocity decision of film paper conveyer.Move near in the curved draped station at film paper frame 2; Active agent spray equipment by being arranged on this top, position sprays active agent to film paper; When film paper frame 2 continues to move forward to curved draped station; The stop motion of film paper load transfer device, and wait for that top manipulator 3 carries out curved draped.Film paper frame 2, at this moment is movably fastened structure and decontrols film paper frame 2 until arriving tank 6 edges along with the film paper conveyer continues previous moving afterwards, takes out above-mentioned film paper frame 2 by manual work.What need explain here certain is exactly, and be fixed on the film paper conveyer at film paper frame 2, arrive below the active agent spray equipment and in the curved draped station of arrival, all need measurement mechanism 8 that it is carried out position probing, and with this message feedback controlling computer.
Through above-mentioned description with basic understanding the main motion process of the utility model.And need the key of accuracy control between above-mentioned film paper conveyer and the material feedway; Be exactly to arrive curved draped station simultaneously; And give controlling computer with the accurate position feedback between material 1 and the film paper, adjust the entry angle and the position of materials 1 again by controlling computer control manipulator 3.Thereby guaranteed to have accurate localization between material 1 and the film paper.Therefore through the product of above-mentioned curved draped device fabrication, have good homogeneity of product, actv. has guaranteed the quality of curved draped processing.
The description of above-mentioned preferred embodiment makes those skilled in the art can make and utilize the present invention.Those skilled in the art need not pay creative work just can realize the various modifications to present embodiment according to rule given here.Therefore, the present invention is not limited to embodiment illustrated herein, but consistent with maximum protection scope in this appended claim.
Claims (10)
1. automatic curved draped equipment; It is characterized in that: described song coating equipment is made up of rack-mounted material feedway and film paper conveyer; Described material feedway comprises that the manipulator of gripping material and the robot movement mechanism that drives robot movement form; The film paper conveyer is by fixedly the film paper frame of film paper and the film paper horicontal motion mechanism of drive film paper motion are formed; Above-mentioned material feedway and film paper conveyer path of motion are provided with the position-measurement device that is fixed on the frame, and described film paper conveyer is arranged in the tank, and above-mentioned material feedway, film paper conveyer and measurement mechanism all are connected with computer controller; And accept the control of computer controller, also be provided with the active agent spray equipment on the described frame.
2. a kind of automatic curved draped equipment according to claim 1, it is characterized in that: described manipulator is pneumatic, electronic or hydraulic efficiency manipulator, also needs corresponding be provided with pneumatic, electronic or fluid pressure drive device for cooperating with this manipulator.
3. a kind of automatic curved draped equipment according to claim 1 is characterized in that: described robot movement mechanism has the running gear that has level and vertical both direction at least, drives the manipulator that is fixed on this robot movement device and moves.
4. a kind of automatic curved draped equipment according to claim 3; It is characterized in that: described robot movement device is a guide rail structure; And this guide rail is at least two slide rails; And above-mentioned slide rail comprises a horizontal slide rail and vertical slide rail at least, to guarantee that slide rail drives manipulator and does level and vertical two square motions.
5. a kind of automatic curved draped equipment according to claim 1, it is characterized in that: described film paper frame is square, is fixed with film paper on it, film paper frame edge is provided with the structure that is movably fastened that matches with film paper horizontal movement device.
6. a kind of automatic curved draped equipment according to claim 1 is characterized in that: described film paper horicontal motion mechanism is chain or rail structure, and it is provided with the structure that is movably fastened with film paper frame edge mate.
7. a kind of automatic curved draped equipment according to claim 1; It is characterized in that: described film paper conveyer top is provided with film paper and adds frame automatically; It is provided with jacking system; Through this jacking system the film paper frame is placed on the film paper horicontal motion mechanism, and the film paper frame is fixed on the film paper horicontal motion mechanism through the above-mentioned structure that is movably fastened.
8. a kind of automatic curved draped equipment according to claim 1; It is characterized in that: described film paper horicontal motion mechanism promptly can be arranged on the horizontal surface of tank; Also can be arranged under the horizontal surface of tank, but need guarantee that through the shape of adjustment film paper frame film paper swims on the horizontal surface.
9. a kind of automatic curved draped equipment according to claim 1; It is characterized in that: described measurement mechanism is arranged on film paper horizontal movement device and is arranged on robot movement device both sides; Be used to measure the position of film paper and film paper frame; It is provided with number needs and guarantees robot movement device and horizontal movement device when doing two dimension or three-dimensional adjusting motion, and satisfied assurance has enough survey precision.
10. a kind of automatic curved draped equipment according to claim 1; It is characterized in that: described computer controller is connected with measurement mechanism through wired or wireless mode; And the reception measurement mechanism is transferred to the information of computer controller; Computer controller also through wired or wireless mode and film paper horizontal movement device be arranged on the robot movement device and be connected; And the logical program that the metrical information combination of obtaining is provided with in advance, the speed of transmission of controlling diaphragm paper horizontal movement device, and the folding of the kinematic velocity of robot movement device and manipulator and angular adjustment; Being synchronized with the movement between controlling diaphragm paper and the material accomplished curved draped processing thus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203055671U CN202219881U (en) | 2011-08-19 | 2011-08-19 | Automatic curved surface coating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203055671U CN202219881U (en) | 2011-08-19 | 2011-08-19 | Automatic curved surface coating equipment |
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| Publication Number | Publication Date |
|---|---|
| CN202219881U true CN202219881U (en) | 2012-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203055671U Expired - Fee Related CN202219881U (en) | 2011-08-19 | 2011-08-19 | Automatic curved surface coating equipment |
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| CN (1) | CN202219881U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424162A (en) * | 2011-08-19 | 2012-04-25 | 赖万明 | Automatic curved surface coating apparatus |
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2011
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424162A (en) * | 2011-08-19 | 2012-04-25 | 赖万明 | Automatic curved surface coating apparatus |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120516 Termination date: 20150819 |
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| EXPY | Termination of patent right or utility model |